gps_pvt 0.6.4 → 0.7.2
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- checksums.yaml +4 -4
- data/README.md +2 -1
- data/Rakefile +1 -0
- data/exe/gps_pvt +4 -2
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +993 -296
- data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx +2 -3
- data/ext/ninja-scan-light/tool/navigation/ANTEX.h +1 -1
- data/ext/ninja-scan-light/tool/navigation/GLONASS.h +4 -11
- data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h +25 -13
- data/ext/ninja-scan-light/tool/navigation/GPS.h +21 -18
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h +42 -25
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +44 -23
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_RAIM.h +29 -1
- 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 +31 -20
- data/ext/ninja-scan-light/tool/navigation/RINEX_Clock.h +458 -0
- data/ext/ninja-scan-light/tool/navigation/SBAS.h +34 -6
- data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h +26 -14
- data/ext/ninja-scan-light/tool/navigation/SP3.h +51 -43
- data/ext/ninja-scan-light/tool/param/bit_array.h +2 -2
- 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 +124 -52
- data/ext/ninja-scan-light/tool/swig/SylphideMath.i +1 -2
- data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +134 -13
- data/lib/gps_pvt/receiver.rb +32 -7
- data/lib/gps_pvt/version.rb +1 -1
- metadata +3 -2
@@ -76,6 +76,7 @@ class RINEX_Reader {
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FTYPE_OBSERVATION,
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FTYPE_NAVIGATION,
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FTYPE_METEOROLOGICAL,
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+
FTYPE_CLOCK,
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} file_type;
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enum sat_system_t {
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SYS_UNKNOWN = 0,
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@@ -89,6 +90,19 @@ class RINEX_Reader {
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SYS_TRANSIT,
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SYS_MIXED,
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} sat_system;
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+
static sat_system_t char2sys_v3(const char &c){
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switch(c){
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case 'G': return SYS_GPS;
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case 'R': return SYS_GLONASS;
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case 'E': return SYS_GALILEO;
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case 'J': return SYS_QZSS;
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case 'C': return SYS_BDS;
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case 'I': return SYS_IRNSS;
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case 'S': return SYS_SBAS;
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case 'M': return SYS_MIXED;
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}
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return SYS_UNKNOWN;
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}
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version_type_t(
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const int &ver = 0, const file_type_t &ftype = FTYPE_UNKNOWN, const sat_system_t &sys = SYS_UNKNOWN)
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: version(ver), file_type(ftype), sat_system(sys) {}
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@@ -105,7 +119,7 @@ class RINEX_Reader {
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: src(in), _has_next(false),
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version_type() {
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if(src.fail()){return;}
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-
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+
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char buf[256];
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// Read header
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@@ -135,7 +149,13 @@ class RINEX_Reader {
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version_type.parse(it->second.front());
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break;
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}
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-
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}
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RINEX_Reader(
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std::istream &in,
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void (RINEX_Reader::*read_header)())
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: src(in), _has_next(false),
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version_type() {
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(this->*read_header)();
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}
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virtual ~RINEX_Reader(){_header.clear();}
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header_t &header() {return _header;}
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@@ -235,6 +255,7 @@ void RINEX_Reader<U>::version_type_t::parse(const std::string &buf){
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case 'H': file_type = FTYPE_NAVIGATION;
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sat_system = SYS_SBAS; // TODO: Is geostational as SBAS?
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break;
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case 'C': file_type = FTYPE_CLOCK; break;
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}
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break;
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case 3:
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@@ -242,18 +263,12 @@ void RINEX_Reader<U>::version_type_t::parse(const std::string &buf){
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case 'O': file_type = FTYPE_OBSERVATION; break;
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case 'N': file_type = FTYPE_NAVIGATION; break;
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case 'M': file_type = FTYPE_METEOROLOGICAL; break;
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+
case 'C': file_type = FTYPE_CLOCK; break;
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}
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-
if((file_type == FTYPE_OBSERVATION)
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-
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-
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-
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-
case 'E': sat_system = SYS_GALILEO; break;
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-
case 'J': sat_system = SYS_QZSS; break;
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-
case 'C': sat_system = SYS_BDS; break;
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-
case 'I': sat_system = SYS_IRNSS; break;
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-
case 'S': sat_system = SYS_SBAS; break;
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-
case 'M': sat_system = SYS_MIXED; break;
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-
}
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+
if((file_type == FTYPE_OBSERVATION)
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|| (file_type == FTYPE_NAVIGATION)
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|| (file_type == FTYPE_CLOCK)){
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sat_system = char2sys_v3(buf[40]);
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}
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break;
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}
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@@ -306,7 +321,7 @@ void RINEX_Reader<U>::version_type_t::dump(std::string &buf) const {
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switch(sat_system){
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case SYS_GPS: sys_str = "G: GPS"; break;
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case SYS_GLONASS: sys_str = "R: GLONASS"; break;
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-
case SYS_GALILEO: sys_str = "
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+
case SYS_GALILEO: sys_str = "E: GALILEO"; break;
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case SYS_QZSS: sys_str = "Q: QZSS"; break;
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case SYS_BDS: sys_str = "B: BDS"; break;
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case SYS_IRNSS: sys_str = "I: IRNSS"; break;
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@@ -338,7 +353,6 @@ struct RINEX_NAV {
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int t_oc_year4, t_oc_year2, t_oc_mon12;
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FloatT t_oc_sec;
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FloatT t_oe_WN;
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-
FloatT ura_meter;
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FloatT t_ot; ///< Transmitting time [s]
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FloatT fit_interval_hr;
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FloatT dummy;
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@@ -352,7 +366,6 @@ struct RINEX_NAV {
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t_oc_mon12(t_oc_tm.tm_mon + 1),
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t_oc_sec(std::fmod(eph.t_oc, 60)),
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t_oe_WN(eph.WN),
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-
ura_meter(ephemeris_t::URA_meter(eph.URA)),
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t_ot(0), // TODO
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fit_interval_hr(eph.fit_interval / (60 * 60)),
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dummy(0) {
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@@ -363,8 +376,6 @@ struct RINEX_NAV {
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eph.WN = t_oc.week;
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eph.t_oc = t_oc.seconds;
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378
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366
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-
eph.URA = ephemeris_t::URA_index(ura_meter); // meter to index
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-
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/* @see ftp://igs.org/pub/data/format/rinex210.txt
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* 6.7 Satellite Health
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* RINEX Value: 0 Health OK
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@@ -1419,14 +1430,14 @@ const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>
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1419
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1420
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template <class FloatT>
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1421
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const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>::eph6_v2[] = {
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1422
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-
GEN_E ( 3, 19, 12, message_t,
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1433
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GEN_E ( 3, 19, 12, message_t, eph.URA),
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1423
1434
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GEN_E2(22, 19, 12, message_t, eph.SV_health, unsigned int),
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1424
1435
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GEN_E (41, 19, 12, message_t, eph.t_GD),
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1425
1436
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GEN_E2(60, 19, 12, message_t, eph.iodc, int),
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1426
1437
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};
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1427
1438
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template <class FloatT>
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1428
1439
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const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>::eph6_v3[] = {
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1429
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-
GEN_E ( 4, 19, 12, message_t,
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1440
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GEN_E ( 4, 19, 12, message_t, eph.URA),
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1430
1441
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GEN_E2(23, 19, 12, message_t, eph.SV_health, unsigned int),
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1431
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GEN_E (42, 19, 12, message_t, eph.t_GD),
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1432
1443
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GEN_E2(61, 19, 12, message_t, eph.iodc, int),
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@@ -0,0 +1,458 @@
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1
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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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+
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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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46
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#include "GPS_Solver_Base.h"
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+
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48
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template <class FloatT>
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49
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struct RINEX_CLK {
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50
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struct record_t {
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51
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char type[2], name[9];
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52
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+
std::tm epoch;
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53
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+
int epoch_year4, epoch_mon12;
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54
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+
FloatT epoch_sec;
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55
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+
int items_followed;
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56
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+
bool valid[6];
|
57
|
+
union {
|
58
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+
FloatT array[6];
|
59
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+
struct {
|
60
|
+
FloatT bias, bias_sigma, rate, rate_sigma, acc, acc_sigma;
|
61
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+
} v;
|
62
|
+
} values;
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63
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+
|
64
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+
GPS_Time<FloatT> get_epoch() const {
|
65
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+
return GPS_Time<FloatT>(epoch) + (epoch_sec - epoch.tm_sec);
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66
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+
}
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67
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+
record_t &set_epoch(const GPS_Time<FloatT> &t){
|
68
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+
epoch = t.c_tm();
|
69
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+
epoch_year4 = epoch.tm_year + 1900;
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70
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+
epoch_mon12 = epoch.tm_mon + 1;
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71
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+
epoch_sec = std::fmod(t.seconds, 60);
|
72
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+
return *this;
|
73
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+
}
|
74
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+
|
75
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+
std::string get_name() const {
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76
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+
std::string res;
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77
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+
for(std::size_t i(0); i < sizeof(name); ++i){
|
78
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+
if(!std::isgraph(name[i])){break;}
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79
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+
res.push_back(name[i]);
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80
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+
}
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81
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+
return res;
|
82
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+
}
|
83
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+
record_t &set_name(const std::string &str){
|
84
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+
std::memset(name, ' ', sizeof(name));
|
85
|
+
str.copy(name, str.size() > sizeof(name) ? sizeof(name) : str.size());
|
86
|
+
return *this;
|
87
|
+
}
|
88
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+
};
|
89
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+
|
90
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+
struct per_node_t {
|
91
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+
std::map<GPS_Time<FloatT>, FloatT> bias;
|
92
|
+
typedef InterpolatableSet<GPS_Time<FloatT>, FloatT, FloatT> interpolator_t;
|
93
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+
static const typename interpolator_t::condition_t interpolator_cnd_default;
|
94
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+
mutable struct {
|
95
|
+
interpolator_t bias;
|
96
|
+
} subset;
|
97
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+
bool precheck(const GPS_Time<FloatT> &t) const {
|
98
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+
subset.bias.update(t, bias, interpolator_cnd_default);
|
99
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+
return subset.bias.ready;
|
100
|
+
}
|
101
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+
FloatT clock_error(const GPS_Time<FloatT> &t) const {
|
102
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+
return subset.bias.update(t, bias, interpolator_cnd_default).interpolate(t);
|
103
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+
}
|
104
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+
FloatT clock_error_dot(const GPS_Time<FloatT> &t) const {
|
105
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+
FloatT res;
|
106
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+
subset.bias.update(t, bias, interpolator_cnd_default).interpolate(t, &res);
|
107
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+
return res;
|
108
|
+
}
|
109
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+
};
|
110
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+
struct satellites_t {
|
111
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+
typedef std::map<int, per_node_t> buf_t; // prn => per_node_t
|
112
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+
buf_t buf;
|
113
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+
|
114
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+
enum system_t {
|
115
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+
SYSTEM_GPS,
|
116
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+
SYSTEM_SBAS,
|
117
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+
SYSTEM_QZSS,
|
118
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+
SYSTEM_GLONASS,
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119
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+
SYSTEM_GALILEO,
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120
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+
SYSTEM_BEIDOU,
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121
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+
SYSTEM_IRNSS,
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122
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+
NUM_OF_SYSTEMS,
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123
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+
};
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124
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+
|
125
|
+
static const int offset_list[NUM_OF_SYSTEMS];
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126
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+
|
127
|
+
protected:
|
128
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+
|
129
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+
typedef typename GPS_Solver_Base<FloatT>::satellite_t sat_t;
|
130
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+
|
131
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+
mutable struct per_system_t {
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132
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struct {
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133
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+
const satellites_t *sats;
|
134
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+
} clk_rate;
|
135
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+
struct {
|
136
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+
const void *impl;
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137
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+
sat_t (*impl_select)(const void *, const int &, const GPS_Time<FloatT> &);
|
138
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+
} pos_vel;
|
139
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+
system_t sys;
|
140
|
+
} per_system[NUM_OF_SYSTEMS];
|
141
|
+
|
142
|
+
static sat_t select(
|
143
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+
const void *ptr, const int &prn, const GPS_Time<FloatT> &receiver_time){
|
144
|
+
const per_system_t *ptr_sys(reinterpret_cast<const per_system_t *>(ptr));
|
145
|
+
|
146
|
+
// retrieve position/velocity supplier
|
147
|
+
sat_t res(
|
148
|
+
ptr_sys->pos_vel.impl_select(ptr_sys->pos_vel.impl, prn, receiver_time));
|
149
|
+
|
150
|
+
int sat_id((prn & 0xFF) + offset_list[ptr_sys->sys]);
|
151
|
+
|
152
|
+
// check clock_error/clock_error_dot availability
|
153
|
+
typename buf_t::const_iterator it(ptr_sys->clk_rate.sats->buf.find(sat_id));
|
154
|
+
if((it == ptr_sys->clk_rate.sats->buf.end()) || !it->second.precheck(receiver_time)){
|
155
|
+
// unavailable case
|
156
|
+
static const sat_t &unavailable(sat_t::unavailable());
|
157
|
+
res.impl_t = unavailable.impl_t;
|
158
|
+
res.impl_clock_error = unavailable.impl_clock_error;
|
159
|
+
res.impl_clock_error_dot = unavailable.impl_clock_error_dot;
|
160
|
+
return res;
|
161
|
+
}
|
162
|
+
|
163
|
+
struct impl_t {
|
164
|
+
static inline const per_node_t &sat(const void *ptr) {
|
165
|
+
return *reinterpret_cast<const per_node_t *>(ptr);
|
166
|
+
}
|
167
|
+
static typename GPS_Solver_Base<FloatT>::float_t clock_error(
|
168
|
+
const void *ptr, const GPS_Time<FloatT> &t_tx) {
|
169
|
+
return sat(ptr).clock_error(t_tx);
|
170
|
+
}
|
171
|
+
static typename GPS_Solver_Base<FloatT>::float_t clock_error_dot(
|
172
|
+
const void *ptr, const GPS_Time<FloatT> &t_tx) {
|
173
|
+
return sat(ptr).clock_error_dot(t_tx);
|
174
|
+
}
|
175
|
+
};
|
176
|
+
res.impl_t = &(it->second);
|
177
|
+
res.impl_clock_error = impl_t::clock_error;
|
178
|
+
res.impl_clock_error_dot = impl_t::clock_error_dot;
|
179
|
+
return res;
|
180
|
+
}
|
181
|
+
|
182
|
+
public:
|
183
|
+
|
184
|
+
template <class SelectorT>
|
185
|
+
bool push(SelectorT &slct, const system_t &sys = SYSTEM_GPS) const {
|
186
|
+
if(sys >= NUM_OF_SYSTEMS){return false;}
|
187
|
+
per_system[sys].clk_rate.sats = this;
|
188
|
+
per_system[sys].sys = sys;
|
189
|
+
if(slct.impl_select != select){
|
190
|
+
per_system[sys].pos_vel.impl = slct.impl;
|
191
|
+
per_system[sys].pos_vel.impl_select = slct.impl_select;
|
192
|
+
}
|
193
|
+
slct.impl_select = select;
|
194
|
+
slct.impl = &per_system[sys];
|
195
|
+
return true;
|
196
|
+
}
|
197
|
+
|
198
|
+
struct count_t {
|
199
|
+
int gps, sbas, qzss, glonass, galileo, beidou, irnss, unknown;
|
200
|
+
};
|
201
|
+
count_t count() const {
|
202
|
+
count_t res = {0};
|
203
|
+
for(typename buf_t::const_iterator it(buf.begin()), it_end(buf.end());
|
204
|
+
it != it_end; ++it){
|
205
|
+
switch((char)(it->first >> 8)){
|
206
|
+
case '\0': {
|
207
|
+
int id(it->first & 0xFF);
|
208
|
+
if(id < 100){++res.gps;}
|
209
|
+
else if(id < 192){++res.sbas;}
|
210
|
+
else{++res.qzss;}
|
211
|
+
break;
|
212
|
+
}
|
213
|
+
case 'R': ++res.glonass; break;
|
214
|
+
case 'E': ++res.galileo; break;
|
215
|
+
case 'C': ++res.beidou; break;
|
216
|
+
case 'I': ++res.irnss; break;
|
217
|
+
default: ++res.unknown; break;
|
218
|
+
}
|
219
|
+
}
|
220
|
+
return res;
|
221
|
+
}
|
222
|
+
};
|
223
|
+
typedef std::map<std::string, per_node_t> collection_t; // satellites + receivers, name => per_node_t
|
224
|
+
};
|
225
|
+
|
226
|
+
template <class FloatT>
|
227
|
+
const typename RINEX_CLK<FloatT>::per_node_t::interpolator_t::condition_t
|
228
|
+
RINEX_CLK<FloatT>::per_node_t::interpolator_cnd_default = {
|
229
|
+
5, // max_x_size
|
230
|
+
60 * 60 * 2, // subset.cnd.max_dx_range
|
231
|
+
};
|
232
|
+
|
233
|
+
template <class FloatT>
|
234
|
+
const int RINEX_CLK<FloatT>::satellites_t::offset_list[NUM_OF_SYSTEMS] = {
|
235
|
+
0, 0, 0, // GPS, SBAS, QZSS
|
236
|
+
(int)'R' << 8, // GLONASS
|
237
|
+
(int)'E' << 8, // GALILEO
|
238
|
+
(int)'C' << 8, // BEIDOU
|
239
|
+
(int)'I' << 8, // IRNSS,
|
240
|
+
};
|
241
|
+
|
242
|
+
template <class FloatT = double>
|
243
|
+
class RINEX_CLK_Reader : public RINEX_Reader<> {
|
244
|
+
protected:
|
245
|
+
typedef RINEX_Reader<> super_t;
|
246
|
+
public:
|
247
|
+
typedef typename RINEX_CLK<FloatT>::record_t record_t;
|
248
|
+
static const typename super_t::convert_item_t head_v3[7];
|
249
|
+
static const typename super_t::convert_item_t head_v304[7];
|
250
|
+
|
251
|
+
protected:
|
252
|
+
record_t record;
|
253
|
+
|
254
|
+
void read_header(){
|
255
|
+
if(super_t::src.fail()){return;}
|
256
|
+
|
257
|
+
char buf[256];
|
258
|
+
int label_offset(60);
|
259
|
+
|
260
|
+
// Read header
|
261
|
+
for(int line(0); !super_t::src.eof(); ++line){
|
262
|
+
super_t::src.getline(buf, sizeof(buf));
|
263
|
+
|
264
|
+
std::string content(buf);
|
265
|
+
|
266
|
+
if(line == 0){ // Check version and type extraction
|
267
|
+
switch(content.find("RINEX VERSION / TYPE")){
|
268
|
+
case 60:
|
269
|
+
super_t::version_type.parse(content);
|
270
|
+
break;
|
271
|
+
case 65: {
|
272
|
+
double temp(0);
|
273
|
+
super_t::conv_t<double>::f(content, 0, 4, &temp, 2);
|
274
|
+
super_t::version_type.version = (int)(temp * 100);
|
275
|
+
if(super_t::version_type.version != 304){return;}
|
276
|
+
if(content[21] != 'C'){return;}
|
277
|
+
super_t::version_type.file_type
|
278
|
+
= super_t::version_type_t::FTYPE_CLOCK;
|
279
|
+
super_t::version_type.sat_system
|
280
|
+
= super_t::version_type_t::char2sys_v3(content[42]);
|
281
|
+
label_offset = 65;
|
282
|
+
break;
|
283
|
+
}
|
284
|
+
default: // includes std::string::npos:
|
285
|
+
return;
|
286
|
+
}
|
287
|
+
}
|
288
|
+
|
289
|
+
std::string label(content, label_offset, 20);
|
290
|
+
{
|
291
|
+
int real_length(label.find_last_not_of(' ') + 1);
|
292
|
+
if(real_length < (int)label.length()){
|
293
|
+
label = label.substr(0, real_length);
|
294
|
+
}
|
295
|
+
}
|
296
|
+
|
297
|
+
if(label.find("END OF HEADER") == 0){break;}
|
298
|
+
|
299
|
+
_header[label].push_back(content.substr(0, label_offset));
|
300
|
+
}
|
301
|
+
}
|
302
|
+
|
303
|
+
public:
|
304
|
+
void seek_next() {
|
305
|
+
super_t::_has_next = false;
|
306
|
+
|
307
|
+
char buf[1024];
|
308
|
+
std::string str;
|
309
|
+
bool v304(super_t::version_type.version == 304);
|
310
|
+
while(true){
|
311
|
+
if(super_t::src.getline(buf, sizeof(buf)).fail()){return;}
|
312
|
+
str.assign(buf);
|
313
|
+
if(str.size() < (v304 ? 45 : 37)){continue;}
|
314
|
+
str.copy(record.type, 2);
|
315
|
+
if((std::memcmp(record.type, "AR", 2) == 0)
|
316
|
+
|| (std::memcmp(record.type, "AS", 2) == 0)
|
317
|
+
|| (std::memcmp(record.type, "CR", 2) == 0)
|
318
|
+
|| (std::memcmp(record.type, "DR", 2) == 0)
|
319
|
+
|| (std::memcmp(record.type, "MS", 2) == 0)){
|
320
|
+
break;
|
321
|
+
}
|
322
|
+
}
|
323
|
+
std::memset(record.name, ' ', sizeof(record.name));
|
324
|
+
str.copy(record.name, v304 ? 9 : 4, 3);
|
325
|
+
v304 ? super_t::convert(head_v304, str, &record) : super_t::convert(head_v3, str, &record);
|
326
|
+
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{
|
@@ -1711,7 +1711,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1711
1711
|
uint_t WN; ///< Week number
|
1712
1712
|
|
1713
1713
|
float_t t_0; ///< Time of applicability (s) <= time of a week
|
1714
|
-
|
1714
|
+
float_t URA; ///< User range accuracy (m)
|
1715
1715
|
float_t x, y, z; ///< ECEF position (m)
|
1716
1716
|
float_t dx, dy, dz; ///< ECEF velocity (m/s)
|
1717
1717
|
float_t ddx, ddy, ddz; ///< ECEF acceleration (m/s^2)
|
@@ -1804,6 +1804,15 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1804
1804
|
return res;
|
1805
1805
|
}
|
1806
1806
|
|
1807
|
+
static const float_t URA_table[15];
|
1808
|
+
|
1809
|
+
inline static float_t URA_meter(const int_t &index){
|
1810
|
+
return gps_space_node_t::SatelliteProperties::Ephemeris::URA_meter(index, URA_table);
|
1811
|
+
}
|
1812
|
+
inline static int_t URA_index(const float_t &meter){
|
1813
|
+
return gps_space_node_t::SatelliteProperties::Ephemeris::URA_index(meter, URA_table);
|
1814
|
+
}
|
1815
|
+
|
1807
1816
|
struct raw_t {
|
1808
1817
|
u8_t svid; ///< Satellite number
|
1809
1818
|
|
@@ -1850,7 +1859,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1850
1859
|
converted.svid = svid;
|
1851
1860
|
converted.WN = 0; // Week number (must be configured later) @see adjust_time
|
1852
1861
|
|
1853
|
-
converted.URA = URA;
|
1862
|
+
converted.URA = URA_meter(URA);
|
1854
1863
|
CONVERT(t_0); // Time of a day => time of a week (must be configured later) @see adjust_time
|
1855
1864
|
CONVERT2(x, xy); CONVERT2(y, xy); CONVERT(z);
|
1856
1865
|
CONVERT2(dx, dxy); CONVERT2(dy, dxy); CONVERT(dz);
|
@@ -1869,7 +1878,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
|
|
1869
1878
|
#define CONVERT(TARGET) CONVERT2(TARGET, TARGET)
|
1870
1879
|
svid = eph.svid;
|
1871
1880
|
|
1872
|
-
URA = eph.URA;
|
1881
|
+
URA = URA_index(eph.URA);
|
1873
1882
|
CONVERT3(t_0, std::fmod(t_0, gps_time_t::seconds_day), t_0);
|
1874
1883
|
CONVERT2(x, xy); CONVERT2(y, xy); CONVERT(z);
|
1875
1884
|
CONVERT2(dx, dxy); CONVERT2(dy, dxy); CONVERT(dz);
|
@@ -2350,4 +2359,23 @@ const typename SBAS_SpaceNode<FloatT>::float_t SBAS_SpaceNode<FloatT>::UTC_Param
|
|
2350
2359
|
|
2351
2360
|
#undef POWER_2
|
2352
2361
|
|
2362
|
+
template <class FloatT>
|
2363
|
+
const typename SBAS_SpaceNode<FloatT>::float_t SBAS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_table[] = {
|
2364
|
+
2,
|
2365
|
+
2.8,
|
2366
|
+
4,
|
2367
|
+
5.7,
|
2368
|
+
8,
|
2369
|
+
11.3,
|
2370
|
+
16,
|
2371
|
+
32,
|
2372
|
+
64,
|
2373
|
+
128,
|
2374
|
+
256,
|
2375
|
+
512,
|
2376
|
+
1024,
|
2377
|
+
2048,
|
2378
|
+
4096,
|
2379
|
+
};
|
2380
|
+
|
2353
2381
|
#endif /* __SBAS_H__ */
|