gps_pvt 0.6.2 → 0.7.0

checksums.yaml

@@ -1,7 +1,7 @@
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+  metadata.gz: 5d2ab5f33d6ba6233e7a52b05ac2f89306e181240bb2510d6ffe697467278178
+  data.tar.gz: d592b929d56554cb3a1e82e734d90366e32ac083eeacfc8535457a5518952075
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+  data.tar.gz: f11f9c72d8bd30f72e77969eb694ce5a5b7d25db5b251e275b2840511d1836275ba5d7adf1829cbeef691f423c7ddf3a5defbb8919f8bd93bc6cd532649bbd4b

data/README.md

@@ -41,6 +41,7 @@ The format of file is automatically determined with its extension, such as .ubx
 | --ubx=file_or_URI | [U-blox](https://www.u-blox.com/) dedicated format |
 | --sp3=file_or_URI | [Standard Product 3 Orbit Format](https://files.igs.org/pub/data/format/sp3c.txt) (supported gps_pvt version >= 0.6.0) |
 | --antex=file_or_URI | [Antenna Exchange Format](https://igs.org/wg/antenna#files) (supported gps_pvt version >= 0.6.0) |
+| --rinex_clk=file_or_URI | [RINEX clock](https://files.igs.org/pub/data/format/rinex_clock304.txt) file  (supported gps_pvt version >= 0.7.0) |
 
 Since version 0.2.0, SBAS and QZSS are supported in addition to GPS. Since version 0.4.0, GLONASS is also available. QZSS ranging is activated in default, however, SBAS is just utilized for ionospheric correction. GLONASS is also turned off by default. If you want to activate SBAS or GLONASS ranging, "--with=(system or PRN)" options are used with gps_pvt executable like
 

data/Rakefile

@@ -56,6 +56,7 @@ namespace :git do
             tool/navigation/MagneticField.h
             tool/navigation/NTCM.h
             tool/navigation/RINEX.h
+            tool/navigation/RINEX_Clock.h
             tool/navigation/WGS84.h
             tool/navigation/SP3.h
             tool/navigation/ANTEX.h

data/exe/gps_pvt

@@ -24,7 +24,7 @@ misc_options = {}
 files = ARGV.collect{|arg|
   next [arg, nil] unless arg =~ /^--([^=]+)=?/
   k, v = [$1.downcase.to_sym, $']
-  next [v, k] if [:rinex_nav, :rinex_obs, :ubx, :sp3, :antex].include?(k) # file type
+  next [v, k] if [:rinex_nav, :rinex_obs, :ubx, :sp3, :antex, :rinex_clk].include?(k) # file type
   options << [$1.to_sym, $']
   nil
 }.compact
@@ -74,6 +74,7 @@ files.collect!{|fname, ftype|
   when /\.ubx$/; :ubx
   when /\.sp3(?:\.Z)?$/; :sp3
   when /\.atx(?:\.Z)?$/; :antex
+  when /\.clk$/; :rinex_clk
   else
     raise "Format cannot be guessed, use --(format, ex. rinex_nav)=#{fname}"
   end
@@ -145,6 +146,7 @@ files.each{|fname, ftype|
   when :rinex_nav; rcv.parse_rinex_nav(fname)
   when :sp3; rcv.attach_sp3(fname)
   when :antex; rcv.attach_antex(fname)
+  when :rinex_clk; rcv.attach_rinex_clk(fname)
   end
 }
 

data/exe/to_ubx

@@ -0,0 +1,214 @@
+#!/usr/bin/env ruby
+
+require 'gps_pvt'
+require 'uri'
+require 'gps_pvt/ubx'
+
+# Convert file(s) to ubx format
+# TODO currently only RINEX observation file is supported.
+
+$stderr.puts <<__STRING__
+Usage: #{__FILE__} GPS_file ... > as_you_like.ubx
+As GPS_file, only rinex_obs(*.YYo) is currently supported.
+(YY = last two digit of year)
+File format is automatically determined based on its extention described in above parentheses.
+If you want to specify its format manually, command options like --rinex_obs=file_name are available.
+Supported RINEX versions are 2 and 3.
+RXM-RAWX and RXM-SFRBX are included in output UBX if corresponding file(s) is given. 
+A file having additional ".gz" or ".Z" extension is recognized as a compressed file.
+Major URL such as http(s)://... or ftp://... is acceptable as an input file name. 
+__STRING__
+
+options = []
+misc_options = {
+  :ubx_rawx => false
+}
+
+# check options and file format
+files = ARGV.collect{|arg|
+  next [arg, nil] unless arg =~ /^--([^=]+)=?/
+  k, v = [$1.downcase.to_sym, $']
+  next [v, k] if [:rinex_nav, :rinex_obs].include?(k) # file type
+  options << [$1.to_sym, $']
+  nil
+}.compact
+
+# Check file existence and extension
+files.collect!{|fname, ftype|
+  ftype ||= case fname
+  when /\.\d{2}[nhqg](?:\.gz)?$/; :rinex_nav
+  when /\.\d{2}o(?:\.gz)?$/; :rinex_obs
+  else
+    raise "Format cannot be guessed, use --(format, ex. rinex_obs)=#{fname}"
+  end
+  fname = proc{
+    next fname if File::exist?(fname)
+    if uri = URI::parse(fname) and !uri.instance_of?(URI::Generic) then
+      next uri
+    end
+    raise "File not found: #{fname}"
+  }.call
+  [fname, ftype]
+}
+
+options.reject!{|opt|
+  case opt[0]
+  when :ubx_rawx
+    misc_options[opt[0]] = opt[1]
+    true
+  else
+    false
+  end
+}
+
+rcv = GPS_PVT::Receiver::new(options)
+
+obs = []
+rcv.define_singleton_method(:run){|meas, t_meas, *args|
+  obs << [t_meas, meas]
+}
+
+# parse RINEX NAV
+files.each{|fname, ftype|
+  case ftype
+  when :rinex_nav; rcv.parse_rinex_nav(fname)
+  end
+}
+
+# other files
+files.each{|fname, ftype|
+  case ftype
+  when :rinex_obs; rcv.parse_rinex_obs(fname){}
+  end
+}
+
+obs.sort!{|a, b| a[0] <=> b[0]} # Sort by measurement time
+
+glonass_freq_ch = proc{
+  freq0, delta = [:L1_frequency_base, :L1_frequency_gap].collect{|k|
+    GPS_PVT::GPS::SpaceNode_GLONASS.send(k)
+  }
+  proc{|freq| ((freq - freq0) / delta).to_i}
+}.call
+
+gen_raw = proc{|t_meas, meas| # Convert to RXM-RAW(0x10)
+  meas = meas.to_hash
+  ubx = [0xB5, 0x62, 0x02, 0x10, 0, 0]
+  ubx += [(t_meas.seconds * 1E3).to_i, t_meas.week].pack("Vv").unpack("C*")
+  ubx += [0] * 2
+  meas_ubx = meas.collect{|sat, items|
+    res = [0] * 24
+    setter = proc{|value, offset, len, str, pre_proc|
+      array = case value
+      when Array; value
+      when Symbol
+        [items[GPS_PVT::GPS::Measurement.const_get(value)]]
+      else
+        next nil
+      end
+      pre_proc.call(array) if pre_proc
+      next if array.empty?
+      array = array.pack(str).unpack("C*") if str
+      res[offset - 8, len] = array
+    }
+    svid = case sat
+    when 1..32, 120..158, 193..202 # GPS, SBAS, QZSS
+      sat
+    when (0x100 + 1)..(0x100 + 32) # GLONASS
+      sat - 0x100 + 64 # => 65..96
+    else
+      next nil # TODO Galileo, Beidou, ...
+    end
+    
+    qi = 6
+    setter.call(:L1_CARRIER_PHASE,
+        8, 8, "E", proc{|v| next if v[0]; qi = 4; v.clear})
+    setter.call(:L1_PSEUDORANGE,
+        16, 8, "E", proc{|v| next if v[0]; qi = 0; v.clear})
+    setter.call(:L1_DOPPLER,
+        24, 4, "e", proc{|v| next if v[0]; qi = 0; v.clear})
+    setter.call([svid, qi], 28, 2)
+    setter.call(:L1_SIGNAL_STRENGTH_dBHz,
+        30, 1, nil, proc{|v| v.replace(v[0] ? [v[0].to_i] : [])})
+    setter.call(:L1_LOCK_SEC,
+        31, 1, nil, proc{|v| v.replace(v[0] ? [(v[0] < 0) ? 1 : 0] : [0])})
+
+    res
+  }.compact
+  ubx[6 + 6] = meas_ubx.size
+  ubx += meas_ubx.flatten(1)
+  ubx += [0, 0]
+  GPS_PVT::UBX::update(ubx).pack("C*")
+}
+
+gen_rawx = proc{|t_meas, meas| # Convert to RXM-RAWX(0x15)
+  meas = meas.to_hash
+  ubx = [0xB5, 0x62, 0x02, 0x15, 0, 0]
+  ubx += [t_meas.seconds, t_meas.week].pack("Ev").unpack("C*")
+  ubx += [0] * 6
+  meas_ubx = meas.collect{|sat, items|
+    res = [0] * 32
+    setter = proc{|value, offset, len, str, pre_proc|
+      array = case value
+      when Array; value
+      when Symbol
+        [items[GPS_PVT::GPS::Measurement.const_get(value)]]
+      else
+        next nil
+      end
+      pre_proc.call(array) if pre_proc
+      next if array.empty?
+      array = array.pack(str).unpack("C*") if str
+      res[offset - 16, len] = array
+    }
+    sys, svid = case sat
+    when 1..32 # GPS
+      [0, sat]
+    when 120..158 # SBAS
+      [1, sat]
+    when 193..202 # QZSS
+      [5, sat]
+    when (0x100 + 1)..(0x100 + 32) # GLONASS
+      setter.call(:L1_FREQUENCY,
+          39, 1, nil, proc{|v| v.replace(v[0] ? glonass_freq_ch.call(v[0]) : [7])})
+      [6, sat - 0x100]
+    else
+      next nil # TODO Galileo, Beidou, ...
+    end
+    setter.call([sys, svid], 36, 2)
+    
+    trk_stat = 0
+    setter.call(:L1_PSEUDORANGE,
+        16, 8, "E", proc{|v| v[0] ? (trk_stat |= 0x1) : v.clear})
+    setter.call(:L1_PSEUDORANGE_SIGMA,
+        43, 1, nil, proc{|v|
+          b = (Math::log2(v[0] / 1E-2).to_i & 0xF) rescue 0x8
+          v.replace((trk_stat & 0x1 == 0x1) ? [b] : [])
+        })
+    setter.call(:L1_DOPPLER, 32, 4, "e")
+    setter.call(:L1_DOPPLER_SIGMA,
+        45, 1, nil, proc{|v| v.replace(v[0] ? [Math::log2(v[0] / 2E-3).to_i & 0xF] : [0x8])})
+    setter.call(:L1_CARRIER_PHASE,
+        24, 8, "E", proc{|v| v[0] ? (trk_stat |= 0x2) : v.clear})
+    setter.call(:L1_CARRIER_PHASE_SIGMA,
+        44, 1, nil, proc{|v|
+          b = ((v[0] / 0.004).to_i & 0xF) rescue 0x8
+          v.replace((trk_stat & 0x2 == 0x2) ? [b] : [])
+        })
+    setter.call(:L1_SIGNAL_STRENGTH_dBHz,
+        42, 1, nil, proc{|v| v.replace(v[0] ? [v[0].to_i] : [])})
+    setter.call(:L1_LOCK_SEC,
+        40, 2, "v", proc{|v| v.replace(v[0] ? [(v[0] / 1E-3).to_i] : [])})
+    setter.call([trk_stat], 46, 1)
+
+    res
+  }.compact
+  ubx[6 + 11] = meas_ubx.size
+  ubx += meas_ubx.flatten(1)
+  ubx += [0, 0]
+  GPS_PVT::UBX::update(ubx).pack("C*")
+}
+
+gen = misc_options[:ubx_rawx] ? gen_rawx : gen_raw
+STDOUT.binmode
+obs.each{|*item| print gen.call(*item)}