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https://github.com/gnss-sdr/gnss-sdr
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Linear Algebra Library replacement: ITPP is now replaced by Armadillo
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
20
README
20
README
@@ -28,14 +28,22 @@ How to set up the compilation environment for Ubuntu 9.10 and 10.04
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- GFLAGS$ make
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- GFLAGS$ sudo make install
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- (31/10/2011) Download, compile and install the IT++ library, from http://sourceforge.net/apps/wordpress/itpp/
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From the folder containing IT++, build and install the library:
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export CXXFLAGS="-DNDEBUG -O3 -pipe" (*)
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./configure
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- (28/11/2011) Download, compile, and install the Armadillo linear algebra library
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1. Download the latest stable version from http://arma.sourceforge.net/
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2. Unpack it
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3. Open a shell, change into the directory that was
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created by unpacking the armadillo archive, and type the following
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commands:
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cmake .
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make
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make check
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The full stop separated from "cmake" by a space is important.
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CMake will figure out what other libraries are currently installed
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and will modify Armadillo's configuration correspondingly.
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CMake will also generate a run-time armadillo library, which is a
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combined alias for all the relevant libraries present on your system
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(eg. BLAS, LAPACK and ATLAS).
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4. Install the library
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sudo make install
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(*) For more information on the the specific compiler flags for your processor, go to http://itpp.sourceforge.net/devel/installation.html
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(11/12/2010) GSL AND CBLAS ARITHMETIC
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@@ -8,12 +8,15 @@ lib gnuradio-usrp ;
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lib profiler ;
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lib gsl ;
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lib gslcblas ;
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lib itpp ;
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#lib itpp ;
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lib armadillo ;
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project : requirements
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<define>OMNITHREAD_POSIX
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<cxxflags>"-std=c++0x `pkg-config --cflags itpp`"
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<linkflags>"`pkg-config --libs itpp`"
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<cxxflags>"-std=c++0x"
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<linkflags>"-larmadillo"
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#<cxxflags>"-std=c++0x `pkg-config --cflags itpp`"
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#<linkflags>"`pkg-config --libs itpp`"
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# <include>src/utils
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# <include>src/utils/INIReader
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<include>src/algorithms/acquisition/adapters
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@@ -1,17 +1,48 @@
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/*!
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* \file gps_l1_ca_ls_pvt.cc
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* \brief Least Squares Position, Velocity, and Time (PVT) solver, based on
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* K.Borre Matlab receiver.
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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/*!
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* Using ITPP
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*/
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//#include <itpp/itbase.h>
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//#include <itpp/stat/misc_stat.h>
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//#include <itpp/base/matfunc.h>
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/**
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* Copyright notice
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//using namespace itpp;
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/*!
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* Using armadillo
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*/
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/**
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* Author: Javier Arribas, 2011. jarribas(at)cttc.es
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*/
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#include "armadillo"
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#include <itpp/itbase.h>
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#include <itpp/stat/misc_stat.h>
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#include <itpp/base/matfunc.h>
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using namespace itpp;
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using namespace arma;
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#include "gps_l1_ca_ls_pvt.h"
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@@ -91,7 +122,9 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
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//double dtr = GPS_PI / 180.0;
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int nmbOfSatellites;
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nmbOfSatellites = satpos.cols();
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//nmbOfSatellites = satpos.cols(); //ITPP
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nmbOfSatellites = satpos.n_cols; //Armadillo
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vec pos = "0.0 0.0 0.0 0.0";
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mat A;
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mat omc;
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@@ -103,14 +136,15 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
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el=zeros(1,nmbOfSatellites);
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for (int i = 0; i < nmbOfSatellites; i++) {
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for (int j = 0; j < 4; j++) {
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A.set(i, j, 0.0);
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//A.set(i, j, 0.0); //ITPP
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A(i,j)=0.0; //Armadillo
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}
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omc(i, 0)=0.0;
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az(0, i)=0.0;
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}
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el = az;
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mat X = satpos;
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mat X = satpos;
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vec Rot_X;
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double rho2;
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double traveltime;
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@@ -122,27 +156,35 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
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for (int i = 0; i < nmbOfSatellites; i++) {
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if (iter == 0) {
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//--- Initialize variables at the first iteration --------------
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Rot_X=X.get_col(i);
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//Rot_X=X.get_col(i); //ITPP
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Rot_X=X.col(i); //Armadillo
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trop = 0.0;
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} else {
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//--- Update equations -----------------------------------------
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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));
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traveltime = sqrt(rho2) / GPS_C_m_s;
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//--- Correct satellite position (do to earth rotation) --------
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Rot_X = e_r_corr(traveltime, X.get_col(i));
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//Rot_X = e_r_corr(traveltime, X.get_col(i)); //ITPP
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Rot_X = e_r_corr(traveltime, X.col(i)); //armadillo
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//--- Find the elevation angel of the satellite ----------------
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//[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
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}
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//--- Apply the corrections ----------------------------------------
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omc(i) = (obs(i) - norm(Rot_X - pos.left(3)) - pos(4) - trop);
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//omc(i) = (obs(i) - norm(Rot_X - pos(3)) - pos(4) - trop); //ITPP
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omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0,2),2) - pos(3) - trop); // Armadillo
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//--- Construct the A matrix ---------------------------------------
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A.set(i, 0, (-(Rot_X(0) - pos(0))) / obs(i));
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A.set(i, 1, (-(Rot_X(1) - pos(1))) / obs(i));
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A.set(i, 2, (-(Rot_X(2) - pos(2))) / obs(i));
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A.set(i, 3, 1.0);
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//ITPP
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//A.set(i, 0, (-(Rot_X(0) - pos(0))) / obs(i));
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//A.set(i, 1, (-(Rot_X(1) - pos(1))) / obs(i));
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//A.set(i, 2, (-(Rot_X(2) - pos(2))) / obs(i));
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//A.set(i, 3, 1.0);
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//Armadillo
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A(i,0)=(-(Rot_X(0) - pos(0))) / obs(i);
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A(i,1)=(-(Rot_X(1) - pos(1))) / obs(i);
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A(i,2)=(-(Rot_X(2) - pos(2))) / obs(i);
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A(i,3)=1.0;
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}
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@@ -153,7 +195,8 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
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//}
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//--- Find position update ---------------------------------------------
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x = ls_solve_od(w*A,w*omc);
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// x = ls_solve_od(w*A,w*omc); // ITPP
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x = solve(w*A,w*omc); // Armadillo
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//--- Apply position update --------------------------------------------
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pos = pos + x;
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@@ -165,10 +208,16 @@ vec gps_l1_ca_ls_pvt::leastSquarePos(mat satpos, vec obs, mat w) {
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void gps_l1_ca_ls_pvt::get_PVT(std::map<int,float> pseudoranges,double GPS_current_time)
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{
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std::map<int,float>::iterator pseudoranges_iter;
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mat satpos;
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mat W=eye(d_nchannels); //channels weights matrix
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//ITPP
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//mat W=eye(d_nchannels); //channels weights matrix
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//vec obs=zeros(d_nchannels); // pseudoranges observation vector
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//mat satpos=zeros(3,d_nchannels); //satellite positions matrix
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// Armadillo
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mat W=eye(d_nchannels,d_nchannels); //channels weights matrix
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vec obs=zeros(d_nchannels); // pseudoranges observation vector
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satpos=zeros(3,d_nchannels); //satellite positions matrix
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mat satpos=zeros(3,d_nchannels); //satellite positions matrix
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int valid_obs=0; //valid observations counter
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for (int i=0; i<d_nchannels; i++)
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{
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@@ -254,7 +303,7 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
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}
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}while (abs(h-oldh) > 1.0e-12);
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d_latitude_d = phi*180.0/GPS_PI;
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d_longitude_d = lambda*180/pi;
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d_longitude_d = lambda*180/GPS_PI;
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d_height_m = h;
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}
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@@ -1,12 +1,32 @@
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/**
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* Copyright notice
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/*!
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* \file gps_l1_ca_ls_pvt.h
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* \brief Least Squares Position, Velocity, and Time (PVT) solver, based on
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* K.Borre Matlab receiver.
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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/**
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* Author: Javier Arribas, 2011. jarribas(at)cttc.es
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* Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*/
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#ifndef GPS_L1_CA_LS_PVT_H_
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#define GPS_L1_CA_LS_PVT_H_
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@@ -23,11 +43,15 @@
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#include "gps_navigation_message.h"
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#include "GPS_L1_CA.h"
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#include <itpp/itbase.h>
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#include <itpp/stat/misc_stat.h>
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#include <itpp/base/matfunc.h>
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//#include <itpp/itbase.h>
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//#include <itpp/stat/misc_stat.h>
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//#include <itpp/base/matfunc.h>
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using namespace itpp;
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#include "armadillo"
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using namespace arma;
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//using namespace itpp;
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class gps_l1_ca_ls_pvt
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{
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