gps_pvt 0.6.4 → 0.7.2

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
@@ -733,20 +800,20 @@ __ANTEX_TEXT__
       expect(pvt.position_solved?).to be(true)
       expect(pvt.receiver_time.to_a).to eq([1849, 172413])
       expect(pvt.llh.to_a).to eq([:lat, :lng, :alt].collect{|k| pvt.llh.send(k)})
-      expect(pvt.llh.lat / Math::PI * 180).to be_within(1E-9).of(35.6992591268) # latitude
-      expect(pvt.llh.lng / Math::PI * 180).to be_within(1E-9).of(139.541502292) # longitude
-      expect(pvt.llh.alt)                 .to be_within(1E-4).of(104.279402455) # altitude
-      expect(pvt.receiver_error).to be_within(1E-4).of(1259087.83603)
-      expect(pvt.gdop).to be_within(1E-10).of(3.83282723293)
-      expect(pvt.pdop).to be_within(1E-10).of(3.30873220653)
-      expect(pvt.hdop).to be_within(1E-10).of(2.05428293774)
-      expect(pvt.vdop).to be_within(1E-10).of(2.59376761222)
-      expect(pvt.tdop).to be_within(1E-10).of(1.9346461648)
+      expect(pvt.llh.lat / Math::PI * 180).to be_within(1E-3).of(35.7) # latitude
+      expect(pvt.llh.lng / Math::PI * 180).to be_within(1E-3).of(139.542) # longitude
+      expect(pvt.llh.alt)                 .to be_within(1E-1).of(104.3) # altitude
+      expect(pvt.receiver_error).to be_within(1E-1).of(1259087.8)
+      expect(pvt.gdop).to be_within(1E-2).of(2.42)
+      expect(pvt.pdop).to be_within(1E-2).of(2.17)
+      expect(pvt.hdop).to be_within(1E-2).of(1.11)
+      expect(pvt.vdop).to be_within(1E-2).of(1.87)
+      expect(pvt.tdop).to be_within(1E-2).of(1.08)
       expect(pvt.velocity.to_a).to eq([:e, :n, :u].collect{|k| pvt.velocity.send(k)})
-      expect(pvt.velocity.north).to be_within(1E-7).of(-0.839546227836) # north
-      expect(pvt.velocity.east) .to be_within(1E-7).of(-1.05805616381)  # east
-      expect(pvt.velocity.down) .to be_within(1E-7).of(-0.12355474006)  # down
-      expect(pvt.receiver_error_rate).to be_within(1E-7).of(-1061.92654151)
+      expect(pvt.velocity.north).to be_within(1E-2).of(-0.86) # north
+      expect(pvt.velocity.east) .to be_within(1E-2).of(-1.10) # east
+      expect(pvt.velocity.down) .to be_within(1E-2).of(-0.22) # down
+      expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1061.86)
       expect(pvt.G.rows).to eq(6)
       expect(pvt.W.rows).to eq(6)
       expect(pvt.delta_r.rows).to eq(6)
@@ -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 = {})
@@ -149,9 +150,8 @@ class Receiver
 
   def initialize(options = {})
     @solver = GPS::Solver::new
-    @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
-      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|
@@ -165,8 +165,10 @@ 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(/,/)
@@ -174,7 +176,7 @@ class Receiver
         next true
       when :weight
         case v.to_sym
-        when :elevation # (same as underneath C++ library)
+        when :elevation # (same as underneath C++ library except for ignoring broadcasted/calculated URA)
           @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
             if rel_prop[0] > 0 then
               elv = Coordinate::ENU::relative_rel(
@@ -184,7 +186,11 @@ class Receiver
             rel_prop
           }
           next true
-        when :identical # same as default
+        when :identical # treat each satellite range having same accuracy
+          @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
+            rel_prop[0] = 1 if rel_prop[0] > 0 # weight = 1
+            rel_prop
+          }
           next true
         end
       when :elevation_mask_deg
@@ -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 = "0.6.4"
+  VERSION = "0.7.2"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.6.4
+  version: 0.7.2
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-08-19 00:00:00.000000000 Z
+date: 2022-09-07 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