gps_pvt 0.9.3 → 0.10.0

data/ext/gps_pvt/extconf.rb

@@ -1,10 +1,11 @@
-ninja_tool_dir = File::absolute_path(File::join(
-    File::dirname(__FILE__), '..', 'ninja-scan-light', 'tool'))
-
 require "mkmf"
-cflags = " -Wall -I#{ninja_tool_dir}"
+proc{|ninja_tool_dir|
+  dir_config('ninja_tool', ninja_tool_dir, ninja_tool_dir)
+}.call(File::absolute_path(File::join(
+    File::dirname(__FILE__), '..', 'ninja-scan-light', 'tool')))
+cflags = " -Wall"
 $CFLAGS += cflags
-$CPPFLAGS += cflags if RUBY_VERSION >= "2.0.0"
+$CPPFLAGS += cflags
 $LOCAL_LIBS += " -lstdc++ "
 
 IO_TARGETS = [

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

@@ -269,7 +269,7 @@ class GLONASS_SinglePositioning : public SolverBaseT {
       float_t dt_transit(range / c);
       gps_time_t t_tx(time_arrival - dt_transit);
       xyz_t sat_pos(sat.position(t_tx, dt_transit));
-      float_t geometric_range(usr_pos.xyz.dist(sat_pos));
+      float_t geometric_range(usr_pos.xyz.distance(sat_pos));
 
       // Calculate residual
       res.range_residual = range - geometric_range;

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

@@ -668,9 +668,13 @@ class GPS_SpaceNode {
           static const int padding_bits_MSB_abs(
               PaddingBits_in_InputT_MSB * (PaddingBits_in_InputT_MSB >= 0 ? 1 : -1));
           std::div_t aligned(std::div(index, EffectiveBits_in_InputT));
+          static const int padding_bits_LSB(
+              input_bits - (EffectiveBits_in_InputT + PaddingBits_in_InputT_MSB));
+          static const int input_mask(
+              (~(InputT)0) << ((padding_bits_LSB >= 0) ? padding_bits_LSB : 0));
           if(PaddingBits_in_InputT_MSB >= 0){
             OutputT res(
-                (buf[aligned.quot] << (aligned.rem + padding_bits_MSB_abs))
+                ((buf[aligned.quot] & input_mask) << (aligned.rem + padding_bits_MSB_abs))
                   >> (input_bits - output_bits));
             if(aligned.rem > (EffectiveBits_in_InputT - output_bits)){
               // in case of overrun; ex.1 and ex.3
@@ -687,7 +691,7 @@ class GPS_SpaceNode {
             // rare case: negative MSB padding
             int left_shift(aligned.rem + PaddingBits_in_InputT_MSB);
             OutputT res(
-                (buf[aligned.quot] << (left_shift >= 0 ? left_shift : 0))
+                ((buf[aligned.quot] & input_mask) << (left_shift >= 0 ? left_shift : 0))
                   >> (input_bits - output_bits + (left_shift >= 0 ? 0 : -left_shift)));
             if(aligned.rem > (EffectiveBits_in_InputT - output_bits)){
               res |= (OutputT)(

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

@@ -289,7 +289,7 @@ class GPS_SinglePositioning : public SolverBaseT {
       float_t dt_transit(range / c);
       gps_time_t time_depature(time_arrival - dt_transit);
       xyz_t sat_pos(sat.position(time_depature, dt_transit));
-      float_t geometric_range(usr_pos.xyz.dist(sat_pos));
+      float_t geometric_range(usr_pos.xyz.distance(sat_pos));
 
       // Calculate residual
       residual.residual = range - geometric_range;

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

@@ -103,6 +103,7 @@ struct GPS_Solver_Base {
       L1_RANGE_RATE_SIGMA,
       L1_SIGNAL_STRENGTH_dBHz,
       L1_LOCK_SEC,
+      L1_CARRIER_PHASE_AMBIGUITY_SCALE,
       L1_FREQUENCY,
       MEASUREMENT_ITEMS_PREDEFINED,
     };
@@ -113,7 +114,7 @@ struct GPS_Solver_Base {
     struct {
       int i, i_sigma;
     } pseudorange, doppler, carrier_phase, range_rate;
-    int signal_strength, lock_sec;
+    int signal_strength, lock_sec, cp_ambiguity_scale;
   };
   static const measurement_item_set_t L1CA;
 
@@ -1164,6 +1165,7 @@ const typename GPS_Solver_Base<FloatT>::measurement_item_set_t
       make_entry2(RANGE_RATE),
       make_entry(SIGNAL_STRENGTH_dBHz),
       make_entry(LOCK_SEC),
+      make_entry(CARRIER_PHASE_AMBIGUITY_SCALE),
 #undef make_entry2
 #undef make_entry
     };

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

@@ -105,6 +105,7 @@ class GPS_Solver_MultiFrequency : public BaseSolver {
         make_entry2(RANGE_RATE),
         make_entry(SIGNAL_STRENGTH_dBHz),
         make_entry(LOCK_SEC),
+        make_entry(CARRIER_PHASE_AMBIGUITY_SCALE),
 #undef make_entry2
 #undef make_entry
         MEASUREMENT_ITEMS_PREDEFINED,
@@ -175,6 +176,7 @@ const typename GPS_Solver_MultiFrequency<BaseSolver>::measurement_item_set_t
       make_entry2(RANGE_RATE),
       make_entry(SIGNAL_STRENGTH_dBHz),
       make_entry(LOCK_SEC),
+      make_entry(CARRIER_PHASE_AMBIGUITY_SCALE),
 #undef make_entry2
 #undef make_entry
     };
@@ -193,6 +195,7 @@ const typename GPS_Solver_MultiFrequency<BaseSolver>::measurement_item_set_t
       make_entry2(RANGE_RATE),
       make_entry(SIGNAL_STRENGTH_dBHz),
       make_entry(LOCK_SEC),
+      make_entry(CARRIER_PHASE_AMBIGUITY_SCALE),
 #undef make_entry2
 #undef make_entry
     };

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

@@ -1822,7 +1822,7 @@ class RINEX_Writer {
   protected:
     version_type_t _version_type;
     header_t _header;
-    std::ostream &dist;
+    std::ostream &dest;
     
     void set_version_type(const version_type_t &version_type){
       _version_type = version_type;
@@ -1837,7 +1837,7 @@ class RINEX_Writer {
         std::ostream &out,
         const header_item_t *header_mask = NULL, 
         const int header_mask_size = 0) 
-        : _version_type(), _header(header_mask, header_mask_size), dist(out) {
+        : _version_type(), _header(header_mask, header_mask_size), dest(out) {
     }
     virtual ~RINEX_Writer() {_header.clear();}
 
@@ -1900,7 +1900,7 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
     typedef RINEX_Writer<> super_t;
   protected:
     using super_t::_header;
-    using super_t::dist;
+    using super_t::dest;
   public:
     typedef typename RINEX_NAV<FloatT>::space_node_t space_node_t;
     typedef typename RINEX_NAV<FloatT>::message_t message_t;
@@ -2001,7 +2001,7 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
           }
           break;
       }
-      dist << buf.str();
+      dest << buf.str();
       return *this;
     }
     self_t &operator<<(const message_t &msg){
@@ -2035,7 +2035,7 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
           }
           break;
       }
-      dist << buf.str();
+      dest << buf.str();
       return *this;
     }
     self_t &operator<<(const message_glonass_t &msg){
@@ -2074,7 +2074,7 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
           }
           break;
       }
-      dist << buf.str();
+      dest << buf.str();
       return *this;
     }
 
@@ -2187,7 +2187,7 @@ class RINEX_NAV_Writer : public RINEX_Writer<> {
       if(systems > 1){
         set_version(version, super_t::version_type_t::SYS_MIXED);
       }
-      super_t::dist << header();
+      super_t::dest << header();
       res++;
 
       struct {
@@ -2292,7 +2292,7 @@ class RINEX_OBS_Writer : public RINEX_Writer<> {
     using super_t::RINEX_FloatD;
     using super_t::RINEX_Value;
     using super_t::_header;
-    using super_t::dist;
+    using super_t::dest;
   public:
     void set_version(
         const int &version,
@@ -2494,7 +2494,7 @@ class RINEX_OBS_Writer : public RINEX_Writer<> {
       }
       top << buf << std::endl;
       
-      dist << top.str() << rest.str();
+      dest << top.str() << rest.str();
       return *this;
     }
 };

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

@@ -274,7 +274,7 @@ class SBAS_SinglePositioning : public SolverBaseT {
       float_t dt_transit(range / c);
       gps_time_t t_tx(time_arrival - dt_transit);
       xyz_t sat_pos(sat.position(t_tx, dt_transit));
-      float_t geometric_range(usr_pos.xyz.dist(sat_pos));
+      float_t geometric_range(usr_pos.xyz.distance(sat_pos));
 
       // Calculate residual without Sagnac correction (A.4.4.11),
       // because of the satellite position is calculated in the reception time ECEF.

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

@@ -131,8 +131,12 @@ class System_3D {
       in >> self[2];
       return in;
     }
+  protected:
+    FloatT norm() const {
+      return FloatT(std::sqrt(pow2(v[0]) + pow2(v[1]) + pow2(v[2])));
+    }
 
-
+  public:
     ///< Coordinate rotation
     struct Rotation {
       Quaternion<FloatT> q;
@@ -253,13 +257,12 @@ class System_XYZ : public System_3D<FloatT> {
       return copy -= another;
     }
     
-    FloatT dist() const {
-      return FloatT(std::sqrt(
-          pow2(x()) + pow2(y()) + pow2(z())));
+    FloatT distance() const {
+      return super_t::norm();
     }
     
-    FloatT dist(const self_t &another) const {
-      return (*this - another).dist();
+    FloatT distance(const self_t &another) const {
+      return (*this - another).distance();
     }
     
     static const FloatT f0, a0, b0, e0;
@@ -463,6 +466,10 @@ class System_ENU : public System_3D<FloatT> {
                          north() * c2      + up() * s2      + base.z());
     }
     
+    FloatT distance() const {
+      return super_t::norm();
+    }
+
     FloatT elevation() const {
       return FloatT(std::atan2(up(), std::sqrt(pow2(east()) + pow2(north()))));
     }