gps_pvt 0.7.0 → 0.7.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/ext/gps_pvt/GPS/GPS_wrap.cxx

@@ -4171,6 +4171,19 @@ SWIGINTERN VALUE GPS_Solver_Sl_double_Sg__get_correction(GPS_Solver< double > co
 SWIGINTERN VALUE GPS_Solver_Sl_double_Sg__set_correction(GPS_Solver< double > *self,VALUE hash){
     return self->update_correction(true, hash);
   }
+SWIGINTERN GPS_Solver< double >::super_t::options_t GPS_Solver_Sl_double_Sg__get_options(GPS_Solver< double > const *self){
+    return self->available_options();
+  }
+SWIGINTERN GPS_Solver< double >::super_t::options_t GPS_Solver_Sl_double_Sg__set_options(GPS_Solver< double > *self,VALUE obj){
+    GPS_Solver<double>::super_t::options_t opt(self->available_options());
+
+    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);
+
+    return self->update_options(opt);
+  }
 SWIGINTERN unsigned int SBAS_Ephemeris_Sl_double_Sg__set_svid(SBAS_Ephemeris< double > *self,unsigned int const &v){
   return self->svid = v;
 }
@@ -17225,6 +17238,100 @@ fail:
 }
 
 
+/*
+  Document-method: GPS_PVT::GPS::Solver.options
+
+  call-seq:
+    options -> GPS_Solver< double >::super_t::options_t
+
+An instance method.
+
+*/
+SWIGINTERN VALUE
+_wrap_Solver_options(int argc, VALUE *argv, VALUE self) {
+  GPS_Solver< double > *arg1 = (GPS_Solver< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  GPS_Solver< double >::super_t::options_t result;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 0) || (argc > 0)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 0)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_GPS_SolverT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), Ruby_Format_TypeError( "", "GPS_Solver< double > const *","get_options", 1, self )); 
+  }
+  arg1 = reinterpret_cast< GPS_Solver< double > * >(argp1);
+  {
+    try {
+      result = GPS_Solver_Sl_double_Sg__get_options((GPS_Solver< double > const *)arg1);
+    } catch (const native_exception &e) {
+      e.regenerate();
+      SWIG_fail;
+    } catch (const std::exception& e) {
+      SWIG_exception_fail(SWIG_RuntimeError, e.what());
+    }
+  }
+  {
+    VALUE res(rb_hash_new());
+    rb_hash_aset(res, ID2SYM(rb_intern("skip_exclusion")), SWIG_From_bool  ((&result)->skip_exclusion));
+    vresult = res;
+  }
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
+/*
+  Document-method: GPS_PVT::GPS::Solver.options=
+
+  call-seq:
+    options=(VALUE obj) -> GPS_Solver< double >::super_t::options_t
+
+An instance method.
+
+*/
+SWIGINTERN VALUE
+_wrap_Solver_optionse___(int argc, VALUE *argv, VALUE self) {
+  GPS_Solver< double > *arg1 = (GPS_Solver< double > *) 0 ;
+  VALUE arg2 = (VALUE) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  GPS_Solver< double >::super_t::options_t result;
+  VALUE vresult = Qnil;
+  
+  if ((argc < 1) || (argc > 1)) {
+    rb_raise(rb_eArgError, "wrong # of arguments(%d for 1)",argc); SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(self, &argp1,SWIGTYPE_p_GPS_SolverT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), Ruby_Format_TypeError( "", "GPS_Solver< double > *","set_options", 1, self )); 
+  }
+  arg1 = reinterpret_cast< GPS_Solver< double > * >(argp1);
+  arg2 = argv[0];
+  {
+    try {
+      result = GPS_Solver_Sl_double_Sg__set_options(arg1,arg2);
+    } catch (const native_exception &e) {
+      e.regenerate();
+      SWIG_fail;
+    } catch (const std::exception& e) {
+      SWIG_exception_fail(SWIG_RuntimeError, e.what());
+    }
+  }
+  {
+    VALUE res(rb_hash_new());
+    rb_hash_aset(res, ID2SYM(rb_intern("skip_exclusion")), SWIG_From_bool  ((&result)->skip_exclusion));
+    vresult = res;
+  }
+  return vresult;
+fail:
+  return Qnil;
+}
+
+
 SWIGINTERN void
 free_GPS_Solver_Sl_double_Sg_(void *self) {
     GPS_Solver< double > *arg1 = (GPS_Solver< double > *)self;
@@ -26933,6 +27040,8 @@ SWIGEXPORT void Init_GPS(void) {
   rb_define_method(SwigClassSolver.klass, "solve", VALUEFUNC(_wrap_Solver_solve), -1);
   rb_define_method(SwigClassSolver.klass, "correction", VALUEFUNC(_wrap_Solver_correction), -1);
   rb_define_method(SwigClassSolver.klass, "correction=", VALUEFUNC(_wrap_Solver_correctione___), -1);
+  rb_define_method(SwigClassSolver.klass, "options", VALUEFUNC(_wrap_Solver_options), -1);
+  rb_define_method(SwigClassSolver.klass, "options=", VALUEFUNC(_wrap_Solver_optionse___), -1);
   SwigClassSolver.mark = (void (*)(void *)) GPS_Solver<double>::mark;
   SwigClassSolver.destroy = (void (*)(void *)) free_GPS_Solver_Sl_double_Sg_;
   SwigClassSolver.trackObjects = 0;

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

@@ -474,12 +474,7 @@ struct GPS_Solver_Base {
       using super_t::reset;
       void reset(const int &prn) {set(prn, false);}
       std::vector<int> excluded() const {
-        std::vector<int> res(super_t::indices_one());
-        for(std::vector<int>::iterator it(res.begin()), it_end(res.end());
-            it != it_end; ++it){
-          *it += prn_begin;
-        }
-        return res;
+        return super_t::indices_one(prn_begin);
       }
     };
   };

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/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

@@ -1356,6 +1356,28 @@ 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
@@ -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 = {})
@@ -153,6 +154,9 @@ class Receiver
       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|
       @solver.send(target)
@@ -165,8 +169,10 @@ 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(/,/)
@@ -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
     }

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.7.0"
+  VERSION = "0.7.1"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.7.0
+  version: 0.7.1
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-08-24 00:00:00.000000000 Z
+date: 2022-08-25 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rake