gps_pvt 0.7.0 → 0.8.0

data/ext/ninja-scan-light/tool/navigation/GPS_Solver_RAIM.h

@@ -60,6 +60,12 @@ struct GPS_PVT_RAIM_LSR : public PVT_BaseT {
   } FDE_min, FDE_2nd; ///< Fault exclusion
 };
 
+template <class FloatT>
+struct GPS_Solver_RAIM_LSR_Options {
+  bool skip_exclusion;
+  GPS_Solver_RAIM_LSR_Options() : skip_exclusion(false) {}
+};
+
 /*
  * Comment on implementation of protection level (PL) calculation
  *
@@ -96,6 +102,27 @@ struct GPS_Solver_RAIM_LSR : public SolverBaseT {
   inheritate_type(measurement2_t);
 #undef inheritate_type
 
+  typedef typename GPS_Solver_Base<float_t>::options_t::template merge_t<
+      GPS_Solver_RAIM_LSR_Options<float_t>, super_t> options_t;
+
+protected:
+  GPS_Solver_RAIM_LSR_Options<float_t> _options;
+
+public:
+  options_t available_options() const {
+    return options_t(super_t::available_options(), _options);
+  }
+
+  options_t available_options(const options_t &opt_wish) const {
+    GPS_Solver_RAIM_LSR_Options<float_t> opt(opt_wish);
+    return options_t(super_t::available_options(opt_wish), opt);
+  }
+
+  options_t update_options(const options_t &opt_wish){
+    _options = opt_wish;
+    return options_t(super_t::update_options(opt_wish), _options);
+  }
+
   typedef GPS_PVT_RAIM_LSR<float_t, typename super_t::user_pvt_t> user_pvt_t;
 
   typename super_t::template solver_interface_t<self_t> solve() const {
@@ -155,7 +182,8 @@ protected:
         user_position_init, receiver_error_init,
         opt);
 
-    if(!pvt.position_solved()
+    if(_options.skip_exclusion
+        || !pvt.position_solved()
         || (!pvt.FD.valid)
         || (pvt.used_satellites < 6)){return;}
 

data/ext/ninja-scan-light/tool/navigation/RINEX.h

@@ -353,7 +353,6 @@ struct RINEX_NAV {
     int t_oc_year4, t_oc_year2, t_oc_mon12;
     FloatT t_oc_sec;
     FloatT t_oe_WN;
-    FloatT ura_meter;
     FloatT t_ot;  ///< Transmitting time [s]
     FloatT fit_interval_hr;
     FloatT dummy;
@@ -367,7 +366,6 @@ struct RINEX_NAV {
         t_oc_mon12(t_oc_tm.tm_mon + 1),
         t_oc_sec(std::fmod(eph.t_oc, 60)),
         t_oe_WN(eph.WN),
-        ura_meter(ephemeris_t::URA_meter(eph.URA)),
         t_ot(0), // TODO
         fit_interval_hr(eph.fit_interval / (60 * 60)),
         dummy(0) {
@@ -378,8 +376,6 @@ struct RINEX_NAV {
       eph.WN = t_oc.week;
       eph.t_oc = t_oc.seconds;
 
-      eph.URA = ephemeris_t::URA_index(ura_meter); // meter to index
-
       /* @see ftp://igs.org/pub/data/format/rinex210.txt
        * 6.7 Satellite Health
        * RINEX Value:   0    Health OK
@@ -1434,14 +1430,14 @@ const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>
 
 template <class FloatT>
 const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>::eph6_v2[] = {
-  GEN_E ( 3, 19, 12, message_t, ura_meter),
+  GEN_E ( 3, 19, 12, message_t, eph.URA),
   GEN_E2(22, 19, 12, message_t, eph.SV_health, unsigned int),
   GEN_E (41, 19, 12, message_t, eph.t_GD),
   GEN_E2(60, 19, 12, message_t, eph.iodc, int),
 };
 template <class FloatT>
 const typename RINEX_NAV_Reader<FloatT>::convert_item_t RINEX_NAV_Reader<FloatT>::eph6_v3[] = {
-  GEN_E ( 4, 19, 12, message_t, ura_meter),
+  GEN_E ( 4, 19, 12, message_t, eph.URA),
   GEN_E2(23, 19, 12, message_t, eph.SV_health, unsigned int),
   GEN_E (42, 19, 12, message_t, eph.t_GD),
   GEN_E2(61, 19, 12, message_t, eph.iodc, int),

data/ext/ninja-scan-light/tool/navigation/SBAS.h

@@ -1711,7 +1711,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
           uint_t WN;              ///< Week number
 
           float_t t_0;            ///< Time of applicability (s) <= time of a week
-          int_t URA;              ///< User range accuracy (index)
+          float_t URA;            ///< User range accuracy (m)
           float_t x, y, z;        ///< ECEF position (m)
           float_t dx, dy, dz;     ///< ECEF velocity (m/s)
           float_t ddx, ddy, ddz;  ///< ECEF acceleration (m/s^2)
@@ -1804,6 +1804,15 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
             return res;
           }
 
+          static const float_t URA_table[15];
+
+          inline static float_t URA_meter(const int_t &index){
+            return gps_space_node_t::SatelliteProperties::Ephemeris::URA_meter(index, URA_table);
+          }
+          inline static int_t URA_index(const float_t &meter){
+            return gps_space_node_t::SatelliteProperties::Ephemeris::URA_index(meter, URA_table);
+          }
+
           struct raw_t {
             u8_t  svid;           ///< Satellite number
 
@@ -1850,7 +1859,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
               converted.svid = svid;
               converted.WN = 0; // Week number (must be configured later) @see adjust_time
 
-              converted.URA = URA;
+              converted.URA = URA_meter(URA);
               CONVERT(t_0);     // Time of a day => time of a week (must be configured later) @see adjust_time
               CONVERT2(x, xy);      CONVERT2(y, xy);      CONVERT(z);
               CONVERT2(dx, dxy);    CONVERT2(dy, dxy);    CONVERT(dz);
@@ -1869,7 +1878,7 @@ sf[SF_ ## TARGET] * msg_t::TARGET(buf)
 #define CONVERT(TARGET) CONVERT2(TARGET, TARGET)
               svid = eph.svid;
 
-              URA = eph.URA;
+              URA = URA_index(eph.URA);
               CONVERT3(t_0, std::fmod(t_0, gps_time_t::seconds_day), t_0);
               CONVERT2(x, xy);      CONVERT2(y, xy);      CONVERT(z);
               CONVERT2(dx, dxy);    CONVERT2(dy, dxy);    CONVERT(dz);
@@ -2350,4 +2359,23 @@ const typename SBAS_SpaceNode<FloatT>::float_t SBAS_SpaceNode<FloatT>::UTC_Param
 
 #undef POWER_2
 
+template <class FloatT>
+const typename SBAS_SpaceNode<FloatT>::float_t SBAS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_table[] = {
+  2,
+  2.8,
+  4,
+  5.7,
+  8,
+  11.3,
+  16,
+  32,
+  64,
+  128,
+  256,
+  512,
+  1024,
+  2048,
+  4096,
+};
+
 #endif /* __SBAS_H__ */

data/ext/ninja-scan-light/tool/navigation/SBAS_Solver.h

@@ -126,11 +126,15 @@ class SBAS_SinglePositioning : public SolverBaseT {
           static float_t clock_error_dot(const void *ptr, const gps_time_t &t_tx) {
             return sat(ptr).ephemeris().clock_error_dot(t_tx);
           }
+          static float_t range_sigma(const void *ptr, const gps_time_t &t_tx) {
+            return sat(ptr).ephemeris().URA;
+          }
         };
         satellite_t res = {
-            &(it_sat->second), &(it_sat->second),
+            &(it_sat->second), &(it_sat->second), // position, time
             impl_t::position, impl_t::velocity,
-            impl_t::clock_error, impl_t::clock_error_dot};
+            impl_t::clock_error, impl_t::clock_error_dot,
+            &(it_sat->second), impl_t::range_sigma, NULL}; // error model
         return res;
       }
       satellites_t(const space_node_t &sn)
@@ -245,7 +249,7 @@ class SBAS_SinglePositioning : public SolverBaseT {
       float_t range;
       range_error_t range_error;
       if(!this->range(measurement, range, &range_error)){
-        return res; // If no range entry, return with weight = 0
+        return res; // If no range entry, return with sigma = 0
       }
 
       satellite_t sat(select_satellite(prn, time_arrival));
@@ -297,21 +301,29 @@ class SBAS_SinglePositioning : public SolverBaseT {
 
       // TODO Fast corrections (2.1.1.4.12)
 
-      // TODO Setup weight
-      if(std::abs(res.range_residual) > _options.residual_mask){
-        // If residual is too big, gently exclude it by decreasing its weight.
-        res.weight = 1E-8;
-      }else{
+      // Setup weight
+      res.range_sigma = 1E+4; // sufficiently big value, 1E4 [m]
+      do{
+        // If residual is too big, gently exclude it.
+        if(std::abs(res.range_residual) > _options.residual_mask){break;}
 
         float_t elv(relative_pos.elevation());
         if(elv < _options.elevation_mask){
-          res.weight = 0; // exclude it when elevation is less than threshold
-        }else{
-          // elevation weight based on "GPS���p�v���O���~���O" @see GPS_Solver.h
-          res.weight = std::pow(sin(elv)/0.8, 2);
-          if(res.weight < 1E-3){res.weight = 1E-3;}
+          res.range_sigma = 0; // exclude it when elevation is less than threshold
+          break;
         }
-      }
+
+        res.range_sigma = sat.range_sigma(t_tx);
+
+        /* elevation weight based on "GPS���p�v���O���~���O"
+         * elevation[deg] :   90    53    45    30    15    10    5
+         * sf_sigma(k)    :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
+         * weight(k^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
+         */
+        static const float_t max_sf(10);
+        static const float_t elv_limit(std::asin(0.8/max_sf)); // limit
+        res.range_sigma *= (elv > elv_limit) ? (0.8 / sin(elv)) : max_sf;
+      }while(false);
 
       res.range_corrected = range;
 

data/ext/ninja-scan-light/tool/navigation/SP3.h

@@ -185,9 +185,10 @@ struct SP3_Product {
         }
       };
       typename GPS_Solver_Base<FloatT>::satellite_t res = {
-        this, this,
+        this, this, // position, time
         impl_t::position, impl_t::velocity,
-        impl_t::clock_error, impl_t::clock_error_dot
+        impl_t::clock_error, impl_t::clock_error_dot,
+        NULL, NULL, NULL, // TODO error model
       };
       return res;
     }

data/ext/ninja-scan-light/tool/param/bit_array.h

@@ -125,9 +125,9 @@ struct BitArray {
       return (unsigned int)res;
     }
   }
-  std::vector<int> indices_one() const {
+  std::vector<int> indices_one(const int &offset = 0) const {
     std::vector<int> res;
-    int idx(0);
+    int idx(offset);
     static const const_div_t<bits_per_addr> qr(MAX_SIZE);
     int rem(qr.rem), i(0);
     for(; i < qr.quot; ++i, idx += bits_per_addr){

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

@@ -1124,10 +1124,13 @@ struct GPS_RangeCorrector
         static const int prop_items(sizeof(res.values) / sizeof(res.values[0]));
         VALUE hook(rb_hash_lookup(hooks, key));
         if(NIL_P(hook)){break;}
+        FloatT weight((res.prop.range_sigma > 0) 
+            ? (1. / std::pow(res.prop.range_sigma, 2)) // weight=1/(sigma^2)
+            : res.prop.range_sigma);
         VALUE values[] = {
             SWIG_From(int)(prn), // prn
             rb_ary_new_from_args(prop_items, // relative_property
-              swig::from(res.prop.weight),
+              swig::from(weight),
               swig::from(res.prop.range_corrected),
               swig::from(res.prop.range_residual),
               swig::from(res.prop.rate_relative_neg),
@@ -1159,6 +1162,9 @@ struct GPS_RangeCorrector
                   .append(" @ [").append(std::to_string(i)).append("]"));
           }
         }
+        if(res.values[0] > 0){
+          res.values[0] = std::pow(1. / res.values[0], 0.5); // sigma=(1/weight)^0.5
+        }
       }while(false);
 #endif
       return res.prop;
@@ -1356,6 +1362,28 @@ 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>

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/gps_pvt.gemspec

@@ -58,6 +58,7 @@ Gem::Specification.new do |spec|
 
   # Uncomment to register a new dependency of your gem
   # spec.add_dependency "example-gem", "~> 1.0"
+  spec.add_dependency "rubyserial"
   spec.add_development_dependency "rake"
   spec.add_development_dependency "rake-compiler"