gps_pvt 0.4.0 → 0.4.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/ext/ninja-scan-light/tool/navigation/GLONASS.h

@@ -952,6 +952,8 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
           float_t sidereal_t_b_rad;
           typename Ephemeris::differential_t eq_of_motion;
 
+          static const float_t time_step_max_per_one_integration;
+
           void calculate_additional() {
             sidereal_t_b_rad = TimeProperties::date_t::Greenwich_sidereal_time_deg(
                 TimeProperties::date.c_tm(),
@@ -1009,36 +1011,52 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
             return calculate_clock_error(t_arrival_onboard - Ephemeris::t_b, pseudo_range);
           }
           /**
-           * Calculate constellation(t) based on constellation(t_0).
+           * Calculate absolute constellation(t) based on constellation(t_0).
            * t_0 is a time around t_b, and is used to calculate
-           * an intermediate result specified with the 3rd argument.
-           * This method is useful to calculate constellation effectively
-           * by using a cache.
-           * @param delta_t time interval from t_0 to t
-           * @param pseudo_range measured pusedo_range to correct delta_t
+           * @param t_step time interval from t_0 to t
+           * @param times number of integration steps (assume times >=0)
            * @param xa_t_0 constellation(t_0)
-           * @param t_0_from_t_b time interval from t_b to t_0
+           * @param t_0_from_t_b time interval from t_b to t_0 (= t_0 - t_b)
            */
-          constellation_t calculate_constellation(
-              float_t delta_t, const float_t &pseudo_range,
+          constellation_t constellation_abs(
+              const float_t &t_step,
+              int times,
               const constellation_t &xa_t_0, const float_t &t_0_from_t_b) const {
 
             constellation_t res(xa_t_0);
-            { // time integration from t_b to t_transmit
-              float_t delta_t_to_transmit(delta_t - pseudo_range / light_speed);
-              float_t t_step_max(delta_t_to_transmit >= 0 ? 60 : -60);
-              int i(std::floor(delta_t_to_transmit / t_step_max));
-              float_t t_step_remain(delta_t_to_transmit - t_step_max * i);
-              float_t delta_t_itg(0); // accumulative time of integration
-              for(; i > 0; --i, delta_t_itg += t_step_max){
-                res = nextByRK4(eq_of_motion, delta_t_itg, res, t_step_max);
-              }
-              res = nextByRK4(eq_of_motion, delta_t_itg, res, t_step_remain);
+            float_t delta_t_itg(t_0_from_t_b); // accumulative time of integration
+            for(; times > 0; --times, delta_t_itg += t_step){
+              res = nextByRK4(eq_of_motion, delta_t_itg, res, t_step);
             }
+            return res;
+          }
+          /**
+           * Calculate absolute constellation(t) based on constellation(t_0).
+           * t_0 is a time around t_b, and is used to calculate
+           * an intermediate result specified with the 2nd argument.
+           * This method is useful to calculate constellation effectively
+           * by using a cache.
+           * @param delta_t time interval from t_0 to t
+           * @param xa_t_0 constellation(t_0)
+           * @param t_0_from_t_b time interval from t_b to t_0 (= t_0 - t_b)
+           */
+          constellation_t constellation_abs(
+              const float_t &delta_t,
+              const constellation_t &xa_t_0, const float_t &t_0_from_t_b) const {
 
-            static const float_t omega_E(0.7292115E-4); // Earth's rotation rate, TODO move to PZ-90.02
-            return res.rel_corrdinate(
-                sidereal_t_b_rad + (omega_E * (delta_t + t_0_from_t_b))); // transform from abs to PZ-90.02
+            float_t t_step_max(delta_t >= 0
+                ? time_step_max_per_one_integration
+                : -time_step_max_per_one_integration);
+            int n(std::floor(delta_t / t_step_max));
+            float_t delta_t_steps(t_step_max * n), delta_t_remain(delta_t - delta_t_steps);
+
+            // To perform time integration from t_0 to (t_0 + delta_t),
+            // n-times integration with t_step_max,
+            // then, one-time integration with delta_t_remain are conducted.
+            return constellation_abs(
+                delta_t_remain, 1,
+                constellation_abs(t_step_max, n, xa_t_0, t_0_from_t_b),
+                t_0_from_t_b + delta_t_steps);
           }
           /**
            * Calculate constellation(t) based on constellation(t_b).
@@ -1046,8 +1064,14 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
            * @param pseudo_range measured pusedo_range to correct delta_t, default is 0.
            */
           constellation_t calculate_constellation(
-              float_t delta_t, const float_t &pseudo_range = 0) const {
-            return calculate_constellation(delta_t, pseudo_range, xa_t_b, float_t(0));
+              const float_t &delta_t, const float_t &pseudo_range = 0) const {
+
+            float_t delta_t_to_transmit(delta_t - pseudo_range / light_speed);
+            constellation_t res(
+                constellation_abs(delta_t_to_transmit, xa_t_b, float_t(0)));
+
+            return res.rel_corrdinate(
+                sidereal_t_b_rad + (constellation_t::omega_E * delta_t)); // transform from abs to PZ-90.02
           }
           /**
            * @param t_arrival_glonass signal arrival time in glonass time scale,
@@ -1098,7 +1122,37 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
     struct Satellite : public SatelliteProperties {
       public:
         typedef typename SatelliteProperties::Ephemeris_with_GPS_Time eph_t;
-        typedef typename GPS_SpaceNode<float_t>::template PropertyHistory<eph_t> eph_list_t;
+
+        struct eph_cached_t : public eph_t {
+          mutable typename eph_t::constellation_t xa_t_0;
+          mutable float_t t_0_from_t_b;
+          eph_cached_t() : eph_t(), xa_t_0(eph_t::xa_t_b), t_0_from_t_b(0) {}
+          eph_cached_t(const eph_t &eph) : eph_t(eph), xa_t_0(eph.xa_t_b), t_0_from_t_b(0) {}
+          using eph_t::constellation;
+          typename eph_t::constellation_t constellation(
+              const GPS_Time<float_t> &t_arrival_gps, const float_t &pseudo_range = 0) const {
+            float_t delta_t(t_arrival_gps - eph_t::t_b_gps);
+            float_t delta_t_transmit_from_t_0(delta_t - pseudo_range / light_speed - t_0_from_t_b);
+
+            float_t t_step_max(delta_t_transmit_from_t_0 >= 0
+                ? eph_t::time_step_max_per_one_integration
+                : -eph_t::time_step_max_per_one_integration);
+
+            int big_steps(std::floor(delta_t_transmit_from_t_0 / t_step_max));
+            if(big_steps > 0){ // perform integration and update cache
+              xa_t_0 = eph_t::constellation_abs(t_step_max, big_steps, xa_t_0, t_0_from_t_b);
+              float_t delta_t_updated(t_step_max * big_steps);
+              t_0_from_t_b += delta_t_updated;
+              delta_t_transmit_from_t_0 -= delta_t_updated;
+            }
+
+            return eph_t::constellation_abs(delta_t_transmit_from_t_0, 1, xa_t_0, t_0_from_t_b)
+                .rel_corrdinate(
+                  eph_t::sidereal_t_b_rad + (eph_t::constellation_t::omega_E * delta_t)); // transform from abs to PZ-90.02
+          }
+        };
+
+        typedef typename GPS_SpaceNode<float_t>::template PropertyHistory<eph_cached_t> eph_list_t;
       protected:
         eph_list_t eph_history;
       public:
@@ -1115,7 +1169,7 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
         }
 
         void register_ephemeris(const eph_t &eph, const int &priority_delta = 1){
-          eph_history.add(eph, priority_delta);
+          eph_history.add(eph_cached_t(eph), priority_delta);
         }
 
         void merge(const Satellite &another, const bool &keep_original = true){
@@ -1143,7 +1197,7 @@ if(std::abs(TARGET - eph.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
         typename GPS_SpaceNode<float_t>::SatelliteProperties::constellation_t constellation(
             const GPS_Time<float_t> &t, const float_t &pseudo_range = 0) const {
           return (typename GPS_SpaceNode<float_t>::SatelliteProperties::constellation_t)(
-              ephemeris().constellation(t, pseudo_range));
+              eph_history.current().constellation(t, pseudo_range));
         }
 
         typename GPS_SpaceNode<float_t>::xyz_t position(const GPS_Time<float_t> &t, const float_t &pseudo_range = 0) const {
@@ -1267,4 +1321,9 @@ typename GLONASS_SpaceNode<FloatT>::u8_t GLONASS_SpaceNode<FloatT>::SatellitePro
   return res;
 }
 
+template <class FloatT>
+const typename GLONASS_SpaceNode<FloatT>::float_t
+    GLONASS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris_with_Time
+      ::time_step_max_per_one_integration = 60;
+
 #endif /* __GLONASS_H__ */

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.4.0"
+  VERSION = "0.4.1"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.4.0
+  version: 0.4.1
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-03-17 00:00:00.000000000 Z
+date: 2022-03-30 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rake