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https://github.com/gnss-sdr/gnss-sdr
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Remove Armadillo from Pvt_Solution API
Some API cleaning. The user does not need to call cart2geo anymore. Armadillo stuff moved to old ls_pvt solution
This commit is contained in:
Carles Fernandez
parent
c097300106
commit
c178d9a8a6
@ -19,9 +19,8 @@
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*/
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#include "hybrid_ls_pvt.h"
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include "Galileo_E1.h"
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#include "MATH_CONSTANTS.h"
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <glog/logging.h>
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#include <utility>
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@ -296,14 +295,14 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
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// execute Bancroft's algorithm to estimate initial receiver position and time
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DLOG(INFO) << " Executing Bancroft algorithm...";
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rx_position_and_time = bancroftPos(satpos.t(), obs);
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this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
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this->set_time_offset_s(rx_position_and_time(3) / SPEED_OF_LIGHT_M_S); // save time for the next iteration [meters]->[seconds]
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this->set_rx_pos({rx_position_and_time(0), rx_position_and_time(1), rx_position_and_time(2)}); // save ECEF position for the next iteration
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this->set_time_offset_s(rx_position_and_time(3) / SPEED_OF_LIGHT_M_S); // save time for the next iteration [meters]->[seconds]
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}
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// Execute WLS using previous position as the initialization point
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rx_position_and_time = leastSquarePos(satpos, obs, W);
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this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
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this->set_rx_pos({rx_position_and_time(0), rx_position_and_time(1), rx_position_and_time(2)}); // save ECEF position for the next iteration
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this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / SPEED_OF_LIGHT_M_S); // accumulate the rx time error for the next iteration [meters]->[seconds]
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DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
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@ -325,8 +324,6 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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this->set_position_UTC_time(p_time);
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cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
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DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
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<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
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<< " [deg], Height= " << this->get_height() << " [m]"
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@ -19,12 +19,11 @@
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*/
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#include "ls_pvt.h"
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#include "GPS_L1_CA.h"
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#include "MATH_CONSTANTS.h"
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#include "geofunctions.h"
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#include <glog/logging.h>
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#include <stdexcept>
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arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
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{
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// BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges
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@ -166,14 +165,15 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
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*/
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//=== Initialization =======================================================
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int nmbOfIterations = 10; // TODO: include in config
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constexpr double GPS_STARTOFFSET_MS = 68.802; // [ms] Initial signal travel time
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int nmbOfIterations = 10; // TODO: include in config
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int nmbOfSatellites;
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nmbOfSatellites = satpos.n_cols; // Armadillo
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arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
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w.diag() = w_vec; // diagonal weight matrix
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arma::vec rx_pos = this->get_rx_pos();
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arma::vec pos = {rx_pos(0), rx_pos(1), rx_pos(2), 0}; // time error in METERS (time x speed)
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std::array<double, 3> rx_pos = this->get_rx_pos();
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arma::vec pos = {rx_pos[0], rx_pos[1], rx_pos[2], 0}; // time error in METERS (time x speed)
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arma::mat A;
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arma::mat omc;
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A = arma::zeros(nmbOfSatellites, 4);
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@ -211,7 +211,8 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
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traveltime = sqrt(rho2) / SPEED_OF_LIGHT_M_S;
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// --- Correct satellite position (do to earth rotation) -------
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Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); // armadillo
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std::array<double, 3> rot_x = Ls_Pvt::rotateSatellite(traveltime, {X(0, i), X(1, i), X(2, i)});
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Rot_X = {rot_x[0], rot_x[1], rot_x[2]};
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// -- Find DOA and range of satellites
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double* azim = nullptr;
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@ -232,7 +233,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
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else
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{
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// --- Find delay due to troposphere (in meters)
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Ls_Pvt::tropo(&trop, sin(*elev * GNSS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
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Ls_Pvt::tropo(&trop, sin(elev[0] * GNSS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
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if (trop > 5.0)
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{
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trop = 0.0; // check for erratic values
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@ -270,3 +271,158 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
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}
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return pos;
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}
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int Ls_Pvt::tropo(double* ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km)
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{
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/* Inputs:
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sinel - sin of elevation angle of satellite
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hsta_km - height of station in km
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p_mb - atmospheric pressure in mb at height hp_km
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t_kel - surface temperature in degrees Kelvin at height htkel_km
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hum - humidity in % at height hhum_km
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hp_km - height of pressure measurement in km
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htkel_km - height of temperature measurement in km
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hhum_km - height of humidity measurement in km
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Outputs:
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ddr_m - range correction (meters)
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Reference
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Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
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Refraction Correction Model. Paper presented at the
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American Geophysical Union Annual Fall Meeting, San
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Francisco, December 12-17
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Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
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*/
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const double a_e = 6378.137; // semi-major axis of earth ellipsoid
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const double b0 = 7.839257e-5;
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const double tlapse = -6.5;
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const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
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const double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
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const double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15);
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const double e0 = 0.0611 * hum * pow(10, atkel);
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const double tksea = t_kel - tlapse * htkel_km;
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const double tkelh = tksea + tlapse * hhum_km;
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const double e0sea = e0 * pow((tksea / tkelh), (4 * em));
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const double tkelp = tksea + tlapse * hp_km;
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const double psea = p_mb * pow((tksea / tkelp), em);
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if (sinel < 0)
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{
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sinel = 0.0;
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}
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double tropo_delay = 0.0;
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bool done = false;
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double refsea = 77.624e-6 / tksea;
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double htop = 1.1385e-5 / refsea;
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refsea = refsea * psea;
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double ref = refsea * pow(((htop - hsta_km) / htop), 4);
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double a;
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double b;
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double rtop;
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while (true)
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{
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rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
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// check to see if geometry is crazy
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if (rtop < 0)
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{
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rtop = 0;
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}
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rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
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a = -sinel / (htop - hsta_km);
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b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
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arma::vec rn = arma::vec(8);
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rn.zeros();
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for (int i = 0; i < 8; i++)
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{
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rn(i) = pow(rtop, (i + 1 + 1));
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}
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arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b / 3, a * (pow(a, 2) + 3 * b),
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pow(a, 4) / 5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b) / 3,
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pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
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if (pow(b, 2) > 1.0e-35)
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{
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alpha(6) = a * pow(b, 3) / 2;
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alpha(7) = pow(b, 4) / 9;
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}
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double dr = rtop;
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arma::mat aux_ = alpha * rn;
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dr = dr + aux_(0, 0);
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tropo_delay = tropo_delay + dr * ref * 1000;
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if (done == true)
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{
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*ddr_m = tropo_delay;
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break;
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}
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done = true;
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refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
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htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
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ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
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}
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return 0;
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}
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std::array<double, 3> Ls_Pvt::rotateSatellite(double traveltime, const std::array<double, 3>& X_sat)
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{
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/*
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* Returns rotated satellite ECEF coordinates due to Earth
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* rotation during signal travel time
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*
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* Inputs:
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* travelTime - signal travel time
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* X_sat - satellite's ECEF coordinates
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*
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* Returns:
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* X_sat_rot - rotated satellite's coordinates (ECEF)
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*/
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const double omegatau = GNSS_OMEGA_EARTH_DOT * traveltime;
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const double cosomg = cos(omegatau);
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const double sinomg = sin(omegatau);
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const double x = cosomg * X_sat[0] + sinomg * X_sat[1];
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const double y = -sinomg * X_sat[0] + cosomg * X_sat[1];
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std::array<double, 3> X_sat_rot = {x, y, X_sat[2]};
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return X_sat_rot;
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}
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double Ls_Pvt::get_gdop() const
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{
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return 0.0; // not implemented
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}
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double Ls_Pvt::get_pdop() const
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{
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return 0.0; // not implemented
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}
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double Ls_Pvt::get_hdop() const
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{
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return 0.0; // not implemented
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}
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double Ls_Pvt::get_vdop() const
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{
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return 0.0; // not implemented
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}
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@ -21,8 +21,13 @@
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#ifndef GNSS_SDR_LS_PVT_H
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#define GNSS_SDR_LS_PVT_H
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#if ARMA_NO_BOUND_CHECKING
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#define ARMA_NO_DEBUG 1
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#endif
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#include "pvt_solution.h"
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#include <armadillo>
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#include <array>
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/*!
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* \brief Base class for the Least Squares PVT solution
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@ -43,11 +48,43 @@ public:
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*/
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arma::vec leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec);
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double get_hdop() const override;
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double get_vdop() const override;
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double get_pdop() const override;
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double get_gdop() const override;
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private:
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/*!
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* \brief Computes the Lorentz inner product between two vectors
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/*
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* Computes the Lorentz inner product between two vectors
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*/
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double lorentz(const arma::vec& x, const arma::vec& y);
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/*
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* Tropospheric correction
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*
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* \param[in] sinel - sin of elevation angle of satellite
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* \param[in] hsta_km - height of station in km
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* \param[in] p_mb - atmospheric pressure in mb at height hp_km
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* \param[in] t_kel - surface temperature in degrees Kelvin at height htkel_km
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* \param[in] hum - humidity in % at height hhum_km
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* \param[in] hp_km - height of pressure measurement in km
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* \param[in] htkel_km - height of temperature measurement in km
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* \param[in] hhum_km - height of humidity measurement in km
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*
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* \param[out] ddr_m - range correction (meters)
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*
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*
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* Reference:
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* Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
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* Refraction Correction Model. Paper presented at the
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* American Geophysical Union Annual Fall Meeting, San
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* Francisco, December 12-17
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*
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* Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
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*/
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int tropo(double* ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
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std::array<double, 3> rotateSatellite(double traveltime, const std::array<double, 3>& X_sat);
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};
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#endif
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@ -6,7 +6,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2020 (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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@ -19,10 +19,9 @@
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*/
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#include "pvt_solution.h"
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#include "GPS_L1_CA.h"
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#include "geofunctions.h"
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#include "MATH_CONSTANTS.h"
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#include <glog/logging.h>
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#include <array>
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#include <cmath>
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#include <cstddef>
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@ -40,43 +39,12 @@ Pvt_Solution::Pvt_Solution()
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b_valid_position = false;
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d_averaging_depth = 0;
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d_valid_observations = 0;
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d_rx_pos = arma::zeros(3, 1);
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d_rx_dt_s = 0.0;
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d_rx_clock_drift_ppm = 0.0;
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d_pre_2009_file = false; // disabled by default
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}
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arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
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{
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/*
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* Returns rotated satellite ECEF coordinates due to Earth
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* rotation during signal travel time
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*
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* Inputs:
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* travelTime - signal travel time
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* X_sat - satellite's ECEF coordinates
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*
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* Returns:
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* X_sat_rot - rotated satellite's coordinates (ECEF)
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*/
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// -- Find rotation angle --------------------------------------------------
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double omegatau;
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omegatau = GNSS_OMEGA_EARTH_DOT * traveltime;
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// -- Build a rotation matrix ----------------------------------------------
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arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
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{-sin(omegatau), cos(omegatau), 0.0},
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{0.0, 0.0, 1.0}};
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// -- Do the rotation ------------------------------------------------------
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arma::vec X_sat_rot;
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X_sat_rot = R3 * X_sat;
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return X_sat_rot;
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}
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int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
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{
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/* Conversion of Cartesian coordinates (X,Y,Z) to geographical
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@ -93,9 +61,9 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
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const std::array<double, 5> a = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
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const std::array<double, 5> f = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
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double lambda = atan2(Y, X);
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double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
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double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
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const double lambda = atan2(Y, X);
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const double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
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const double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
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double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
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double h = 0.1;
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@ -116,121 +84,15 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
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}
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}
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while (std::abs(h - oldh) > 1.0e-12);
|
||||
d_latitude_d = phi * 180.0 / GNSS_PI;
|
||||
d_longitude_d = lambda * 180.0 / GNSS_PI;
|
||||
|
||||
d_latitude_d = phi * R2D;
|
||||
d_longitude_d = lambda * R2D;
|
||||
d_height_m = h;
|
||||
// todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km)
|
||||
{
|
||||
/* Inputs:
|
||||
sinel - sin of elevation angle of satellite
|
||||
hsta_km - height of station in km
|
||||
p_mb - atmospheric pressure in mb at height hp_km
|
||||
t_kel - surface temperature in degrees Kelvin at height htkel_km
|
||||
hum - humidity in % at height hhum_km
|
||||
hp_km - height of pressure measurement in km
|
||||
htkel_km - height of temperature measurement in km
|
||||
hhum_km - height of humidity measurement in km
|
||||
|
||||
Outputs:
|
||||
ddr_m - range correction (meters)
|
||||
|
||||
Reference
|
||||
Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
|
||||
Refraction Correction Model. Paper presented at the
|
||||
American Geophysical Union Annual Fall Meeting, San
|
||||
Francisco, December 12-17
|
||||
|
||||
Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
|
||||
*/
|
||||
|
||||
const double a_e = 6378.137; // semi-major axis of earth ellipsoid
|
||||
const double b0 = 7.839257e-5;
|
||||
const double tlapse = -6.5;
|
||||
const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
|
||||
|
||||
double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
|
||||
double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15);
|
||||
double e0 = 0.0611 * hum * pow(10, atkel);
|
||||
double tksea = t_kel - tlapse * htkel_km;
|
||||
double tkelh = tksea + tlapse * hhum_km;
|
||||
double e0sea = e0 * pow((tksea / tkelh), (4 * em));
|
||||
double tkelp = tksea + tlapse * hp_km;
|
||||
double psea = p_mb * pow((tksea / tkelp), em);
|
||||
|
||||
if (sinel < 0)
|
||||
{
|
||||
sinel = 0.0;
|
||||
}
|
||||
|
||||
double tropo_delay = 0.0;
|
||||
bool done = false;
|
||||
double refsea = 77.624e-6 / tksea;
|
||||
double htop = 1.1385e-5 / refsea;
|
||||
refsea = refsea * psea;
|
||||
double ref = refsea * pow(((htop - hsta_km) / htop), 4);
|
||||
|
||||
double a;
|
||||
double b;
|
||||
double rtop;
|
||||
|
||||
while (true)
|
||||
{
|
||||
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
|
||||
|
||||
// check to see if geometry is crazy
|
||||
if (rtop < 0)
|
||||
{
|
||||
rtop = 0;
|
||||
}
|
||||
|
||||
rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
|
||||
|
||||
a = -sinel / (htop - hsta_km);
|
||||
b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
|
||||
|
||||
arma::vec rn = arma::vec(8);
|
||||
rn.zeros();
|
||||
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
rn(i) = pow(rtop, (i + 1 + 1));
|
||||
}
|
||||
|
||||
arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b / 3, a * (pow(a, 2) + 3 * b),
|
||||
pow(a, 4) / 5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b) / 3,
|
||||
pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
|
||||
|
||||
if (pow(b, 2) > 1.0e-35)
|
||||
{
|
||||
alpha(6) = a * pow(b, 3) / 2;
|
||||
alpha(7) = pow(b, 4) / 9;
|
||||
}
|
||||
|
||||
double dr = rtop;
|
||||
arma::mat aux_ = alpha * rn;
|
||||
dr = dr + aux_(0, 0);
|
||||
tropo_delay = tropo_delay + dr * ref * 1000;
|
||||
|
||||
if (done == true)
|
||||
{
|
||||
*ddr_m = tropo_delay;
|
||||
break;
|
||||
}
|
||||
|
||||
done = true;
|
||||
refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
|
||||
htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
|
||||
ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void Pvt_Solution::set_averaging_depth(int depth)
|
||||
{
|
||||
d_averaging_depth = depth;
|
||||
@ -306,6 +168,7 @@ void Pvt_Solution::set_time_offset_s(double offset)
|
||||
d_rx_dt_s = offset;
|
||||
}
|
||||
|
||||
|
||||
double Pvt_Solution::get_clock_drift_ppm() const
|
||||
{
|
||||
return d_rx_clock_drift_ppm;
|
||||
@ -317,6 +180,7 @@ void Pvt_Solution::set_clock_drift_ppm(double clock_drift_ppm)
|
||||
d_rx_clock_drift_ppm = clock_drift_ppm;
|
||||
}
|
||||
|
||||
|
||||
double Pvt_Solution::get_latitude() const
|
||||
{
|
||||
return d_latitude_d;
|
||||
@ -395,27 +259,26 @@ void Pvt_Solution::set_valid_position(bool is_valid)
|
||||
}
|
||||
|
||||
|
||||
void Pvt_Solution::set_rx_pos(const arma::vec &pos)
|
||||
void Pvt_Solution::set_rx_pos(const std::array<double, 3> &pos)
|
||||
{
|
||||
d_rx_pos = pos;
|
||||
d_latitude_d = d_rx_pos(0);
|
||||
d_longitude_d = d_rx_pos(1);
|
||||
d_height_m = d_rx_pos(2);
|
||||
Pvt_Solution::cart2geo(d_rx_pos[0], d_rx_pos[1], d_rx_pos[2], 4);
|
||||
}
|
||||
|
||||
|
||||
arma::vec Pvt_Solution::get_rx_pos() const
|
||||
std::array<double, 3> Pvt_Solution::get_rx_pos() const
|
||||
{
|
||||
return d_rx_pos;
|
||||
}
|
||||
|
||||
void Pvt_Solution::set_rx_vel(const arma::vec &vel)
|
||||
|
||||
void Pvt_Solution::set_rx_vel(const std::array<double, 3> &vel)
|
||||
{
|
||||
d_rx_vel = vel;
|
||||
}
|
||||
|
||||
|
||||
arma::vec Pvt_Solution::get_rx_vel() const
|
||||
std::array<double, 3> Pvt_Solution::get_rx_vel() const
|
||||
{
|
||||
return d_rx_vel;
|
||||
}
|
||||
@ -449,3 +312,9 @@ void Pvt_Solution::set_pre_2009_file(bool pre_2009_file)
|
||||
{
|
||||
d_pre_2009_file = pre_2009_file;
|
||||
}
|
||||
|
||||
|
||||
bool Pvt_Solution::is_pre_2009() const
|
||||
{
|
||||
return d_pre_2009_file;
|
||||
}
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@ -21,12 +21,8 @@
|
||||
#ifndef GNSS_SDR_PVT_SOLUTION_H
|
||||
#define GNSS_SDR_PVT_SOLUTION_H
|
||||
|
||||
#if ARMA_NO_BOUND_CHECKING
|
||||
#define ARMA_NO_DEBUG 1
|
||||
#endif
|
||||
|
||||
#include <armadillo>
|
||||
#include <boost/date_time/posix_time/posix_time.hpp>
|
||||
#include <array>
|
||||
#include <deque>
|
||||
|
||||
|
||||
@ -39,51 +35,48 @@ class Pvt_Solution
|
||||
public:
|
||||
Pvt_Solution();
|
||||
virtual ~Pvt_Solution() = default;
|
||||
void set_pre_2009_file(bool pre_2009_file); //!< Flag for the week rollover computation in post processing mode for signals older than 2009
|
||||
double get_time_offset_s() const; //!< Get RX time offset [s]
|
||||
void set_time_offset_s(double offset); //!< Set RX time offset [s]
|
||||
|
||||
double get_clock_drift_ppm() const; //!< Get the Rx clock drift [ppm]
|
||||
void set_clock_drift_ppm(double clock_drift_ppm); //!< Set the Rx clock drift [ppm]
|
||||
double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
|
||||
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
|
||||
double get_height() const; //!< Get RX position height WGS84 [m]
|
||||
|
||||
double get_speed_over_ground() const; //!< Get RX speed over ground [m/s]
|
||||
void set_speed_over_ground(double speed_m_s); //!< Set RX speed over ground [m/s]
|
||||
|
||||
double get_course_over_ground() const; //!< Get RX course over ground [deg]
|
||||
void set_course_over_ground(double cog_deg); //!< Set RX course over ground [deg]
|
||||
|
||||
double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg]
|
||||
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
|
||||
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
|
||||
|
||||
void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
|
||||
arma::vec get_rx_pos() const;
|
||||
|
||||
void set_rx_vel(const arma::vec &vel); //!< Set velocity: East [m/s], North [m/s], Up [m/s]
|
||||
arma::vec get_rx_vel() const;
|
||||
|
||||
bool is_valid_position() const;
|
||||
void set_valid_position(bool is_valid);
|
||||
|
||||
boost::posix_time::ptime get_position_UTC_time() const;
|
||||
void set_rx_pos(const std::array<double, 3> &pos); //!< Set position: X, Y, Z in Cartesian ECEF coordinates [m]
|
||||
void set_rx_vel(const std::array<double, 3> &vel); //!< Set velocity: East [m/s], North [m/s], Up [m/s]
|
||||
void set_position_UTC_time(const boost::posix_time::ptime &pt);
|
||||
|
||||
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
|
||||
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
|
||||
|
||||
void set_time_offset_s(double offset); //!< Set RX time offset [s]
|
||||
void set_clock_drift_ppm(double clock_drift_ppm); //!< Set the Rx clock drift [ppm]
|
||||
void set_speed_over_ground(double speed_m_s); //!< Set RX speed over ground [m/s]
|
||||
void set_course_over_ground(double cog_deg); //!< Set RX course over ground [deg]
|
||||
void set_valid_position(bool is_valid);
|
||||
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
|
||||
void set_pre_2009_file(bool pre_2009_file); //!< Flag for the week rollover computation in post processing mode for signals older than 2009
|
||||
// averaging
|
||||
void perform_pos_averaging();
|
||||
void set_averaging_depth(int depth); //!< Set length of averaging window
|
||||
bool is_averaging() const;
|
||||
void set_averaging_flag(bool flag);
|
||||
void perform_pos_averaging();
|
||||
|
||||
arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
|
||||
std::array<double, 3> get_rx_pos() const;
|
||||
std::array<double, 3> get_rx_vel() const;
|
||||
boost::posix_time::ptime get_position_UTC_time() const;
|
||||
double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
|
||||
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
|
||||
double get_height() const; //!< Get RX position height WGS84 [m]
|
||||
double get_time_offset_s() const; //!< Get RX time offset [s]
|
||||
double get_clock_drift_ppm() const; //!< Get the Rx clock drift [ppm]
|
||||
double get_speed_over_ground() const; //!< Get RX speed over ground [m/s]
|
||||
double get_course_over_ground() const; //!< Get RX course over ground [deg]
|
||||
double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg]
|
||||
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
|
||||
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
|
||||
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
|
||||
bool is_pre_2009() const;
|
||||
bool is_valid_position() const;
|
||||
bool is_averaging() const;
|
||||
|
||||
/*!
|
||||
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||
virtual double get_hdop() const = 0;
|
||||
virtual double get_vdop() const = 0;
|
||||
virtual double get_pdop() const = 0;
|
||||
virtual double get_gdop() const = 0;
|
||||
|
||||
private:
|
||||
/*
|
||||
* Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||
* coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
|
||||
*
|
||||
* \param[in] X [m] Cartesian coordinate
|
||||
@ -99,53 +92,19 @@ public:
|
||||
*/
|
||||
int cart2geo(double X, double Y, double Z, int elipsoid_selection);
|
||||
|
||||
/*!
|
||||
* \brief Tropospheric correction
|
||||
*
|
||||
* \param[in] sinel - sin of elevation angle of satellite
|
||||
* \param[in] hsta_km - height of station in km
|
||||
* \param[in] p_mb - atmospheric pressure in mb at height hp_km
|
||||
* \param[in] t_kel - surface temperature in degrees Kelvin at height htkel_km
|
||||
* \param[in] hum - humidity in % at height hhum_km
|
||||
* \param[in] hp_km - height of pressure measurement in km
|
||||
* \param[in] htkel_km - height of temperature measurement in km
|
||||
* \param[in] hhum_km - height of humidity measurement in km
|
||||
*
|
||||
* \param[out] ddr_m - range correction (meters)
|
||||
*
|
||||
*
|
||||
* Reference:
|
||||
* Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
|
||||
* Refraction Correction Model. Paper presented at the
|
||||
* American Geophysical Union Annual Fall Meeting, San
|
||||
* Francisco, December 12-17
|
||||
*
|
||||
* Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
|
||||
*/
|
||||
int tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
|
||||
|
||||
virtual double get_hdop() const = 0;
|
||||
virtual double get_vdop() const = 0;
|
||||
virtual double get_pdop() const = 0;
|
||||
virtual double get_gdop() const = 0;
|
||||
|
||||
protected:
|
||||
bool d_pre_2009_file; // Flag to correct week rollover in post processing mode for signals older than 2009
|
||||
private:
|
||||
arma::vec d_rx_pos;
|
||||
arma::vec d_rx_vel;
|
||||
std::array<double, 3> d_rx_pos{};
|
||||
std::array<double, 3> d_rx_vel{};
|
||||
boost::posix_time::ptime d_position_UTC_time;
|
||||
|
||||
std::deque<double> d_hist_latitude_d;
|
||||
std::deque<double> d_hist_longitude_d;
|
||||
std::deque<double> d_hist_height_m;
|
||||
|
||||
double d_rx_dt_s; // RX time offset [s]
|
||||
double d_rx_clock_drift_ppm; // RX clock drift [ppm]
|
||||
|
||||
double d_latitude_d; // RX position Latitude WGS84 [deg]
|
||||
double d_longitude_d; // RX position Longitude WGS84 [deg]
|
||||
double d_height_m; // RX position height WGS84 [m]
|
||||
double d_rx_dt_s; // RX time offset [s]
|
||||
double d_rx_clock_drift_ppm; // RX clock drift [ppm]
|
||||
double d_speed_over_ground_m_s; // RX speed over ground [m/s]
|
||||
double d_course_over_ground_d; // RX course over ground [deg]
|
||||
|
||||
@ -156,6 +115,7 @@ private:
|
||||
int d_averaging_depth; // Length of averaging window
|
||||
int d_valid_observations;
|
||||
|
||||
bool d_pre_2009_file; // Flag to correct week rollover in post processing mode for signals older than 2009
|
||||
bool b_valid_position;
|
||||
bool d_flag_averaging;
|
||||
};
|
||||
|
||||
@ -31,12 +31,7 @@
|
||||
* -----------------------------------------------------------------------*/
|
||||
|
||||
#include "rtklib_solver.h"
|
||||
#include "Beidou_B1I.h"
|
||||
#include "Beidou_B3I.h"
|
||||
#include "Beidou_DNAV.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "rtklib_conversions.h"
|
||||
#include "rtklib_rtkpos.h"
|
||||
#include "rtklib_solution.h"
|
||||
@ -546,14 +541,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
if (gps_ephemeris_iter != gps_ephemeris_map.cend())
|
||||
{
|
||||
// convert ephemeris from GNSS-SDR class to RTKLIB structure
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, d_pre_2009_file);
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, this->is_pre_2009());
|
||||
// convert observation from GNSS-SDR class to RTKLIB structure
|
||||
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_ephemeris_iter->second.i_GPS_week,
|
||||
0,
|
||||
d_pre_2009_file);
|
||||
this->is_pre_2009());
|
||||
valid_obs++;
|
||||
}
|
||||
else // the ephemeris are not available for this SV
|
||||
@ -944,24 +939,24 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
dops(index_aux, azel.data(), 0.0, dop_.data());
|
||||
}
|
||||
this->set_valid_position(true);
|
||||
arma::vec rx_position_and_time(4);
|
||||
rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
|
||||
rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
|
||||
rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
|
||||
std::array<double, 4> rx_position_and_time{};
|
||||
rx_position_and_time[0] = pvt_sol.rr[0]; // [m]
|
||||
rx_position_and_time[1] = pvt_sol.rr[1]; // [m]
|
||||
rx_position_and_time[2] = pvt_sol.rr[2]; // [m]
|
||||
// todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
|
||||
if (rtk_.opt.mode == PMODE_SINGLE)
|
||||
{
|
||||
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
|
||||
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
|
||||
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
|
||||
rx_position_and_time[3] = pvt_sol.dtr[0] + pvt_sol.dtr[2];
|
||||
}
|
||||
else
|
||||
{
|
||||
// the receiver clock offset is expressed in [meters], so we convert it into [s]
|
||||
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
|
||||
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / SPEED_OF_LIGHT_M_S;
|
||||
rx_position_and_time[3] = pvt_sol.dtr[2] + pvt_sol.dtr[0] / SPEED_OF_LIGHT_M_S;
|
||||
}
|
||||
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
|
||||
this->set_rx_pos({rx_position_and_time[0], rx_position_and_time[1], rx_position_and_time[2]}); // save ECEF position for the next iteration
|
||||
|
||||
// compute Ground speed and COG
|
||||
double ground_speed_ms = 0.0;
|
||||
@ -981,7 +976,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
this->set_course_over_ground(new_cog);
|
||||
}
|
||||
|
||||
this->set_time_offset_s(rx_position_and_time(3));
|
||||
this->set_time_offset_s(rx_position_and_time[3]);
|
||||
|
||||
DLOG(INFO) << "RTKLIB Position at RX TOW = " << gnss_observables_map.begin()->second.RX_time
|
||||
<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
@ -989,13 +984,12 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
boost::posix_time::ptime p_time;
|
||||
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity)
|
||||
// Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
|
||||
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); // uncorrected rx time
|
||||
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time[3]); // uncorrected rx time
|
||||
gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
|
||||
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)
|
||||
|
||||
this->set_position_UTC_time(p_time);
|
||||
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
|
||||
|
||||
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
|
||||
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
|
||||
@ -1006,11 +1000,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
// TOW
|
||||
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
|
||||
// WEEK
|
||||
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, d_pre_2009_file);
|
||||
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
|
||||
// PVT GPS time
|
||||
monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time;
|
||||
// User clock offset [s]
|
||||
monitor_pvt.user_clk_offset = rx_position_and_time(3);
|
||||
monitor_pvt.user_clk_offset = rx_position_and_time[3];
|
||||
|
||||
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
|
||||
monitor_pvt.pos_x = pvt_sol.rr[0];
|
||||
@ -1052,12 +1046,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
monitor_pvt.hdop = dop_[2];
|
||||
monitor_pvt.vdop = dop_[3];
|
||||
|
||||
arma::vec rx_vel_enu(3);
|
||||
rx_vel_enu(0) = enuv[0];
|
||||
rx_vel_enu(1) = enuv[1];
|
||||
rx_vel_enu(2) = enuv[2];
|
||||
|
||||
this->set_rx_vel(rx_vel_enu);
|
||||
this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
|
||||
|
||||
double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
|
||||
|
||||
@ -1077,13 +1066,13 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
|
||||
// WEEK
|
||||
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, d_pre_2009_file);
|
||||
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
|
||||
// PVT GPS time
|
||||
tmp_double = gnss_observables_map.begin()->second.RX_time;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
// User clock offset [s]
|
||||
tmp_double = rx_position_and_time(3);
|
||||
tmp_double = rx_position_and_time[3];
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
|
||||
|
||||
@ -47,8 +47,6 @@ constexpr uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit peri
|
||||
*/
|
||||
constexpr double MAX_TOA_DELAY_MS = 20.0;
|
||||
|
||||
constexpr double GPS_STARTOFFSET_MS = 68.802; // [ms] Initial signal travel time (only for old ls_pvt implementation)
|
||||
|
||||
// optimum parameters
|
||||
constexpr uint32_t GPS_L1_CA_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
|
||||
@ -114,10 +114,10 @@ constexpr double PI_TWO_N31 = 1.462918079267160e-009; //!< Pi*2^-31
|
||||
constexpr double PI_TWO_N38 = 1.142904749427469e-011; //!< Pi*2^-38
|
||||
constexpr double PI_TWO_N23 = 3.745070282923929e-007; //!< Pi*2^-23
|
||||
|
||||
constexpr double D2R = (GNSS_PI / 180.0); //!< deg to rad
|
||||
constexpr double R2D = (180.0 / GNSS_PI); //!< rad to deg
|
||||
constexpr double SC2RAD = GNSS_PI; //!< semi-circle to radian (IS-GPS)
|
||||
constexpr double AS2R = (D2R / 3600.0); //!< arc sec to radian
|
||||
constexpr double D2R = GNSS_PI / 180.0; //!< deg to rad
|
||||
constexpr double R2D = 180.0 / GNSS_PI; //!< rad to deg
|
||||
constexpr double SC2RAD = GNSS_PI; //!< semi-circle to radian (IS-GPS)
|
||||
constexpr double AS2R = D2R / 3600.0; //!< arc sec to radian
|
||||
|
||||
constexpr double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun.
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user