mirror of https://github.com/gnss-sdr/gnss-sdr
65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
/*!
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* \file ls_pvt.h
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* \brief Interface of a base class for Least Squares PVT solutions
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* \author Carles Fernandez-Prades, 2015. cfernandez(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) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_LS_PVT_H_
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#define GNSS_SDR_LS_PVT_H_
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#include "pvt_solution.h"
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/*!
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* \brief Base class for the Least Squares PVT solution
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*
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*/
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class Ls_Pvt : public Pvt_Solution
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{
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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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double lorentz(const arma::vec& x, const arma::vec& y);
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public:
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Ls_Pvt();
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/*!
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* \brief Computes the initial position solution based on the Bancroft algorithm
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*/
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arma::vec bancroftPos(const arma::mat& satpos, const arma::vec& obs);
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/*!
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* \brief Computes the Weighted Least Squares position solution
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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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};
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#endif
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