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Linear Algebra Library replacement: ITPP is now replaced by Armadillo

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@82 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2011-11-28 10:19:41 +00:00
parent 994e2dddfe
commit 40754e6256
4 changed files with 136 additions and 52 deletions
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24
README
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@ -28,14 +28,22 @@ How to set up the compilation environment for Ubuntu 9.10 and 10.04
- GFLAGS$ make - GFLAGS$ make
- GFLAGS$ sudo make install - GFLAGS$ sudo make install
- (31/10/2011) Download, compile and install the IT++ library, from http://sourceforge.net/apps/wordpress/itpp/ - (28/11/2011) Download, compile, and install the Armadillo linear algebra library
From the folder containing IT++, build and install the library: 1. Download the latest stable version from http://arma.sourceforge.net/
export CXXFLAGS="-DNDEBUG -O3 -pipe" (*) 2. Unpack it
./configure 3. Open a shell, change into the directory that was
make created by unpacking the armadillo archive, and type the following
make check commands:
sudo make install cmake .
(*) For more information on the the specific compiler flags for your processor, go to http://itpp.sourceforge.net/devel/installation.html make
The full stop separated from "cmake" by a space is important.
CMake will figure out what other libraries are currently installed
and will modify Armadillo's configuration correspondingly.
CMake will also generate a run-time armadillo library, which is a
combined alias for all the relevant libraries present on your system
(eg. BLAS, LAPACK and ATLAS).
4. Install the library
sudo make install
(11/12/2010) GSL AND CBLAS ARITHMETIC (11/12/2010) GSL AND CBLAS ARITHMETIC

9
jamroot.jam
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@ -8,12 +8,15 @@ lib gnuradio-usrp ;
lib profiler ; lib profiler ;
lib gsl ; lib gsl ;
lib gslcblas ; lib gslcblas ;
lib itpp ; #lib itpp ;
lib armadillo ;
project : requirements project : requirements
<define>OMNITHREAD_POSIX <define>OMNITHREAD_POSIX
<cxxflags>"-std=c++0x `pkg-config --cflags itpp`" <cxxflags>"-std=c++0x"
<linkflags>"`pkg-config --libs itpp`" <linkflags>"-larmadillo"
#<cxxflags>"-std=c++0x `pkg-config --cflags itpp`"
#<linkflags>"`pkg-config --libs itpp`"
# <include>src/utils # <include>src/utils
# <include>src/utils/INIReader # <include>src/utils/INIReader
<include>src/algorithms/acquisition/adapters <include>src/algorithms/acquisition/adapters

103
src/algorithms/observables/libs/gps_l1_ca_ls_pvt.cc
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@ -1,17 +1,48 @@
/*!
* \file gps_l1_ca_ls_pvt.cc
* \brief Least Squares Position, Velocity, and Time (PVT) solver, based on
* K.Borre Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
/*!
* Using ITPP
*/
//#include <itpp/itbase.h>
//#include <itpp/stat/misc_stat.h>
//#include <itpp/base/matfunc.h>
/** //using namespace itpp;
* Copyright notice
/*!
* Using armadillo
*/ */
/** #include "armadillo"
* Author: Javier Arribas, 2011. jarribas(at)cttc.es
*/
#include <itpp/itbase.h> using namespace arma;
#include <itpp/stat/misc_stat.h>
#include <itpp/base/matfunc.h>
using namespace itpp;
#include "gps_l1_ca_ls_pvt.h" #include "gps_l1_ca_ls_pvt.h"
@ -91,7 +122,9 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
//double dtr = GPS_PI / 180.0; //double dtr = GPS_PI / 180.0;
int nmbOfSatellites; int nmbOfSatellites;
nmbOfSatellites = satpos.cols();
//nmbOfSatellites = satpos.cols(); //ITPP
nmbOfSatellites = satpos.n_cols; //Armadillo
vec pos = "0.0 0.0 0.0 0.0"; vec pos = "0.0 0.0 0.0 0.0";
mat A; mat A;
mat omc; mat omc;
@ -103,14 +136,15 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
el=zeros(1,nmbOfSatellites); el=zeros(1,nmbOfSatellites);
for (int i = 0; i < nmbOfSatellites; i++) { for (int i = 0; i < nmbOfSatellites; i++) {
for (int j = 0; j < 4; j++) { for (int j = 0; j < 4; j++) {
A.set(i, j, 0.0); //A.set(i, j, 0.0); //ITPP
A(i,j)=0.0; //Armadillo
} }
omc(i, 0)=0.0; omc(i, 0)=0.0;
az(0, i)=0.0; az(0, i)=0.0;
} }
el = az; el = az;
mat X = satpos;
mat X = satpos;
vec Rot_X; vec Rot_X;
double rho2; double rho2;
double traveltime; double traveltime;
@ -122,27 +156,35 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
for (int i = 0; i < nmbOfSatellites; i++) { for (int i = 0; i < nmbOfSatellites; i++) {
if (iter == 0) { if (iter == 0) {
//--- Initialize variables at the first iteration -------------- //--- Initialize variables at the first iteration --------------
Rot_X=X.get_col(i); //Rot_X=X.get_col(i); //ITPP
Rot_X=X.col(i); //Armadillo
trop = 0.0; trop = 0.0;
} else { } else {
//--- Update equations ----------------------------------------- //--- Update equations -----------------------------------------
rho2 = (X(0, i) - pos(0))*(X(0, i) - pos(0)) + (X(1, i) - pos(1))*(X(1, i) - pos(1))+ (X(2,i) - pos(2))*(X(2,i) - pos(2)); rho2 = (X(0, i) - pos(0))*(X(0, i) - pos(0)) + (X(1, i) - pos(1))*(X(1, i) - pos(1))+ (X(2,i) - pos(2))*(X(2,i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_m_s; traveltime = sqrt(rho2) / GPS_C_m_s;
//--- Correct satellite position (do to earth rotation) -------- //--- Correct satellite position (do to earth rotation) --------
Rot_X = e_r_corr(traveltime, X.get_col(i)); //Rot_X = e_r_corr(traveltime, X.get_col(i)); //ITPP
Rot_X = e_r_corr(traveltime, X.col(i)); //armadillo
//--- Find the elevation angel of the satellite ---------------- //--- Find the elevation angel of the satellite ----------------
//[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :)); //[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
} }
//--- Apply the corrections ---------------------------------------- //--- Apply the corrections ----------------------------------------
omc(i) = (obs(i) - norm(Rot_X - pos.left(3)) - pos(4) - trop); //omc(i) = (obs(i) - norm(Rot_X - pos(3)) - pos(4) - trop); //ITPP
omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0,2),2) - pos(3) - trop); // Armadillo
//--- Construct the A matrix --------------------------------------- //--- Construct the A matrix ---------------------------------------
A.set(i, 0, (-(Rot_X(0) - pos(0))) / obs(i)); //ITPP
A.set(i, 1, (-(Rot_X(1) - pos(1))) / obs(i)); //A.set(i, 0, (-(Rot_X(0) - pos(0))) / obs(i));
A.set(i, 2, (-(Rot_X(2) - pos(2))) / obs(i)); //A.set(i, 1, (-(Rot_X(1) - pos(1))) / obs(i));
A.set(i, 3, 1.0); //A.set(i, 2, (-(Rot_X(2) - pos(2))) / obs(i));
//A.set(i, 3, 1.0);
//Armadillo
A(i,0)=(-(Rot_X(0) - pos(0))) / obs(i);
A(i,1)=(-(Rot_X(1) - pos(1))) / obs(i);
A(i,2)=(-(Rot_X(2) - pos(2))) / obs(i);
A(i,3)=1.0;
} }
@ -153,7 +195,8 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
//} //}
//--- Find position update --------------------------------------------- //--- Find position update ---------------------------------------------
x = ls_solve_od(w*A,w*omc); // x = ls_solve_od(w*A,w*omc); // ITPP
x = solve(w*A,w*omc); // Armadillo
//--- Apply position update -------------------------------------------- //--- Apply position update --------------------------------------------
pos = pos + x; pos = pos + x;
@ -165,10 +208,16 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
void gps_l1_ca_ls_pvt::get_PVT(std::map<int,float> pseudoranges,double GPS_current_time) void gps_l1_ca_ls_pvt::get_PVT(std::map<int,float> pseudoranges,double GPS_current_time)
{ {
std::map<int,float>::iterator pseudoranges_iter; std::map<int,float>::iterator pseudoranges_iter;
mat satpos; //ITPP
mat W=eye(d_nchannels); //channels weights matrix //mat W=eye(d_nchannels); //channels weights matrix
//vec obs=zeros(d_nchannels); // pseudoranges observation vector
//mat satpos=zeros(3,d_nchannels); //satellite positions matrix
// Armadillo
mat W=eye(d_nchannels,d_nchannels); //channels weights matrix
vec obs=zeros(d_nchannels); // pseudoranges observation vector vec obs=zeros(d_nchannels); // pseudoranges observation vector
satpos=zeros(3,d_nchannels); //satellite positions matrix mat satpos=zeros(3,d_nchannels); //satellite positions matrix
int valid_obs=0; //valid observations counter int valid_obs=0; //valid observations counter
for (int i=0; i<d_nchannels; i++) for (int i=0; i<d_nchannels; i++)
{ {
@ -254,7 +303,7 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
} }
}while (abs(h-oldh) > 1.0e-12); }while (abs(h-oldh) > 1.0e-12);
d_latitude_d = phi*180.0/GPS_PI; d_latitude_d = phi*180.0/GPS_PI;
d_longitude_d = lambda*180/pi; d_longitude_d = lambda*180/GPS_PI;
d_height_m = h; d_height_m = h;
} }

48
src/algorithms/observables/libs/gps_l1_ca_ls_pvt.h
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@ -1,12 +1,32 @@
/** /*!
* Copyright notice * \file gps_l1_ca_ls_pvt.h
* \brief Least Squares Position, Velocity, and Time (PVT) solver, based on
* K.Borre Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/ */
/**
* Author: Javier Arribas, 2011. jarribas(at)cttc.es
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
*/
#ifndef GPS_L1_CA_LS_PVT_H_ #ifndef GPS_L1_CA_LS_PVT_H_
#define GPS_L1_CA_LS_PVT_H_ #define GPS_L1_CA_LS_PVT_H_
@ -23,11 +43,15 @@
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include <itpp/itbase.h> //#include <itpp/itbase.h>
#include <itpp/stat/misc_stat.h> //#include <itpp/stat/misc_stat.h>
#include <itpp/base/matfunc.h> //#include <itpp/base/matfunc.h>
using namespace itpp; #include "armadillo"
using namespace arma;
//using namespace itpp;
class gps_l1_ca_ls_pvt class gps_l1_ca_ls_pvt
{ {