mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-29 02:14:51 +00:00
Remove outdated app
This commit is contained in:
Carles Fernandez
parent
321967d028
commit
d50d7d7b57
@ -1,49 +0,0 @@
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# CMAKE for GPSTK by Javier Arribas 2012
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cmake_minimum_required (VERSION 2.6)
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project (gnsspvt_project)
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include_directories(${gnsspvt_project_SOURCE_DIR}/src)
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add_library (kml_printer_gpstk ${gnsspvt_project_SOURCE_DIR}/src/kml_printer_gpstk.cpp)
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add_executable(gnsspvt ${gnsspvt_project_SOURCE_DIR}/src/gnsspvt.cpp)
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target_link_libraries (gnsspvt kml_printer_gpstk)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/CMakeModules/")
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find_package(GPSTK REQUIRED)
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if ( NOT GPSTK_FOUND )
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message(FATAL_ERROR "GPSTK library not found!")
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endif( NOT GPSTK_FOUND )
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find_package(GLOG REQUIRED)
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if ( NOT GLOG_FOUND )
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message(FATAL_ERROR "GLOG library not found!")
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endif( NOT GLOG_FOUND )
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include_directories(${GLOG_INCLUDE_DIRS})
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# IMPORTANT NOTICE: The GPSTK linking order is critical. First it is required to link agains libprocframe to avoid vtable errors
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include_directories(${GPSTK_INCLUDE_DIR}/gpstk ${GEOMATICS_INCLUDE_DIR} ${PROCFRAME_INCLUDE_DIR} ${VDRAW_INCLUDE_DIR} ${VPLOT_INCLUDE_DIR} ${RXIO_INCLUDE_DIR})
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# set(LIBS ${LIBS} ${GPSTK_LIBRARIES} ${GEOMATICS_LIBRARIES} ${VDRAW_LIBRARIES} ${VPLOT_LIBRARIES} ${RXIO_LIBRARIES})
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set(LIBS ${LIBS} ${PROCFRAME_LIBRARIES} ${GPSTK_LIBRARIES} ${GEOMATICS_LIBRARIES} ${GLOG_LIBRARIES})
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target_link_libraries(gnsspvt ${LIBS})
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message(STATUS "GPSTK_INCLUDE_DIR="${GLOG_LIBRARIES})
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#message(STATUS "GPSTK_LIBRARIES=${GPSTK_LIBRARIES}")
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#message(STATUS "LIBS=${LIBS}")
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# debug info: print all variables
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#get_cmake_property(_variableNames VARIABLES)
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#foreach (_variableName ${_variableNames})
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# message(STATUS "${_variableName}=${${_variableName}}")
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#endforeach()
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#get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
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#foreach(dir ${dirs})
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# message(STATUS "INCLUDE_DIRECTORIES='${dir}'")
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#endforeach()
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@ -1,103 +0,0 @@
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# - Try to find the Google Glog library
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#
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# This module defines the following variables
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#
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# GLOG_FOUND - Was Glog found
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# GLOG_INCLUDE_DIRS - the Glog include directories
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# GLOG_LIBRARIES - Link to this
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#
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# This module accepts the following variables
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#
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# GLOG_ROOT - Can be set to Glog install path or Windows build path
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#
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#=============================================================================
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# FindGlog.cmake, adapted from FindBullet.cmake which has the following
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# copyright -
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#-----------------------------------------------------------------------------
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# Copyright 2009 Kitware, Inc.
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# Copyright 2009 Philip Lowman <philip@yhbt.com>
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#
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# Distributed under the OSI-approved BSD License (the "License");
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# see accompanying file Copyright.txt for details.
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# (To distribute this file outside of CMake, substitute the full
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# License text for the above reference.)
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if (NOT DEFINED GLOG_ROOT)
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set (GLOG_ROOT /usr /usr/local)
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endif (NOT DEFINED GLOG_ROOT)
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if(MSVC)
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set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/Release)
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else(MSVC)
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set (LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
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endif(MSVC)
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macro(_FIND_GLOG_LIBRARIES _var)
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find_library(${_var}
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NAMES
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${ARGN}
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PATHS
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${LIB_PATHS}
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PATH_SUFFIXES lib
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)
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mark_as_advanced(${_var})
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endmacro()
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macro(_GLOG_APPEND_LIBRARIES _list _release)
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set(_debug ${_release}_DEBUG)
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if(${_debug})
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set(${_list} ${${_list}} optimized ${${_release}} debug ${${_debug}})
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else()
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set(${_list} ${${_list}} ${${_release}})
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endif()
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endmacro()
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if(MSVC)
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find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
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PATHS
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${GLOG_ROOT}/src/windows
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${GLOG_ROOT}/src/windows/glog
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)
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else(MSVC)
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# Linux/OS X builds
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find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
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PATHS
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${GLOG_ROOT}/include/glog
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)
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endif(MSVC)
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# Find the libraries
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if(MSVC)
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_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.lib)
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else(MSVC)
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# Linux/OS X builds
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_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.so)
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endif(MSVC)
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message("glog library = " ${GLOG_LIBRARIES})
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# handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if
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# all listed variables are TRUE
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include("${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake")
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
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GLOG_LIBRARIES)
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if(MSVC)
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string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
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string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
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set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS} "${VAR_WITHOUT}")
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string(REGEX REPLACE "/libglog.lib" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
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else(MSVC)
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# Linux/OS X builds
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set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
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string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
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endif(MSVC)
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if(GLOG_FOUND)
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# _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)
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endif()
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@ -1,87 +0,0 @@
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# - Find gpstk library
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# Find the native gpstk includes and library
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# This module defines
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# GPSTK_INCLUDE_DIR, where to find tiff.h, etc.
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# GPSTK_LIBRARIES, libraries to link against to use GPSTK.
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# GPSTK_FOUND, If false, do not try to use GPSTK.
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# also defined, but not for general use are
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# GPSTK_LIBRARY, where to find the GPSTK library.
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FIND_PATH(GPSTK_INCLUDE_DIR gpstk/Matrix.hpp)
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FIND_PATH(GEOMATICS_INCLUDE_DIR gpstk/random.hpp)
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FIND_PATH(PROCFRAME_INCLUDE_DIR gpstk/SolverWMS.hpp)
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FIND_PATH(VDRAW_INCLUDE_DIR gpstk/Layout.hpp)
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FIND_PATH(VPLOT_INCLUDE_DIR gpstk/ScatterPlot.hpp)
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FIND_PATH(RXIO_INCLUDE_DIR gpstk/EphReader.hpp)
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SET(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
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FIND_LIBRARY(GPSTK_LIBRARY NAMES ${GPSTK_NAMES} )
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SET(GEOMATICS_NAMES ${GEOMATICS_NAMES} geomatics libgeomatics)
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FIND_LIBRARY(GEOMATICS_LIBRARY NAMES ${GEOMATICS_NAMES} )
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SET(PROCFRAME_NAMES ${PROCFRAME_NAMES} procframe libprocframe)
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FIND_LIBRARY(PROCFRAME_LIBRARY NAMES ${PROCFRAME_NAMES} )
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SET(VDRAW_NAMES ${VDRAW_NAMES} vdraw libvdraw)
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FIND_LIBRARY(VDRAW_LIBRARY NAMES ${VDRAW_NAMES} )
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SET(VPLOT_NAMES ${VPLOT_NAMES} vplot libvplot)
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FIND_LIBRARY(VPLOT_LIBRARY NAMES ${VPLOT_NAMES} )
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SET(RXIO_NAMES ${RXIO_NAMES} rxio librxio)
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FIND_LIBRARY(RXIO_LIBRARY NAMES ${RXIO_NAMES} )
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# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
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# all listed variables are TRUE
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INCLUDE(FindPackageHandleStandardArgs)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(GEOMATICS DEFAULT_MSG GEOMATICS_LIBRARY GEOMATICS_INCLUDE_DIR)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(PROCFRAME DEFAULT_MSG PROCFRAME_LIBRARY PROCFRAME_INCLUDE_DIR)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(VDRAW DEFAULT_MSG VDRAW_LIBRARY VDRAW_INCLUDE_DIR)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(VPLOT DEFAULT_MSG VPLOT_LIBRARY VPLOT_INCLUDE_DIR)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS(RXIO DEFAULT_MSG RXIO_LIBRARY RXIO_INCLUDE_DIR)
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IF(GPSTK_FOUND)
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SET( GPSTK_LIBRARIES ${GPSTK_LIBRARY} )
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ENDIF(GPSTK_FOUND)
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IF(GEOMATICS_FOUND)
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SET( GEOMATICS_LIBRARIES ${GEOMATICS_LIBRARY} )
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ENDIF(GEOMATICS_FOUND)
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IF(PROCFRAME_FOUND)
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SET( PROCFRAME_LIBRARIES ${PROCFRAME_LIBRARY} )
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ENDIF(PROCFRAME_FOUND)
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IF(VDRAW_FOUND)
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SET( VDRAW_LIBRARIES ${VDRAW_LIBRARY} )
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ENDIF(VDRAW_FOUND)
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IF(VPLOT_FOUND)
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SET( VPLOT_LIBRARIES ${VPLOT_LIBRARY} )
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ENDIF(VPLOT_FOUND)
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IF(RXIO_FOUND)
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SET( RXIO_LIBRARIES ${RXIO_LIBRARY} )
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ENDIF(RXIO_FOUND)
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MARK_AS_ADVANCED(GPSTK_INCLUDE_DIR GPSTK_LIBRARY)
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MARK_AS_ADVANCED(GEOMATICS_INCLUDE_DIR GEOMATICS_LIBRARY)
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MARK_AS_ADVANCED(PROCFRAME_INCLUDE_DIR PROCFRAME_LIBRARY)
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MARK_AS_ADVANCED(VDRAW_INCLUDE_DIR VDRAW_LIBRARY)
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MARK_AS_ADVANCED(VPLOT_INCLUDE_DIR VPLOT_LIBRARY)
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MARK_AS_ADVANCED(RXIO_INCLUDE_DIR RXIO_LIBRARY)
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@ -1,62 +0,0 @@
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ABOUT GNSSPVT
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----------------------
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This program uses the high level GpsTk classes to implement a simple PVT solver
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that uses RINEX files as an input.
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The output is written both in the console and in a Google Earth KML file.
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HOW TO BUILD GNSSPVT
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----------------------
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Installation in Ubuntu 11.04, 11.10, 12.04 (32 and 64 bits)
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-----------------------------------------------------------
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- Install CMake through your OS's package manager or by some other means.
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- Install GpsTk:
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The following procedure will build and install the GPSTk.
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Ensure that prerequisites such as jam have been installed.
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Download the GPSTk source distribution from http://www.gpstk.org/bin/view/Documentation/GPSTkDownloads
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Extract the GPSTk tarball. For example, using GNU tar
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tar xvzf gpstk.tar.gz
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Change into the gpstk/dev directory (if using Subversion) or the gpstk/ directory (if using the tarball)and type
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jam
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To build the source documentation using doxygen:
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doxygen
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To install GPSTk as a system library in /usr/local, assume root privileges then execute
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jam install
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To install to a different directory, define the environment variable PREFIX to point to the root of the installation
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- Download, unzip, configure, build and install glog, a Google's library that implements application-level logging:
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$ wget http://google-glog.googlecode.com/files/glog-0.3.2.tar.gz
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$ tar xvfz glog-0.3.2.tar.gz
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$ cd glog-0.3.2
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$ ./configure
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$ make
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$ sudo make install
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- Go to GNSSPVT root directory and compile the gnsspvt:
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$ cd gnss-sdr/src/utils/gpstk/gnsspvt/
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$ mkdir build
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$ cd build
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$ cmake ../
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$ make
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If everything goes well, the executable file is available in the build directory.
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USAGE
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----------------------
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./gnsspvt -i path_to_rinex_observable_file -n path_to_rinex_navigation_file -k path_to_kml_output_file
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@ -1,593 +0,0 @@
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/*!
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* \file gnsspvt.cpp
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* \brief Adapted version of high level gpstk PVT solver to read RINEX files,
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* compute the position, velocity and time solution, and write Google Earth KML output file.
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* The input Observables and Navigation files can be RINEX 2.10 or RINEX 3.00.
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* It is a modified version of the example5.cpp code provided in gpstk source code.
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*
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* \author Javier Arribas, 2012. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (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
|
||||
* (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
|
||||
* 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 <https://www.gnu.org/licenses/>.
|
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*
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* -------------------------------------------------------------------------
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*/
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// Modified Example program Nro 5 for GPSTk
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// This program shows how to use some high-level GPSTk classes
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// Basic input/output C++ class
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#include <iostream>
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// Classes for handling observations RINEX files (data)
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#include "gpstk/Rinex3ObsData.hpp"
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#include "gpstk/Rinex3ObsStream.hpp"
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// Class to easily extract data from Rinex3ObsData objects
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#include "gpstk/ExtractData.hpp"
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||||
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||||
// Classes for handling satellite navigation parameters RINEX files
|
||||
// (Broadcast ephemerides)
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#include "gpstk/Rinex3NavHeader.hpp"
|
||||
#include "gpstk/Rinex3NavData.hpp"
|
||||
#include "gpstk/Rinex3NavStream.hpp"
|
||||
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||||
// Class to store satellite broadcast navigation data
|
||||
#include "gpstk/GPSEphemerisStore.hpp"
|
||||
|
||||
// Class to model GPS data for a mobile receiver
|
||||
#include "gpstk/ModeledPR.hpp"
|
||||
|
||||
#include "gpstk/GNSSconstants.hpp"
|
||||
#include "gpstk/CommonTime.hpp"
|
||||
#include "gpstk/SatID.hpp"
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||||
#include "gpstk/Matrix.hpp"
|
||||
#include "gpstk/XvtStore.hpp"
|
||||
#include "gpstk/TropModel.hpp"
|
||||
|
||||
// Class to model the tropospheric delays
|
||||
#include "gpstk/TropModel.hpp"
|
||||
|
||||
// Classes to model ans store ionospheric delays
|
||||
#include "gpstk/IonoModel.hpp"
|
||||
#include "gpstk/IonoModelStore.hpp"
|
||||
|
||||
// Class to solve the equations system using a Weighted Least Mean Square method
|
||||
#include "gpstk/SolverWMS.hpp"
|
||||
|
||||
// Class to compute the weights to be used for each satellite
|
||||
#include "gpstk/MOPSWeight.hpp"
|
||||
|
||||
// Basic framework for programs in the GPSTk. The 'process()' method MUST
|
||||
// be implemented
|
||||
#include "gpstk/BasicFramework.hpp"
|
||||
|
||||
#include "gpstk/geometry.hpp" // DEG_TO_RAD
|
||||
|
||||
// Time-class year-day-second
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||||
#include "gpstk/YDSTime.hpp"
|
||||
|
||||
#include "kml_printer_gpstk.h"
|
||||
|
||||
using namespace std;
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||||
using namespace gpstk;
|
||||
|
||||
|
||||
// A new class is declared that will handle program behaviour
|
||||
// This class inherits from BasicFramework
|
||||
class gpstk_solver : public BasicFramework
|
||||
{
|
||||
public:
|
||||
|
||||
// Constructor declaration
|
||||
gpstk_solver(char* arg0);
|
||||
~gpstk_solver();
|
||||
|
||||
protected:
|
||||
|
||||
// Method that will take care of processing
|
||||
virtual void process();
|
||||
|
||||
// Method that hold code to be run BEFORE processing
|
||||
virtual void spinUp();
|
||||
|
||||
virtual int Prepare( const CommonTime& Tr,
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||||
std::vector<SatID>& Satellite,
|
||||
std::vector<double>& Pseudorange,
|
||||
const XvtStore<SatID>& Eph );
|
||||
virtual int Prepare2( const CommonTime& Tr,
|
||||
const Vector<SatID>& Satellite,
|
||||
const Vector<double>& Pseudorange,
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||||
const XvtStore<SatID>& Eph );
|
||||
|
||||
private:
|
||||
|
||||
// These field represent options at command line interface (CLI)
|
||||
CommandOptionWithArg dataFile;
|
||||
CommandOptionWithArg navFile;
|
||||
CommandOptionWithArg kmlFile;
|
||||
|
||||
Kml_Printer_gpstk kml_printer;
|
||||
|
||||
// If you want to share objects and variables among methods, you'd
|
||||
// better declare them here
|
||||
Rinex3ObsStream rObsFile; // Object to read Rinex observation data files
|
||||
Rinex3ObsData rData; // Object to store Rinex observation data
|
||||
Rinex3NavStream rNavFile; // Object to read Rinex navigation data files
|
||||
Rinex3NavData rNavData; // Object to store Rinex navigation data
|
||||
Rinex3NavHeader rNavHeader; // Object to read the header of Rinex
|
||||
// navigation data files
|
||||
IonoModelStore ionoStore; // Object to store ionospheric models
|
||||
GPSEphemerisStore bceStore; // Object to store ephemeris
|
||||
ModeledPR modelPR; // Declare a ModeledReferencePR object
|
||||
MOPSTropModel mopsTM; // Declare a MOPSTropModel object
|
||||
ExtractData obsC1; // Declare an ExtractData object
|
||||
int indexC1; // Index to "C1" observation
|
||||
bool useFormerPos; // Flag indicating if we have an a priori
|
||||
// position
|
||||
Position formerPosition; // Object to store the former position
|
||||
IonoModel ioModel; // Declare a Ionospheric Model object
|
||||
SolverWMS solver; // Declare an object to apply WMS method
|
||||
MOPSWeight mopsWeights; // Object to compute satellites' weights
|
||||
|
||||
};
|
||||
|
||||
|
||||
// Let's implement constructor details
|
||||
gpstk_solver::gpstk_solver(char* arg0)
|
||||
: BasicFramework(arg0, "\nProgram to print the position solution in ECEF "
|
||||
"and longitude, latitude, height, based in C1 and "
|
||||
"given a RINEX observations file and a RINEX "
|
||||
"broadcast navigation file.\n\n"
|
||||
"The output is: \n"
|
||||
" Time(sec) X(m) Y(m) Z(m) Lon(deg) "
|
||||
" Lat(deg) Height(m)\n"),
|
||||
// Option initialization. "true" means a mandatory option
|
||||
dataFile(CommandOption::stdType, 'i', "datainput",
|
||||
" [-i|--datainput] Name of RINEX observations file.", true),
|
||||
navFile(CommandOption::stdType, 'n', "navinput",
|
||||
" [-n|--navinput] Name of RINEX broadcast navigation file.", true),
|
||||
kmlFile(CommandOption::stdType, 'k', "kmloutput",
|
||||
" [-n|--navinput] Name of KML output file.", true)
|
||||
{
|
||||
// These options may appear just once at CLI
|
||||
dataFile.setMaxCount(1);
|
||||
navFile.setMaxCount(1);
|
||||
kmlFile.setMaxCount(1);
|
||||
} // End of constructor details
|
||||
|
||||
|
||||
|
||||
/* Method to set an a priori position of receiver using
|
||||
* Bancroft's method.
|
||||
*
|
||||
* @param Tr Time of observation
|
||||
* @param Satellite std::vector of satellites in view
|
||||
* @param Pseudorange std::vector of pseudoranges measured from
|
||||
* rover station to satellites
|
||||
* @param Eph Satellites Ephemeris
|
||||
*
|
||||
* @return
|
||||
* 0 if OK
|
||||
* -1 if problems arose
|
||||
*/
|
||||
int gpstk_solver::Prepare( const CommonTime& Tr,
|
||||
std::vector<SatID>& Satellite,
|
||||
std::vector<double>& Pseudorange,
|
||||
const XvtStore<SatID>& Eph )
|
||||
{
|
||||
|
||||
Matrix<double> SVP;
|
||||
Bancroft Ban;
|
||||
Vector<double> vPos;
|
||||
PRSolution2 raimObj;
|
||||
|
||||
try
|
||||
{
|
||||
cerr << "Tr=" <<Tr<<std::endl;
|
||||
for (std::vector<SatID>::iterator it = Satellite.begin() ; it != Satellite.end(); ++it)
|
||||
{
|
||||
cerr << "SatID=" << *it<<endl;
|
||||
cerr << "EphemerisStore Sat XYZ= " << bceStore.getXvt(*it,rData.time).x<<std::endl;
|
||||
}
|
||||
|
||||
for (std::vector<double>::iterator it = Pseudorange.begin() ; it != Pseudorange.end(); ++it)
|
||||
{
|
||||
cerr << "PseudoRanges=" << *it<<endl;
|
||||
}
|
||||
|
||||
//cerr << "Eph=" << Eph <<std::endl;
|
||||
//cerr << "SVP=" << SVP <<std::endl;
|
||||
raimObj.PrepareAutonomousSolution( Tr,
|
||||
Satellite,
|
||||
Pseudorange,
|
||||
Eph,
|
||||
SVP );
|
||||
|
||||
if( Ban.Compute(SVP, vPos) < 0 )
|
||||
{
|
||||
cerr << "Error 1" <<std::endl;
|
||||
cerr << "SVP="<<SVP<<std::endl;
|
||||
cerr << "vPos=" << vPos <<std::endl;
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
catch(Exception &error)
|
||||
{
|
||||
cerr << "Excepción 1: "<<error;
|
||||
return -1;
|
||||
}
|
||||
cerr << "OK prepare"<<endl;
|
||||
return 1;
|
||||
|
||||
} // End of method 'ModeledPR::Prepare()'
|
||||
|
||||
/* Method to set an a priori position of receiver using
|
||||
* Bancroft's method.
|
||||
*
|
||||
* @param Tr Time of observation
|
||||
* @param Satellite Vector of satellites in view
|
||||
* @param Pseudorange Pseudoranges measured from rover station to
|
||||
* satellites
|
||||
* @param Eph Satellites Ephemeris
|
||||
*
|
||||
* @return
|
||||
* 0 if OK
|
||||
* -1 if problems arose
|
||||
*/
|
||||
int gpstk_solver::Prepare2( const CommonTime& Tr,
|
||||
const Vector<SatID>& Satellite,
|
||||
const Vector<double>& Pseudorange,
|
||||
const XvtStore<SatID>& Eph )
|
||||
{
|
||||
|
||||
int i;
|
||||
std::vector<SatID> vSat;
|
||||
std::vector<double> vPR;
|
||||
|
||||
// Convert from gpstk::Vector to std::vector
|
||||
for (i = 0; i < (int)Satellite.size(); i++)
|
||||
{
|
||||
vSat.push_back(Satellite[i]);
|
||||
}
|
||||
|
||||
for (i = 0; i < (int)Pseudorange.size(); i++)
|
||||
{
|
||||
vPR.push_back(Pseudorange[i]);
|
||||
}
|
||||
|
||||
return Prepare(Tr, vSat, vPR, Eph);
|
||||
|
||||
} // End of method 'ModeledPR::Prepare()'
|
||||
|
||||
|
||||
// Method that will be executed AFTER initialization but BEFORE processing
|
||||
void gpstk_solver::spinUp()
|
||||
{
|
||||
|
||||
|
||||
//open KML output file
|
||||
if (kml_printer.set_headers(kmlFile.getValue()[0].c_str())!=true)
|
||||
{
|
||||
cerr << "Problem creating the kml file "<<kmlFile.getValue()[0].c_str();
|
||||
exit (-1);
|
||||
}
|
||||
// From now on, some parts may look similar to 'example3.cpp' and
|
||||
// 'example4.cpp'
|
||||
// Activate failbit to enable exceptions
|
||||
rObsFile.exceptions(ios::failbit);
|
||||
|
||||
// First, data RINEX reading object
|
||||
try
|
||||
{
|
||||
rObsFile.open(dataFile.getValue()[0].c_str(), std::ios::in);
|
||||
}
|
||||
catch(...)
|
||||
{
|
||||
cerr << "Problem opening file " << dataFile.getValue()[0].c_str()
|
||||
<< endl;
|
||||
cerr << "Maybe it doesn't exist or you don't have proper read "
|
||||
<< "permissions." << endl;
|
||||
|
||||
exit (-1);
|
||||
}
|
||||
|
||||
// We need to read the header of the observations file
|
||||
Rinex3ObsHeader roh;
|
||||
rObsFile >> roh;
|
||||
|
||||
// We need the index pointing to C1-type observations
|
||||
try
|
||||
{
|
||||
indexC1 = roh.getObsIndex( "C1" );
|
||||
}
|
||||
catch(...)
|
||||
{
|
||||
cerr << "The observation file doesn't have C1 pseudoranges." << endl;
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
// Activate failbit to enable exceptions
|
||||
rNavFile.exceptions(ios::failbit);
|
||||
|
||||
// Read nav file and store unique list of ephemerides
|
||||
try
|
||||
{
|
||||
rNavFile.open(navFile.getValue()[0].c_str(), std::ios::in);
|
||||
}
|
||||
catch(...)
|
||||
{
|
||||
cerr << "Problem opening file " << navFile.getValue()[0].c_str() << endl;
|
||||
cerr << "Maybe it doesn't exist or you don't have proper read "
|
||||
<< "permissions." << endl;
|
||||
|
||||
exit (-1);
|
||||
}
|
||||
|
||||
// We will need to read ionospheric parameters (Klobuchar model) from
|
||||
// the file header
|
||||
rNavFile >> rNavHeader;
|
||||
|
||||
// Let's feed the ionospheric model (Klobuchar type) from data in the
|
||||
// navigation (ephemeris) file header. First, we must check if there are
|
||||
// valid ionospheric correction parameters in the header
|
||||
if(rNavHeader.valid & Rinex3NavHeader::validIonoCorrGPS)
|
||||
{
|
||||
// Extract the Alpha and Beta parameters from the header
|
||||
double* ionAlpha = rNavHeader.mapIonoCorr["GPSA"].param;
|
||||
double* ionBeta = rNavHeader.mapIonoCorr["GPSB"].param;
|
||||
|
||||
// Feed the ionospheric model with the parameters
|
||||
ioModel.setModel(ionAlpha, ionBeta);
|
||||
}
|
||||
else
|
||||
{
|
||||
cerr << "WARNING: Navigation file " << navFile.getValue()[0].c_str()
|
||||
<< " doesn't have valid ionospheric correction parameters." << endl;
|
||||
}
|
||||
|
||||
// WARNING-WARNING-WARNING: In this case, the same model will be used
|
||||
// for the full data span
|
||||
ionoStore.addIonoModel(CommonTime::BEGINNING_OF_TIME, ioModel);
|
||||
|
||||
// Storing the ephemeris in "bceStore"
|
||||
while (rNavFile >> rNavData)
|
||||
{
|
||||
bceStore.addEphemeris(rNavData);
|
||||
rNavData.dump(cerr);
|
||||
cerr<<endl;
|
||||
}
|
||||
|
||||
// Setting the criteria for looking up ephemeris
|
||||
bceStore.SearchPast(); // This is the default
|
||||
|
||||
// This is set to true if the former computed positon will be used as
|
||||
// a priori position
|
||||
useFormerPos = false; // At first, we don't have an a priori position
|
||||
|
||||
// Prepare for printing later on
|
||||
cout << fixed << setprecision(8);
|
||||
|
||||
} // End of gpstk_solver::spinUp()
|
||||
|
||||
|
||||
// Method that will really process information
|
||||
void gpstk_solver::process()
|
||||
{
|
||||
|
||||
// Let's read the observations RINEX, epoch by epoch
|
||||
while( rObsFile >> rData )
|
||||
{
|
||||
|
||||
// Begin usable data with enough number of satellites
|
||||
if( (rData.epochFlag == 0 || rData.epochFlag == 1) &&
|
||||
(rData.numSVs > 3) )
|
||||
{
|
||||
|
||||
// Number of satellites with valid data in this epoch
|
||||
int validSats = 0;
|
||||
int prepareResult;
|
||||
double rxAltitude; // Receiver altitude for tropospheric model
|
||||
double rxLatitude; // Receiver latitude for tropospheric model
|
||||
|
||||
// We need to extract C1 data from this epoch. Skip epoch if not
|
||||
// enough data (4 SV at least) is available
|
||||
if( obsC1.getData(rData, indexC1) < 4 )
|
||||
{
|
||||
// The former position will not be valid next time
|
||||
useFormerPos = false;
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
// If possible, use former position as a priori
|
||||
if( useFormerPos )
|
||||
{
|
||||
|
||||
prepareResult = modelPR.Prepare(formerPosition);
|
||||
|
||||
// We need to seed this kind of tropospheric model with
|
||||
// receiver altitude
|
||||
rxAltitude = formerPosition.getAltitude();
|
||||
rxLatitude = formerPosition.getGeodeticLatitude();
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
// Use Bancroft method is no a priori position is available
|
||||
cerr << "Bancroft method was used at epoch "
|
||||
<< static_cast<YDSTime>(rData.time).sod << endl;
|
||||
|
||||
Prepare2( rData.time,obsC1.availableSV,obsC1.obsData,bceStore );
|
||||
prepareResult = modelPR.Prepare( rData.time,
|
||||
obsC1.availableSV,
|
||||
obsC1.obsData,
|
||||
bceStore );
|
||||
|
||||
// We need to seed this kind of tropospheric model with
|
||||
// receiver altitude
|
||||
rxAltitude = modelPR.rxPos.getAltitude();
|
||||
rxLatitude = modelPR.rxPos.getGeodeticLatitude();
|
||||
}
|
||||
|
||||
// If there were problems with Prepare(), skip this epoch
|
||||
if( prepareResult )
|
||||
{
|
||||
// The former position will not be valid next time
|
||||
useFormerPos = false;
|
||||
continue;
|
||||
}
|
||||
|
||||
// If there were no problems, let's feed the tropospheric model
|
||||
mopsTM.setReceiverHeight(rxAltitude);
|
||||
mopsTM.setReceiverLatitude(rxLatitude);
|
||||
mopsTM.setDayOfYear(static_cast<YDSTime>(rData.time).doy);
|
||||
|
||||
|
||||
// Now, let's compute the GPS model for our observable (C1)
|
||||
validSats = modelPR.Compute( rData.time,
|
||||
obsC1.availableSV,
|
||||
obsC1.obsData,
|
||||
bceStore,
|
||||
&mopsTM,
|
||||
&ionoStore );
|
||||
|
||||
// Only get into further computations if there are enough
|
||||
// satellites
|
||||
if( validSats >= 4 )
|
||||
{
|
||||
|
||||
// Now let's solve the navigation equations using the WMS method
|
||||
try
|
||||
{
|
||||
// First, compute the satellites' weights
|
||||
int goodSv = mopsWeights.getWeights( rData.time,
|
||||
modelPR.availableSV,
|
||||
bceStore,
|
||||
modelPR.ionoCorrections,
|
||||
modelPR.elevationSV,
|
||||
modelPR.azimuthSV,
|
||||
modelPR.rxPos );
|
||||
|
||||
// Some minimum checking is in order
|
||||
if ( goodSv != (int)modelPR.prefitResiduals.size() ) continue;
|
||||
|
||||
// Then, solve the system
|
||||
solver.Compute( modelPR.prefitResiduals,
|
||||
modelPR.geoMatrix,
|
||||
mopsWeights.weightsVector );
|
||||
|
||||
}
|
||||
catch( InvalidSolver& e )
|
||||
{
|
||||
cerr << "Couldn't solve equations system at epoch "
|
||||
<< static_cast<YDSTime>(rData.time).sod << endl;
|
||||
cerr << e << endl;
|
||||
|
||||
// The former position will not be valid next time
|
||||
useFormerPos = false;
|
||||
continue;
|
||||
}
|
||||
|
||||
// With "solver", we got the difference vector between the
|
||||
// a priori position and the computed, 'real' position. Then,
|
||||
// let's convert the solution to a Position object
|
||||
Position solPos( (modelPR.rxPos.X() + solver.solution[0]),
|
||||
(modelPR.rxPos.Y() + solver.solution[1]),
|
||||
(modelPR.rxPos.Z() + solver.solution[2]) );
|
||||
|
||||
// Print results
|
||||
cout << static_cast<YDSTime>(rData.time).sod
|
||||
<< " "; // Output field #1
|
||||
cout << "X="<<solPos.X() << "; "; // Output field #2
|
||||
cout << "Y="<<solPos.Y() << "; "; // Output field #3
|
||||
cout << "Z="<<solPos.Z() << "; "; // Output field #4
|
||||
cout << solPos.longitude() << " "; // Output field #5
|
||||
cout << solPos.geodeticLatitude() << " "; // Output field #6
|
||||
cout << solPos.height() << " "; // Output field #7
|
||||
cout << endl;
|
||||
|
||||
cout << "Geocentric Latitude="<< solPos.geocentricLatitude() << " "; // Output field #5
|
||||
cout << endl;
|
||||
|
||||
// write KML PVT line
|
||||
kml_printer.print_position(solPos);
|
||||
|
||||
formerPosition = solPos;
|
||||
|
||||
// Next time, former position will be used as a priori
|
||||
useFormerPos = true;
|
||||
|
||||
} // End of 'if( validSats >= 4 )'
|
||||
else
|
||||
{
|
||||
// The former position will not be valid next time
|
||||
useFormerPos = false;
|
||||
}
|
||||
|
||||
} // End of 'if( (rData.epochFlag == 0 || rData.epochFlag == 1) &&...'
|
||||
else
|
||||
{
|
||||
// The former position will not be valid next time
|
||||
useFormerPos = false;
|
||||
}
|
||||
|
||||
} // End of 'while( rObsFile >> rData )'
|
||||
|
||||
return;
|
||||
|
||||
} // End of 'gpstk_solver::process()'
|
||||
|
||||
gpstk_solver::~gpstk_solver()
|
||||
{
|
||||
kml_printer.close_file();
|
||||
}
|
||||
// Main function
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
||||
try
|
||||
{
|
||||
gpstk_solver program(argv[0]);
|
||||
if (!program.initialize(argc, argv))
|
||||
return 0;
|
||||
if (!program.run())
|
||||
return 1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
catch(Exception& e)
|
||||
{
|
||||
cout << "Problem: " << e << endl;
|
||||
return 1;
|
||||
}
|
||||
catch(...)
|
||||
{
|
||||
cout << "Unknown error." << endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} // End of 'main()'
|
||||
@ -1,136 +0,0 @@
|
||||
/*!
|
||||
* \file kml_printer.cc
|
||||
* \brief Implementation of a class that prints PVT information to a kml file
|
||||
* for GPSTK data structures
|
||||
* \author Javier Arribas, 2012. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "kml_printer_gpstk.h"
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
#include <time.h>
|
||||
|
||||
bool Kml_Printer_gpstk::set_headers(std::string filename)
|
||||
{
|
||||
time_t rawtime;
|
||||
struct tm * timeinfo;
|
||||
time ( &rawtime );
|
||||
timeinfo = localtime ( &rawtime );
|
||||
kml_file.open(filename.c_str());
|
||||
if (kml_file.is_open())
|
||||
{
|
||||
DLOG(INFO) << "KML printer writing on " << filename.c_str();
|
||||
// Set iostream numeric format and precision
|
||||
kml_file.setf(kml_file.fixed,kml_file.floatfield);
|
||||
kml_file << std::setprecision(14);
|
||||
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
|
||||
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
|
||||
<< " <Document>" << std::endl
|
||||
<< " <name>GNSS Track</name>" << std::endl
|
||||
<< " <description>GNSS-SDR Receiver position log file created at " << asctime (timeinfo)
|
||||
<< " </description>" << std::endl
|
||||
<< "<Style id=\"yellowLineGreenPoly\">" << std::endl
|
||||
<< " <LineStyle>" << std::endl
|
||||
<< " <color>7f00ffff</color>" << std::endl
|
||||
<< " <width>1</width>" << std::endl
|
||||
<< " </LineStyle>" << std::endl
|
||||
<< "<PolyStyle>" << std::endl
|
||||
<< " <color>7f00ff00</color>" << std::endl
|
||||
<< "</PolyStyle>" << std::endl
|
||||
<< "</Style>" << std::endl
|
||||
<< "<Placemark>" << std::endl
|
||||
<< "<name>GNSS-SDR PVT</name>" << std::endl
|
||||
<< "<description>GNSS-SDR position log</description>" << std::endl
|
||||
<< "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
|
||||
<< "<LineString>" << std::endl
|
||||
<< "<extrude>0</extrude>" << std::endl
|
||||
<< "<tessellate>1</tessellate>" << std::endl
|
||||
<< "<altitudeMode>absolute</altitudeMode>" << std::endl
|
||||
<< "<coordinates>" << std::endl;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool Kml_Printer_gpstk::print_position(gpstk::Position position)
|
||||
{
|
||||
double latitude;
|
||||
double longitude;
|
||||
double height;
|
||||
latitude = position.geodeticLatitude();
|
||||
longitude = position.getLongitude();
|
||||
if (longitude>190)
|
||||
{
|
||||
longitude=longitude-360;
|
||||
}
|
||||
height = position.getHeight();
|
||||
|
||||
if (kml_file.is_open())
|
||||
{
|
||||
kml_file << longitude << "," << latitude << "," << height << std::endl;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool Kml_Printer_gpstk::close_file()
|
||||
{
|
||||
if (kml_file.is_open())
|
||||
{
|
||||
kml_file << "</coordinates>" << std::endl
|
||||
<< "</LineString>" << std::endl
|
||||
<< "</Placemark>" << std::endl
|
||||
<< "</Document>" << std::endl
|
||||
<< "</kml>";
|
||||
kml_file.close();
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Kml_Printer_gpstk::Kml_Printer_gpstk () {}
|
||||
|
||||
|
||||
|
||||
Kml_Printer_gpstk::~Kml_Printer_gpstk () {}
|
||||
|
||||
@ -1,60 +0,0 @@
|
||||
/*!
|
||||
* \file kml_printer.h
|
||||
* \brief Interface of a class that prints PVT information to a kml file
|
||||
* for GPSTK data structures
|
||||
* \author Javier Arribas, 2012. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_KML_PRINTER_H_
|
||||
#define GNSS_SDR_KML_PRINTER_H_
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include "gpstk/Position.hpp"
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
|
||||
*
|
||||
* See http://www.opengeospatial.org/standards/kml
|
||||
*/
|
||||
class Kml_Printer_gpstk
|
||||
{
|
||||
private:
|
||||
std::ofstream kml_file;
|
||||
|
||||
public:
|
||||
bool set_headers(std::string filename);
|
||||
bool print_position(gpstk::Position position);
|
||||
bool close_file();
|
||||
Kml_Printer_gpstk();
|
||||
~Kml_Printer_gpstk();
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user