mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-01-07 07:50:32 +00:00
Code Issues Releases Wiki Activity

Linear Algebra Library replacement: ITPP is now replaced by Armadillo

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
README
View File

@ -27,16 +27,24 @@ How to set up the compilation environment for Ubuntu 9.10 and 10.04
- GFLAGS$ ./configure - GFLAGS$ ./configure
- 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
In order to compile the arithmetic tests, the GNU Scientific Library (GSL) library package is needed. In order to compile the arithmetic tests, the GNU Scientific Library (GSL) library package is needed.

9
jamroot.jam
View File

@ -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
View File

@ -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
View File

@ -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
{ {