mirror of https://github.com/gnss-sdr/gnss-sdr
207 lines
9.0 KiB
C++
207 lines
9.0 KiB
C++
/*!
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* \file pvt_solution.h
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* \brief Interface of a base class for a PVT solution
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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_PVT_SOLUTION_H_
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#define GNSS_SDR_PVT_SOLUTION_H_
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <deque>
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#include <armadillo>
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const unsigned int PVT_MAX_CHANNELS = 90;
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const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
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/*!
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* \brief Base class for a PVT solution
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*
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*/
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class Pvt_Solution
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{
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private:
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double d_rx_dt_s; // RX time offset [s]
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double d_latitude_d; // RX position Latitude WGS84 [deg]
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double d_longitude_d; // RX position Longitude WGS84 [deg]
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double d_height_m; // RX position height WGS84 [m]
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double d_avg_latitude_d; // Averaged latitude in degrees
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double d_avg_longitude_d; // Averaged longitude in degrees
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double d_avg_height_m; // Averaged height [m]
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bool b_valid_position;
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std::deque<double> d_hist_latitude_d;
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std::deque<double> d_hist_longitude_d;
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std::deque<double> d_hist_height_m;
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bool d_flag_averaging;
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int d_averaging_depth; // Length of averaging window
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arma::vec d_rx_pos;
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boost::posix_time::ptime d_position_UTC_time;
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int d_valid_observations;
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int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
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double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites
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double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites
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double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
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double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
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public:
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Pvt_Solution();
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double get_time_offset_s() const; //!< Get RX time offset [s]
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void set_time_offset_s(double offset); //!< Set RX time offset [s]
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double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
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double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
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double get_height() const; //!< Get RX position height WGS84 [m]
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double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg]
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double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
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double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
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void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
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arma::vec get_rx_pos() const;
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bool is_valid_position() const;
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void set_valid_position(bool is_valid);
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boost::posix_time::ptime get_position_UTC_time() const;
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void set_position_UTC_time(const boost::posix_time::ptime &pt);
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int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
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void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
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bool set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel
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unsigned int get_visible_satellites_ID(size_t index) const; //!< Get the ID of the visible satellite index channel
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bool set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
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double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
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bool set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
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double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
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bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
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double get_visible_satellites_Distance(size_t index) const; //!< Get the LOS Distance of the visible satellite index channel
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bool set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel
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double get_visible_satellites_CN0_dB(size_t index) const; //!< Get the CN0 in dB of the visible satellite index channel
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//averaging
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void perform_pos_averaging();
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void set_averaging_depth(int depth); //!< Set length of averaging window
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bool is_averaging() const;
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void set_averaging_flag(bool flag);
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arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
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/*!
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* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
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* coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
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*
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* \param[in] X [m] Cartesian coordinate
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* \param[in] Y [m] Cartesian coordinate
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* \param[in] Z [m] Cartesian coordinate
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* \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
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* 0 - International Ellipsoid 1924.
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* 1 - International Ellipsoid 1967.
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* 2 - World Geodetic System 1972.
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* 3 - Geodetic Reference System 1980.
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* 4 - World Geodetic System 1984.
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*
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*/
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int cart2geo(double X, double Y, double Z, int elipsoid_selection);
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/*!
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* \brief Transformation of vector dx into topocentric coordinate system with origin at x
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*
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* \param[in] x Vector origin coordinates (in ECEF system [X; Y; Z;])
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* \param[in] dx Vector ([dX; dY; dZ;]).
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*
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* \param[out] D Vector length. Units like the input
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* \param[out] Az Azimuth from north positive clockwise, degrees
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* \param[out] El Elevation angle, degrees
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*
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* Based on a Matlab function by Kai Borre
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*/
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int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
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/*!
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* \brief Subroutine to calculate geodetic coordinates latitude, longitude,
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* height given Cartesian coordinates X,Y,Z, and reference ellipsoid
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* values semi-major axis (a) and the inverse of flattening (finv).
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*
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* The output units of angular quantities will be in decimal degrees
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* (15.5 degrees not 15 deg 30 min). The output units of h will be the
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* same as the units of X,Y,Z,a.
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*
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* \param[in] a - semi-major axis of the reference ellipsoid
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* \param[in] finv - inverse of flattening of the reference ellipsoid
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* \param[in] X,Y,Z - Cartesian coordinates
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*
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* \param[out] dphi - latitude
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* \param[out] dlambda - longitude
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* \param[out] h - height above reference ellipsoid
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*
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* Based in a Matlab function by Kai Borre
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*/
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int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
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/*!
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* \brief 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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};
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#endif
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