gps_pvt 0.6.3 → 0.7.1

data/ext/ninja-scan-light/tool/swig/GPS.i

@@ -22,6 +22,7 @@
 #include "navigation/QZSS.h"
 #include "navigation/GLONASS.h"
 #include "navigation/RINEX.h"
+#include "navigation/RINEX_Clock.h"
 #include "navigation/SP3.h"
 #include "navigation/ANTEX.h"
 
@@ -228,12 +229,10 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
 %}
 %extend GPS_Ionospheric_UTC_Parameters {
   %fragment(SWIG_Traits_frag(FloatT));
-  %typemap(in,numinputs=0) FloatT values[4] (FloatT temp[4]) %{
-    $1 = temp;
-  %}
-  %typemap(argout) FloatT values[4] {
+  %typemap(in,numinputs=0) const FloatT *values[4] (FloatT *temp) "$1 = &temp;"
+  %typemap(argout) const FloatT *values[4] {
     for(int i(0); i < 4; ++i){
-      %append_output(swig::from($1[i]));
+      %append_output(swig::from((*$1)[i]));
     }
   }
   MAKE_ARRAY_INPUT(const FloatT, values, swig::asval);
@@ -245,11 +244,7 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
     } 
   }
   %rename("alpha") get_alpha;
-  void get_alpha(FloatT values[4]) const {
-    for(int i(0); i < 4; ++i){
-      values[i] = self->alpha[i];
-    }
-  }
+  void get_alpha(const FloatT *values[4]) const {*values = self->alpha;}
   %rename("beta=") set_beta;
   void set_beta(const FloatT values[4]){
     for(int i(0); i < 4; ++i){
@@ -257,11 +252,7 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
     }
   }
   %rename("beta") get_beta;
-  void get_beta(FloatT values[4]) const {
-    for(int i(0); i < 4; ++i){
-      values[i] = self->beta[i];
-    }
-  }
+  void get_beta(const FloatT *values[4]) const {*values = self->beta;}
   MAKE_ACCESSOR(A1, FloatT);
   MAKE_ACCESSOR(A0, FloatT);
   MAKE_ACCESSOR(t_ot, unsigned int);
@@ -1006,6 +997,7 @@ const type &get_ ## name () const {
 %inline %{
 template <class FloatT>
 struct GPS_SolverOptions_Common {
+  virtual ~GPS_SolverOptions_Common() {}
   virtual GPS_Solver_GeneralOptions<FloatT> *cast_general() = 0;
   virtual const GPS_Solver_GeneralOptions<FloatT> *cast_general() const = 0;
 };
@@ -1206,7 +1198,10 @@ struct GPS_RangeCorrector
       if(!res.is_available()){
         static const VALUE key(ID2SYM(rb_intern("relative_property")));
         VALUE hook(rb_hash_lookup(hooks, key));
-        if(!NIL_P(hook)){res.impl = this;}
+        if(!NIL_P(hook)){
+          if(!res.impl_xyz){res.impl_xyz = this;}
+          if(!res.impl_t){res.impl_t = this;}
+        }
       }
 #endif
       return res;
@@ -1361,6 +1356,28 @@ struct GPS_RangeCorrector
     return self->update_correction(true, hash);
   }
 #endif
+#ifdef SWIGRUBY
+  %typemap(out) typename super_t::options_t {
+    VALUE res(rb_hash_new());
+    rb_hash_aset(res, ID2SYM(rb_intern("skip_exclusion")), SWIG_From(bool)($1.skip_exclusion));
+    %set_output(res);
+  }
+#endif
+  %rename("options") get_options;
+  typename super_t::options_t get_options() const {
+    return self->available_options();
+  }
+  %rename("options=") set_options;
+  typename super_t::options_t set_options(SWIG_Object obj) {
+    GPS_Solver<FloatT>::super_t::options_t opt(self->available_options());
+#ifdef SWIGRUBY
+    if(!RB_TYPE_P(obj, T_HASH)){SWIG_exception(SWIG_TypeError, "Hash is expected");}
+    SWIG_AsVal(bool)(
+        rb_hash_lookup(obj, ID2SYM(rb_intern("skip_exclusion"))),
+        &opt.skip_exclusion);
+#endif
+    return self->update_options(opt);
+  }
 }
 %inline {
 template <class FloatT>
@@ -1653,31 +1670,8 @@ template <class FloatT>
 struct RINEX_Observation {};
 }
 
-%extend SP3 {
-  %typemap(in,numinputs=0) int count[ANY] (int temp[$1_dim0]) "$1 = temp;"
-  %typemap(argout) int count[ANY] {
-    for(int i(0); i < $1_dim0; ++i){
-      %append_output(SWIG_From(int)($1[i]));
-    }
-  }
-  void satellites(int count[SP3::SYS_SYSTEMS]) const {
-    typename SP3_Product<FloatT>::satellite_count_t x(self->satellite_count());
-    count[SP3<FloatT>::SYS_GPS] = x.gps;
-    count[SP3<FloatT>::SYS_SBAS] = x.sbas;
-    count[SP3<FloatT>::SYS_QZSS] = x.qzss;
-    count[SP3<FloatT>::SYS_GLONASS] = x.glonass;
-    count[SP3<FloatT>::SYS_GALILEO] = x.galileo;
-    count[SP3<FloatT>::SYS_BEIDOU] = x.beidou;
-  }
-
-} 
 %inline {
-template <class FloatT>
-struct SP3 : public SP3_Product<FloatT> {
-  int read(const char *fname) {
-    std::fstream fin(fname, std::ios::in | std::ios::binary);
-    return SP3_Reader<FloatT>::read_all(fin, *this);
-  }
+struct PushableData {
   enum system_t {
     SYS_GPS,
     SYS_SBAS,
@@ -1687,20 +1681,21 @@ struct SP3 : public SP3_Product<FloatT> {
     SYS_BEIDOU,
     SYS_SYSTEMS,
   };
-  bool push(GPS_Solver<FloatT> &solver, const system_t &sys) const {
+  template <class DataT, class FloatT>
+  static bool push(DataT &data, GPS_Solver<FloatT> &solver, const system_t &sys){
     switch(sys){
       case SYS_GPS:
-        return SP3_Product<FloatT>::push(
-            solver.gps.ephemeris_proxy.gps, SP3_Product<FloatT>::SYSTEM_GPS);
+        return data.push(
+            solver.gps.ephemeris_proxy.gps, DataT::SYSTEM_GPS);
       case SYS_SBAS:
-        return SP3_Product<FloatT>::push(
-            solver.sbas.solver.satellites, SP3_Product<FloatT>::SYSTEM_SBAS);
+        return data.push(
+            solver.sbas.solver.satellites, DataT::SYSTEM_SBAS);
       case SYS_QZSS:
-        return SP3_Product<FloatT>::push(
-            solver.gps.ephemeris_proxy.qzss, SP3_Product<FloatT>::SYSTEM_QZSS);
+        return data.push(
+            solver.gps.ephemeris_proxy.qzss, DataT::SYSTEM_QZSS);
       case SYS_GLONASS:
-        return SP3_Product<FloatT>::push(
-            solver.glonass.solver.satellites, SP3_Product<FloatT>::SYSTEM_GLONASS);
+        return data.push(
+            solver.glonass.solver.satellites, DataT::SYSTEM_GLONASS);
       case SYS_GALILEO:
       case SYS_BEIDOU:
       default:
@@ -1708,7 +1703,8 @@ struct SP3 : public SP3_Product<FloatT> {
     }
     return false;
   }
-  bool push(GPS_Solver<FloatT> &solver) const {
+  template <class DataT, class FloatT>
+  static bool push(DataT &data, GPS_Solver<FloatT> &solver){
     system_t target[] = {
       SYS_GPS,
       SYS_SBAS,
@@ -1718,10 +1714,39 @@ struct SP3 : public SP3_Product<FloatT> {
       //SYS_BEIDOU,
     };
     for(std::size_t i(0); i < sizeof(target) / sizeof(target[0]); ++i){
-      if(!push(solver, target[i])){return false;}
+      if(!push(data, solver, target[i])){return false;}
     }
     return true;
   }
+};
+}
+
+%extend SP3 {
+  %typemap(out) typename SP3_Product<FloatT>::satellite_count_t {
+    %append_output(SWIG_From(int)($1.gps));
+    %append_output(SWIG_From(int)($1.sbas));
+    %append_output(SWIG_From(int)($1.qzss));
+    %append_output(SWIG_From(int)($1.glonass));
+    %append_output(SWIG_From(int)($1.galileo));
+    %append_output(SWIG_From(int)($1.beidou));
+  }
+}
+%inline {
+template <class FloatT>
+struct SP3 : public SP3_Product<FloatT>, PushableData {
+  int read(const char *fname) {
+    std::fstream fin(fname, std::ios::in | std::ios::binary);
+    return SP3_Reader<FloatT>::read_all(fin, *this);
+  }
+  typename SP3_Product<FloatT>::satellite_count_t satellites() const {
+    return SP3_Product<FloatT>::satellite_count();
+  }
+  bool push(GPS_Solver<FloatT> &solver, const PushableData::system_t &sys) const {
+    return PushableData::push((SP3_Product<FloatT> &)*this, solver, sys);
+  }
+  bool push(GPS_Solver<FloatT> &solver) const {
+    return PushableData::push((SP3_Product<FloatT> &)*this, solver);
+  }
   System_XYZ<FloatT, WGS84> position(
       const int &sat_id, const GPS_Time<FloatT> &t) const {
     return SP3_Product<FloatT>::select(sat_id, t).position(t);
@@ -1748,6 +1773,46 @@ struct SP3 : public SP3_Product<FloatT> {
 };
 }
 
+%extend RINEX_Clock {
+  %typemap(out) typename RINEX_CLK<FloatT>::satellites_t::count_t {
+    %append_output(SWIG_From(int)($1.gps));
+    %append_output(SWIG_From(int)($1.sbas));
+    %append_output(SWIG_From(int)($1.qzss));
+    %append_output(SWIG_From(int)($1.glonass));
+    %append_output(SWIG_From(int)($1.galileo));
+    %append_output(SWIG_From(int)($1.beidou));
+  }
+}
+%inline {
+template <class FloatT>
+struct RINEX_Clock : public RINEX_CLK<FloatT>::satellites_t, PushableData {
+  typedef typename RINEX_CLK<FloatT>::satellites_t super_t;
+  int read(const char *fname) {
+    std::fstream fin(fname, std::ios::in | std::ios::binary);
+    return RINEX_CLK_Reader<FloatT>::read_all(fin, *this);
+  }
+  typename RINEX_CLK<FloatT>::satellites_t::count_t satellites() const {
+    return RINEX_CLK<FloatT>::satellites_t::count();
+  }
+  bool push(GPS_Solver<FloatT> &solver, const PushableData::system_t &sys) const {
+    return PushableData::push((typename RINEX_CLK<FloatT>::satellites_t &)*this, solver, sys);
+  }
+  bool push(GPS_Solver<FloatT> &solver) const {
+    return PushableData::push((typename RINEX_CLK<FloatT>::satellites_t &)*this, solver);
+  }
+  FloatT clock_error(const int &sat_id, const GPS_Time<FloatT> &t) const {
+    typename super_t::buf_t::const_iterator it(this->buf.find(sat_id));
+    if(it == this->buf.end()){return super_t::sat_t::unavailable().clock_error(t);}
+    return it->second.clock_error(t);
+  }
+  FloatT clock_error_dot(const int &sat_id, const GPS_Time<FloatT> &t) const {
+    typename super_t::buf_t::const_iterator it(this->buf.find(sat_id));
+    if(it == this->buf.end()){return super_t::sat_t::unavailable().clock_error(t);}
+    return it->second.clock_error_dot(t);
+  }
+};
+}
+
 #undef MAKE_ACCESSOR
 #undef MAKE_VECTOR2ARRAY
 #undef MAKE_ARRAY_INPUT
@@ -1776,6 +1841,7 @@ struct SP3 : public SP3_Product<FloatT> {
 
 %template(RINEX_Observation) RINEX_Observation<type>;
 %template(SP3) SP3<type>;
+%template(RINEX_Clock) RINEX_Clock<type>;
 %enddef
 
 CONCRETIZE(double);

data/ext/ninja-scan-light/tool/swig/SylphideMath.i

@@ -592,7 +592,6 @@ struct MatrixUtil {
       }
       static VALUE read(
           const VALUE &v, const unsigned int &row = 0, const unsigned int &column = 0) {
-        int state;
         VALUE values[3] = {v, UINT2NUM(row), UINT2NUM(column)};
         return funcall_throw_if_error(run, reinterpret_cast<VALUE>(values));
       }
@@ -865,7 +864,7 @@ struct MatrixUtil {
         static const ID with_index[] = {
             rb_intern("map_with_index"), rb_intern("map_with_index!"), 
             rb_intern("collect_with_index"), rb_intern("collect_with_index!")};
-        for(int i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
+        for(std::size_t i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
           if(id_callee == with_index[i]){
             return matrix_yield_get_with_index;
           }

data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb

@@ -658,6 +658,73 @@ __ANTEX_TEXT__
       # https://files.igs.org/pub/station/general/igs14.atx
       f.path
     },
+    :rinex_clk => Tempfile::open{|f|
+      f.write(<<-__RINEX_CLK_TEXT__)
+     3.00           C                                       RINEX VERSION / TYPE
+CCLOCK              IGSACC @ NOAA NGS                       PGM / RUN BY / DATE 
+GPS week: 1849   Day: 2   MJD: 57189                        COMMENT             
+THE COMBINED CLOCKS ARE A WEIGHTED AVERAGE OF:              COMMENT             
+  cod emr esa gfz grg jpl                                   COMMENT             
+THE FOLLOWING REFERENCE CLOCKS WERE USED BY ACs:            COMMENT             
+  WSRT AMC2 BRUX HRAO                                       COMMENT             
+THE COMBINED CLOCKS ARE ALIGNED TO GPS TIME                 COMMENT             
+USING THE SATELLITE BROADCAST EPHEMERIDES                   COMMENT             
+All clocks have been re-aligned to the IGS time scale: IGST COMMENT             
+    16                                                      LEAP SECONDS        
+     1    AS                                                # / TYPES OF DATA   
+IGS  IGSACC @ NOAA NGS                                      ANALYSIS CENTER     
+     6                                                      # OF SOLN SATS      
+G12 G18 G24 G25 G29 G31                                     PRN LIST            
+G                   igs08_1848.atx                          SYS / PCVS APPLIED  
+                                                            END OF HEADER       
+AS G12  2015 06 15 23 45  0.000000  2    3.017937472687e-04  1.069824072610e-11
+AS G18  2015 06 15 23 45  0.000000  2    4.096815344517e-04  9.225410060960e-12
+AS G24  2015 06 15 23 45  0.000000  2   -4.998574751545e-05  2.372704308220e-11
+AS G25  2015 06 15 23 45  0.000000  2   -2.290169594092e-06  1.683218228880e-11
+AS G29  2015 06 15 23 45  0.000000  2    6.168866864097e-04  1.206217360840e-11
+AS G31  2015 06 15 23 45  0.000000  2    3.128244102077e-04  2.173867579920e-11
+AS G12  2015 06 15 23 50  0.000000  2    3.017948525918e-04  1.300769315700e-11
+AS G18  2015 06 15 23 50  0.000000  2    4.096823340968e-04  8.242414325510e-12
+AS G24  2015 06 15 23 50  0.000000  2   -4.998578937856e-05  3.095238106380e-11
+AS G25  2015 06 15 23 50  0.000000  2   -2.291410963946e-06  2.242880773880e-11
+AS G29  2015 06 15 23 50  0.000000  2    6.168873857128e-04  1.695910016600e-11
+AS G31  2015 06 15 23 50  0.000000  2    3.128241216228e-04  1.904362802980e-11
+AS G12  2015 06 15 23 55  0.000000  2    3.017958412577e-04  1.171495359430e-11
+AS G18  2015 06 15 23 55  0.000000  2    4.096833491457e-04  1.008770038860e-11
+AS G24  2015 06 15 23 55  0.000000  2   -4.998596967628e-05  2.600074192880e-11
+AS G25  2015 06 15 23 55  0.000000  2   -2.292650290468e-06  2.671557682290e-11
+AS G29  2015 06 15 23 55  0.000000  2    6.168880208367e-04  1.729095211710e-11
+AS G31  2015 06 15 23 55  0.000000  2    3.128236493567e-04  1.807462018720e-11
+AS G12  2015 06 16 00 00  0.000000  2    3.017967728708e-04  1.000801049580e-11
+AS G18  2015 06 16 00 00  0.000000  2    4.096840539308e-04  1.041670195750e-11
+AS G24  2015 06 16 00 00  0.000000  2   -4.998614775959e-05  1.699628132880e-11
+AS G25  2015 06 16 00 00  0.000000  2   -2.293760646361e-06  1.805118466830e-11
+AS G29  2015 06 16 00 00  0.000000  2    6.168886213338e-04  2.220055594770e-11
+AS G31  2015 06 16 00 00  0.000000  2    3.128233311248e-04  1.215284180360e-11
+AS G12  2015 06 16 00 05  0.000000  2    3.017980078016e-04  1.152529430320e-11
+AS G18  2015 06 16 00 05  0.000000  2    4.096851745816e-04  1.517949585220e-11
+AS G24  2015 06 16 00 05  0.000000  2   -4.998569129850e-05  1.987308774570e-11
+AS G25  2015 06 16 00 05  0.000000  2   -2.295014987154e-06  1.568891027900e-11
+AS G29  2015 06 16 00 05  0.000000  2    6.168894672506e-04  1.906237292480e-11
+AS G31  2015 06 16 00 05  0.000000  2    3.128231387506e-04  1.007829428500e-11
+AS G12  2015 06 16 00 10  0.000000  2    3.017987334831e-04  8.726251168980e-12
+AS G18  2015 06 16 00 10  0.000000  2    4.096859333261e-04  1.403166740100e-11
+AS G24  2015 06 16 00 10  0.000000  2   -4.998597422529e-05  1.727695888430e-11
+AS G25  2015 06 16 00 10  0.000000  2   -2.296262879345e-06  1.460867818340e-11
+AS G29  2015 06 16 00 10  0.000000  2    6.168900483001e-04  1.556536485070e-11
+AS G31  2015 06 16 00 10  0.000000  2    3.128226535741e-04  1.258498073020e-11
+AS G12  2015 06 16 00 15  0.000000  2    3.017999301583e-04  1.006627990480e-11
+AS G18  2015 06 16 00 15  0.000000  2    4.096864636193e-04  1.460541676660e-11
+AS G24  2015 06 16 00 15  0.000000  2   -4.998605241609e-05  1.970841363000e-11
+AS G25  2015 06 16 00 15  0.000000  2   -2.297477664413e-06  1.598459869060e-11
+AS G29  2015 06 16 00 15  0.000000  2    6.168906691983e-04  1.729396319140e-11
+AS G31  2015 06 16 00 15  0.000000  2    3.128222195893e-04  1.358710059900e-11
+__RINEX_CLK_TEXT__
+      # modified version. original data are
+      # https://cddis.nasa.gov/archive/gnss/products/1849/igs1849[12].clk.Z
+      # mirrored: ftp://garner.ucsd.edu/pub/products/1849/igs1849[12].clk.Z
+      f.path
+    },
   }}
   let(:solver){
     res = GPS::Solver::new
@@ -778,6 +845,10 @@ __ANTEX_TEXT__
     
     it 'can be modified through hooks' do
       sn = solver.gps_space_node
+      expect(solver.options).to be_a_kind_of(Hash)
+      expect(solver.options.keys).to include(:skip_exclusion)
+      expect{solver.options = {:skip_exclusion => true}}.not_to raise_error
+      expect(solver.options[:skip_exclusion]).to eq(true)
       expect(solver.correction[:gps_ionospheric]).to include(:klobuchar)
       expect(solver.correction[:gps_tropospheric]).to include(:hopfield)
       expect{solver.correction = nil}.to raise_error(RuntimeError)
@@ -937,5 +1008,55 @@ __ANTEX_TEXT__
         puts ([:lat, :lng].collect{|f| pvt.llh.send(f) / Math::PI * 180} + [pvt.llh.alt]).inspect
       }
     end
+    it 'calculates satellite clock error based on RINEX clock' do
+      clk, sn = [GPS::RINEX_Clock::new, solver.gps_space_node]
+      expect(clk.read(input[:rinex_clk])).to eq(6 * 7)
+      proc{|sats|
+        expect(sats.kind_of?(Array)).to eq(true) 
+        expect(sats[clk.class::SYS_GPS]).to eq(6)
+      }.call(clk.satellites)
+      sn.read(input[:rinex_nav])
+      t0 = GPS::Time::new(1849, 172800)
+      sn.update_all_ephemeris(t0)
+      (-5..5).step(1){|dt_min|
+        t = t0 + (dt_min * 60)
+        [12, 18, 24, 25, 29, 31].each{|sat_id|
+          eph = sn.ephemeris(sat_id).constellation(t)
+          expect(clk.clock_error(sat_id, t)).to be_within(1E-7).of(eph[2]) # 100 ns
+          expect(clk.clock_error_dot(sat_id, t)).to be_within(1E-10).of(eph[3]) # 100 ps
+        }
+      }
+    end
+    it 'calculates position without any error with RINEX NAV and CLK' do
+      sn = solver.gps_space_node
+      sn.read(input[:rinex_nav])
+      clk = GPS::RINEX_Clock::new
+      clk.read(input[:rinex_clk])
+      expect(clk.push(solver, clk.class::SYS_GPS)).to eq(true)
+      GPS::RINEX_Observation::read(input[:rinex_obs]){|item|
+        t_meas = item[:time]
+        sn.update_all_ephemeris(t_meas)
+        meas = GPS::Measurement::new
+        types = (item[:meas_types]['G'] || item[:meas_types][' ']).collect.with_index{|type_, i|
+          type_ = {
+            "C1" => :L1_PSEUDORANGE,
+            "D1" => :L1_RANGE_RATE,
+          }[type_]
+          type_ && [i, GPS::Measurement::const_get(type_)]
+        }.compact
+        item[:meas].each{|k, v|
+          sys, prn = k
+          next unless sys == 'G' # GPS only
+          types.each{|i, type_|
+            meas.add(prn, type_, v[i][0]) if v[i]
+          }
+        }
+        pvt = solver.solve(meas, t_meas)
+        expect(pvt.position_solved?).to eq(true)
+        [-3952590.4754, 3360273.8926, 3697987.2632].zip(pvt.xyz.to_a).each{|a, b|
+          expect(a).to be_within(1E+2).of(b) # 10 m
+        }
+      }
+    end
   end
 end

data/lib/gps_pvt/receiver.rb

@@ -19,6 +19,7 @@ class Receiver
     opt = {
       :system => [[:GPS, 1..32]],
       :satellites => (1..32).to_a,
+      :FDE => true,
     }.merge(opt)
     [[
       [:week, :itow_rcv, :year, :month, :mday, :hour, :min, :sec_rcv_UTC],
@@ -106,7 +107,7 @@ class Receiver
         el_deg = [4, 6].collect{|i| pvt.elevation[fd[i]] / Math::PI * 180}
         fd[0..4] + [el_deg[0]] + fd[5..6] + [el_deg[1]]
       }
-    ]] + [[
+    ]] + (opt[:FDE] ? [[
       [:wssr_FDE_min, :wssr_FDE_min_PRN, :wssr_FDE_2nd, :wssr_FDE_2nd_PRN],
       proc{|pvt|
         [:fde_min, :fde_2nd].collect{|f|
@@ -115,7 +116,7 @@ class Receiver
           [info[0], info[-3]] 
         }.flatten
       }
-    ]]
+    ]] : [])
   end
 
   def self.meas_items(opt = {})
@@ -153,6 +154,9 @@ class Receiver
       rel_prop[0] = 1 if rel_prop[0] > 0 # weight = 1
       rel_prop
     }
+    @solver.options = {
+      :skip_exclusion => true, # default is to skip fault exclusion calculation
+    }
     @debug = {}
     solver_opts = [:gps_options, :sbas_options, :glonass_options].collect{|target|
       @solver.send(target)
@@ -165,8 +169,10 @@ class Receiver
     output_options = {
       :system => [[:GPS, 1..32], [:QZSS, 193..202]],
       :satellites => (1..32).to_a + (193..202).to_a, # [idx, ...] or [[idx, label], ...] is acceptable
+      :FDE => false,
     }
     options = options.reject{|k, v|
+      def v.to_b; !(self =~ /^(?:false|0|f|off)$/i); end
       case k
       when :debug
         v = v.split(/,/)
@@ -280,6 +286,9 @@ class Receiver
           $stderr.puts "#{mode.capitalize} satellite: #{[sys, svid].compact.join(':')}"
         }
         next true
+      when :fault_exclusion
+        @solver.options = {:skip_exclusion => !(output_options[:FDE] = v.to_b)}
+        next true
       end
       false
     }
@@ -651,5 +660,21 @@ class Receiver
     raise "Format error! (Not ANTEX) #{src}" unless applied_items >= 0
     $stderr.puts "SP3 correction with ANTEX file (%s): %d items have been processed."%[src, applied_items]
   end
+  
+  def attach_rinex_clk(src)
+    fname = Util::get_txt(src)
+    @clk ||= GPS::RINEX_Clock::new
+    read_items = @clk.read(fname)
+    raise "Format error! (Not RINEX clock) #{src}" if read_items < 0
+    $stderr.puts "Read RINEX clock file (%s): %d items."%[src, read_items]
+    sats = @clk.satellites
+    @clk.class.constants.each{|sys|
+      next unless /^SYS_(?!SYSTEMS)(.*)/ =~ sys.to_s
+      idx, sys_name = [@clk.class.const_get(sys), $1]
+      next unless sats[idx] > 0
+      next unless @clk.push(@solver, idx)
+      $stderr.puts "Change clock error source of #{sys_name} to RINEX clock" 
+    }
+  end
 end
 end

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.6.3"
+  VERSION = "0.7.1"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.6.3
+  version: 0.7.1
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-08-19 00:00:00.000000000 Z
+date: 2022-08-25 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rake
@@ -78,6 +78,7 @@ files:
 - ext/ninja-scan-light/tool/navigation/NTCM.h
 - ext/ninja-scan-light/tool/navigation/QZSS.h
 - ext/ninja-scan-light/tool/navigation/RINEX.h
+- ext/ninja-scan-light/tool/navigation/RINEX_Clock.h
 - ext/ninja-scan-light/tool/navigation/SBAS.h
 - ext/ninja-scan-light/tool/navigation/SBAS_Solver.h
 - ext/ninja-scan-light/tool/navigation/SP3.h