gps_pvt 0.6.2 → 0.7.0
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- checksums.yaml +4 -4
- data/README.md +1 -0
- data/Rakefile +1 -0
- data/exe/gps_pvt +3 -1
- data/exe/to_ubx +214 -0
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +787 -205
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +2 -3
- data/ext/ninja-scan-light/tool/algorithm/interpolate.h +106 -0
- data/ext/ninja-scan-light/tool/navigation/ANTEX.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +7 -7
- data/ext/ninja-scan-light/tool/navigation/MagneticField.h +4 -3
- data/ext/ninja-scan-light/tool/navigation/NTCM.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +29 -14
- data/ext/ninja-scan-light/tool/navigation/RINEX_Clock.h +458 -0
- data/ext/ninja-scan-light/tool/navigation/SBAS.h +3 -3
- data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/SP3.h +69 -112
- data/ext/ninja-scan-light/tool/param/quaternion.h +2 -2
- data/ext/ninja-scan-light/tool/param/vector3.h +2 -2
- data/ext/ninja-scan-light/tool/swig/GPS.i +95 -51
- data/ext/ninja-scan-light/tool/swig/SylphideMath.i +1 -2
- data/gps_pvt.gemspec +3 -0
- data/lib/gps_pvt/receiver.rb +19 -3
- data/lib/gps_pvt/version.rb +5 -5
- metadata +7 -3
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/*
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* Copyright (c) 2022, M.Naruoka (fenrir)
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* - Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* - Neither the name of the naruoka.org nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
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* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/** @file
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* @brief Loader of RINEX Clock extension, support versions are 3 including 3.04
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*/
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#ifndef __RINEX_CLOCK__
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#define __RINEX_CLOCK__
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#include <cstring>
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#include <cctype>
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#include <string>
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#include "RINEX.h"
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#include "GPS.h"
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#include "algorithm/interpolate.h"
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#include "GPS_Solver_Base.h"
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template <class FloatT>
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struct RINEX_CLK {
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struct record_t {
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char type[2], name[9];
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std::tm epoch;
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int epoch_year4, epoch_mon12;
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FloatT epoch_sec;
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int items_followed;
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bool valid[6];
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union {
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FloatT array[6];
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struct {
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FloatT bias, bias_sigma, rate, rate_sigma, acc, acc_sigma;
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} v;
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} values;
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GPS_Time<FloatT> get_epoch() const {
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return GPS_Time<FloatT>(epoch) + (epoch_sec - epoch.tm_sec);
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}
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record_t &set_epoch(const GPS_Time<FloatT> &t){
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epoch = t.c_tm();
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epoch_year4 = epoch.tm_year + 1900;
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epoch_mon12 = epoch.tm_mon + 1;
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epoch_sec = std::fmod(t.seconds, 60);
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return *this;
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}
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std::string get_name() const {
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std::string res;
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for(std::size_t i(0); i < sizeof(name); ++i){
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if(!std::isgraph(name[i])){break;}
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res.push_back(name[i]);
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}
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return res;
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}
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record_t &set_name(const std::string &str){
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std::memset(name, ' ', sizeof(name));
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str.copy(name, str.size() > sizeof(name) ? sizeof(name) : str.size());
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return *this;
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}
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};
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struct per_node_t {
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std::map<GPS_Time<FloatT>, FloatT> bias;
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typedef InterpolatableSet<GPS_Time<FloatT>, FloatT, FloatT> interpolator_t;
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static const typename interpolator_t::condition_t interpolator_cnd_default;
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mutable struct {
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interpolator_t bias;
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} subset;
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bool precheck(const GPS_Time<FloatT> &t) const {
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subset.bias.update(t, bias, interpolator_cnd_default);
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return subset.bias.ready;
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}
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FloatT clock_error(const GPS_Time<FloatT> &t) const {
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return subset.bias.update(t, bias, interpolator_cnd_default).interpolate(t);
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}
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FloatT clock_error_dot(const GPS_Time<FloatT> &t) const {
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FloatT res;
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subset.bias.update(t, bias, interpolator_cnd_default).interpolate(t, &res);
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return res;
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}
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};
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struct satellites_t {
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typedef std::map<int, per_node_t> buf_t; // prn => per_node_t
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buf_t buf;
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enum system_t {
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SYSTEM_GPS,
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SYSTEM_SBAS,
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SYSTEM_QZSS,
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SYSTEM_GLONASS,
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SYSTEM_GALILEO,
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SYSTEM_BEIDOU,
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SYSTEM_IRNSS,
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NUM_OF_SYSTEMS,
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};
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static const int offset_list[NUM_OF_SYSTEMS];
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protected:
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typedef typename GPS_Solver_Base<FloatT>::satellite_t sat_t;
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mutable struct per_system_t {
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struct {
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const satellites_t *sats;
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} clk_rate;
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struct {
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const void *impl;
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sat_t (*impl_select)(const void *, const int &, const GPS_Time<FloatT> &);
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} pos_vel;
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system_t sys;
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} per_system[NUM_OF_SYSTEMS];
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static sat_t select(
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const void *ptr, const int &prn, const GPS_Time<FloatT> &receiver_time){
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const per_system_t *ptr_sys(reinterpret_cast<const per_system_t *>(ptr));
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// retrieve position/velocity supplier
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sat_t res(
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ptr_sys->pos_vel.impl_select(ptr_sys->pos_vel.impl, prn, receiver_time));
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int sat_id((prn & 0xFF) + offset_list[ptr_sys->sys]);
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// check clock_error/clock_error_dot availability
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typename buf_t::const_iterator it(ptr_sys->clk_rate.sats->buf.find(sat_id));
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if((it == ptr_sys->clk_rate.sats->buf.end()) || !it->second.precheck(receiver_time)){
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// unavailable case
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static const sat_t &unavailable(sat_t::unavailable());
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res.impl_t = unavailable.impl_t;
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res.impl_clock_error = unavailable.impl_clock_error;
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res.impl_clock_error_dot = unavailable.impl_clock_error_dot;
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return res;
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}
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struct impl_t {
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static inline const per_node_t &sat(const void *ptr) {
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return *reinterpret_cast<const per_node_t *>(ptr);
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}
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static typename GPS_Solver_Base<FloatT>::float_t clock_error(
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const void *ptr, const GPS_Time<FloatT> &t_tx) {
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return sat(ptr).clock_error(t_tx);
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}
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static typename GPS_Solver_Base<FloatT>::float_t clock_error_dot(
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const void *ptr, const GPS_Time<FloatT> &t_tx) {
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return sat(ptr).clock_error_dot(t_tx);
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}
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};
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res.impl_t = &(it->second);
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res.impl_clock_error = impl_t::clock_error;
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res.impl_clock_error_dot = impl_t::clock_error_dot;
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return res;
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}
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public:
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template <class SelectorT>
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bool push(SelectorT &slct, const system_t &sys = SYSTEM_GPS) const {
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if(sys >= NUM_OF_SYSTEMS){return false;}
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per_system[sys].clk_rate.sats = this;
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per_system[sys].sys = sys;
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if(slct.impl_select != select){
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per_system[sys].pos_vel.impl = slct.impl;
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per_system[sys].pos_vel.impl_select = slct.impl_select;
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}
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slct.impl_select = select;
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slct.impl = &per_system[sys];
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return true;
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}
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struct count_t {
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int gps, sbas, qzss, glonass, galileo, beidou, irnss, unknown;
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};
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count_t count() const {
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count_t res = {0};
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for(typename buf_t::const_iterator it(buf.begin()), it_end(buf.end());
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it != it_end; ++it){
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switch((char)(it->first >> 8)){
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case '\0': {
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int id(it->first & 0xFF);
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if(id < 100){++res.gps;}
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else if(id < 192){++res.sbas;}
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else{++res.qzss;}
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break;
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}
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case 'R': ++res.glonass; break;
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case 'E': ++res.galileo; break;
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case 'C': ++res.beidou; break;
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case 'I': ++res.irnss; break;
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default: ++res.unknown; break;
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}
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}
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return res;
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}
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};
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typedef std::map<std::string, per_node_t> collection_t; // satellites + receivers, name => per_node_t
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};
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template <class FloatT>
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const typename RINEX_CLK<FloatT>::per_node_t::interpolator_t::condition_t
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RINEX_CLK<FloatT>::per_node_t::interpolator_cnd_default = {
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5, // max_x_size
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60 * 60 * 2, // subset.cnd.max_dx_range
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};
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template <class FloatT>
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const int RINEX_CLK<FloatT>::satellites_t::offset_list[NUM_OF_SYSTEMS] = {
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0, 0, 0, // GPS, SBAS, QZSS
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(int)'R' << 8, // GLONASS
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(int)'E' << 8, // GALILEO
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(int)'C' << 8, // BEIDOU
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(int)'I' << 8, // IRNSS,
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};
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template <class FloatT = double>
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class RINEX_CLK_Reader : public RINEX_Reader<> {
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protected:
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typedef RINEX_Reader<> super_t;
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public:
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typedef typename RINEX_CLK<FloatT>::record_t record_t;
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static const typename super_t::convert_item_t head_v3[7];
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static const typename super_t::convert_item_t head_v304[7];
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protected:
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record_t record;
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void read_header(){
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if(super_t::src.fail()){return;}
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char buf[256];
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int label_offset(60);
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// Read header
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for(int line(0); !super_t::src.eof(); ++line){
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super_t::src.getline(buf, sizeof(buf));
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std::string content(buf);
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if(line == 0){ // Check version and type extraction
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switch(content.find("RINEX VERSION / TYPE")){
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case 60:
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super_t::version_type.parse(content);
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break;
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case 65: {
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double temp(0);
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super_t::conv_t<double>::f(content, 0, 4, &temp, 2);
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super_t::version_type.version = (int)(temp * 100);
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if(super_t::version_type.version != 304){return;}
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if(content[21] != 'C'){return;}
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super_t::version_type.file_type
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= super_t::version_type_t::FTYPE_CLOCK;
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super_t::version_type.sat_system
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= super_t::version_type_t::char2sys_v3(content[42]);
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label_offset = 65;
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break;
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}
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default: // includes std::string::npos:
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return;
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}
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}
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std::string label(content, label_offset, 20);
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{
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int real_length(label.find_last_not_of(' ') + 1);
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if(real_length < (int)label.length()){
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label = label.substr(0, real_length);
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}
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}
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if(label.find("END OF HEADER") == 0){break;}
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_header[label].push_back(content.substr(0, label_offset));
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}
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}
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public:
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void seek_next() {
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super_t::_has_next = false;
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char buf[1024];
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std::string str;
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bool v304(super_t::version_type.version == 304);
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while(true){
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if(super_t::src.getline(buf, sizeof(buf)).fail()){return;}
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str.assign(buf);
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if(str.size() < (v304 ? 45 : 37)){continue;}
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str.copy(record.type, 2);
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if((std::memcmp(record.type, "AR", 2) == 0)
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|| (std::memcmp(record.type, "AS", 2) == 0)
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|| (std::memcmp(record.type, "CR", 2) == 0)
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|| (std::memcmp(record.type, "DR", 2) == 0)
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|| (std::memcmp(record.type, "MS", 2) == 0)){
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break;
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}
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}
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std::memset(record.name, ' ', sizeof(record.name));
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str.copy(record.name, v304 ? 9 : 4, 3);
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v304 ? super_t::convert(head_v304, str, &record) : super_t::convert(head_v3, str, &record);
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+
record.epoch.tm_year = record.epoch_year4 - 1900; // greater than 1980
|
327
|
+
record.epoch.tm_mon = record.epoch_mon12 - 1; // month [0, 11]
|
328
|
+
record.epoch.tm_sec = (int)record.epoch_sec;
|
329
|
+
|
330
|
+
for(int i(0), j(2), k(v304 ? 45 : 40); i < 6; ++i, ++j, k += (v304 ? 21 : 20)){
|
331
|
+
record.valid[i] = false;
|
332
|
+
if(i >= record.items_followed){continue;}
|
333
|
+
if(j % 4 == 0){
|
334
|
+
j = 0; k = 3;
|
335
|
+
if(super_t::src.getline(buf, sizeof(buf)).fail()){break;}
|
336
|
+
str.assign(buf);
|
337
|
+
}
|
338
|
+
if(!super_t::template conv_t<FloatT>::e_dot_head(
|
339
|
+
str, k, 19, &record.values.array[i], 12)){break;}
|
340
|
+
record.valid[i] = true;
|
341
|
+
}
|
342
|
+
|
343
|
+
super_t::_has_next = true;
|
344
|
+
}
|
345
|
+
|
346
|
+
RINEX_CLK_Reader(std::istream &in)
|
347
|
+
: super_t(in, static_cast<void(super_t::*)()>(
|
348
|
+
&RINEX_CLK_Reader::read_header)) {
|
349
|
+
seek_next();
|
350
|
+
}
|
351
|
+
~RINEX_CLK_Reader(){}
|
352
|
+
|
353
|
+
void next() {
|
354
|
+
seek_next();
|
355
|
+
}
|
356
|
+
|
357
|
+
protected:
|
358
|
+
static int read_all(
|
359
|
+
std::istream &in,
|
360
|
+
void *buf, bool (*callback)(void *, const record_t &)){
|
361
|
+
RINEX_CLK_Reader reader(in);
|
362
|
+
if(reader.version_type.file_type != version_type_t::FTYPE_CLOCK){
|
363
|
+
return -1;
|
364
|
+
}
|
365
|
+
int res(0);
|
366
|
+
for(; reader.has_next(); reader.next()){
|
367
|
+
if(!reader.record.valid[0]){continue;}
|
368
|
+
if(!callback(buf, reader.record)){continue;}
|
369
|
+
++res;
|
370
|
+
}
|
371
|
+
return res;
|
372
|
+
}
|
373
|
+
|
374
|
+
public:
|
375
|
+
static int read_all(
|
376
|
+
std::istream &in,
|
377
|
+
typename RINEX_CLK<FloatT>::satellites_t &dst){
|
378
|
+
struct func_t {
|
379
|
+
static bool add(void *ptr, const record_t &record){
|
380
|
+
typename RINEX_CLK<FloatT>::satellites_t &dst(
|
381
|
+
*reinterpret_cast<typename RINEX_CLK<FloatT>::satellites_t *>(ptr));
|
382
|
+
if((record.type[0] != 'A') || (record.type[1] != 'S')){return false;}
|
383
|
+
int offset(0);
|
384
|
+
char sys(record.name[0]);
|
385
|
+
switch(sys){
|
386
|
+
case 'G': break; // GPS
|
387
|
+
case 'R': offset = (int)'R' << 8; break; // GLONASS
|
388
|
+
case 'E': offset = (int)'E' << 8; break; // Galileo
|
389
|
+
case 'C': offset = (int)'C' << 8; break; // BeiDou
|
390
|
+
case 'J': offset = 192; break; // QZSS
|
391
|
+
case 'S': offset = 100; break; // SBAS
|
392
|
+
case 'I': offset = (int)'I' << 8; break; // IRNSS
|
393
|
+
default: return false;
|
394
|
+
}
|
395
|
+
if(record.name[1] < '0' || record.name[1] > '9'
|
396
|
+
|| record.name[2] < '0' || record.name[2] > '9'){return false;}
|
397
|
+
int idx((record.name[1] - '0') * 10 + (record.name[2] - '0') + offset);
|
398
|
+
dst.buf[idx].bias[record.get_epoch()] = record.values.v.bias;
|
399
|
+
return true;
|
400
|
+
}
|
401
|
+
};
|
402
|
+
return read_all(in, &dst, func_t::add);
|
403
|
+
}
|
404
|
+
|
405
|
+
static int read_all(
|
406
|
+
std::istream &in,
|
407
|
+
typename RINEX_CLK<FloatT>::collection_t &dst){
|
408
|
+
struct func_t {
|
409
|
+
static bool add(void *ptr, const record_t &record){
|
410
|
+
typename RINEX_CLK<FloatT>::collection_t &dst(
|
411
|
+
*reinterpret_cast<typename RINEX_CLK<FloatT>::collection_t *>(ptr));
|
412
|
+
dst[record.get_name()].bias[record.get_epoch()] = record.values.v.bias;
|
413
|
+
return true;
|
414
|
+
}
|
415
|
+
};
|
416
|
+
return read_all(in, &dst, func_t::add);
|
417
|
+
}
|
418
|
+
};
|
419
|
+
|
420
|
+
#define GEN_D(offset, length, container_type, container_member, value_type) \
|
421
|
+
{super_t::template conv_t<value_type>::d, offset, length, \
|
422
|
+
offsetof(container_type, container_member)}
|
423
|
+
#define GEN_I(offset, length, container_type, container_member, value_type) \
|
424
|
+
{super_t::template conv_t<value_type>::d, offset, length, \
|
425
|
+
offsetof(container_type, container_member), 1}
|
426
|
+
#define GEN_F2(offset, length, precision, container_type, container_member, value_type) \
|
427
|
+
{super_t::template conv_t<value_type>::f_dot_head, offset, length, \
|
428
|
+
offsetof(container_type, container_member), precision}
|
429
|
+
#define GEN_F(offset, length, precision, container_type, container_member) \
|
430
|
+
GEN_F2(offset, length, precision, container_type, container_member, FloatT)
|
431
|
+
|
432
|
+
template <class FloatT>
|
433
|
+
const typename RINEX_CLK_Reader<FloatT>::convert_item_t RINEX_CLK_Reader<FloatT>::head_v3[] = {
|
434
|
+
GEN_I( 8, 4, record_t, epoch_year4, int),
|
435
|
+
GEN_I(13, 2, record_t, epoch_mon12, int),
|
436
|
+
GEN_I(16, 2, record_t, epoch.tm_mday, int),
|
437
|
+
GEN_I(19, 2, record_t, epoch.tm_hour, int),
|
438
|
+
GEN_I(22, 2, record_t, epoch.tm_min, int),
|
439
|
+
GEN_F(24, 10, 6, record_t, epoch_sec),
|
440
|
+
GEN_D(34, 3, record_t, items_followed, int),
|
441
|
+
};
|
442
|
+
|
443
|
+
template <class FloatT>
|
444
|
+
const typename RINEX_CLK_Reader<FloatT>::convert_item_t RINEX_CLK_Reader<FloatT>::head_v304[] = {
|
445
|
+
GEN_I(13, 4, record_t, epoch_year4, int),
|
446
|
+
GEN_I(18, 2, record_t, epoch_mon12, int),
|
447
|
+
GEN_I(21, 2, record_t, epoch.tm_mday, int),
|
448
|
+
GEN_I(24, 2, record_t, epoch.tm_hour, int),
|
449
|
+
GEN_I(27, 2, record_t, epoch.tm_min, int),
|
450
|
+
GEN_F(29, 9, 6, record_t, epoch_sec),
|
451
|
+
GEN_D(40, 2, record_t, items_followed, int),
|
452
|
+
};
|
453
|
+
|
454
|
+
#undef GEN_D
|
455
|
+
#undef GEN_I
|
456
|
+
#undef GEN_F
|
457
|
+
|
458
|
+
#endif /* __RINEX_CLOCK__ */
|
@@ -1387,16 +1387,16 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1387
1387
|
|
1388
1388
|
// the first line
|
1389
1389
|
out << " ";
|
1390
|
-
for(
|
1390
|
+
for(std::size_t j(0); j < sizeof(igp.properties[0]) / sizeof(igp.properties[0][0]); ++j){
|
1391
1391
|
int lng(position_index_t::idx2lng(j));
|
1392
1392
|
out << (lng == 0 ? '0' : (lng % 90 == 0 ? '|' : (lng % 30 == 0 ? '+' : ' ')));
|
1393
1393
|
}
|
1394
1394
|
out << std::endl;
|
1395
1395
|
|
1396
|
-
for(
|
1396
|
+
for(std::size_t i(0); i < sizeof(igp.properties) / sizeof(igp.properties[0]); ++i){
|
1397
1397
|
out.width(4);
|
1398
1398
|
out << position_index_t::idx2lat(i) << ' ';
|
1399
|
-
for(
|
1399
|
+
for(std::size_t j(0); j < sizeof(igp.properties[0]) / sizeof(igp.properties[0][0]); ++j){
|
1400
1400
|
if(!igp.properties[i][j].is_available()){
|
1401
1401
|
out << ' ';
|
1402
1402
|
}else{
|
@@ -128,7 +128,7 @@ class SBAS_SinglePositioning : public SolverBaseT {
|
|
128
128
|
}
|
129
129
|
};
|
130
130
|
satellite_t res = {
|
131
|
-
&(it_sat->second),
|
131
|
+
&(it_sat->second), &(it_sat->second),
|
132
132
|
impl_t::position, impl_t::velocity,
|
133
133
|
impl_t::clock_error, impl_t::clock_error_dot};
|
134
134
|
return res;
|