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gnss-sdr/src/algorithms/PVT/libs/pvt_solution.h

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/*!
* \file pvt_solution.h
* \brief Interface of a base class for a PVT solution
* \author Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#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 <deque>
/*!
* \brief Base class for a PVT solution
*
*/
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_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)
// 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);
arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
/*!
* \brief 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
* \param[in] Y [m] Cartesian coordinate
* \param[in] Z [m] Cartesian coordinate
* \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
* 0 - International Ellipsoid 1924.
* 1 - International Ellipsoid 1967.
* 2 - World Geodetic System 1972.
* 3 - Geodetic Reference System 1980.
* 4 - World Geodetic System 1984.
*
*/
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;
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_speed_over_ground_m_s; // RX speed over ground [m/s]
double d_course_over_ground_d; // RX course over ground [deg]
double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees
double d_avg_height_m; // Averaged height [m]
int d_averaging_depth; // Length of averaging window
int d_valid_observations;
bool b_valid_position;
bool d_flag_averaging;
};
#endif
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