mirror of https://github.com/gnss-sdr/gnss-sdr
132 lines
5.0 KiB
C++
132 lines
5.0 KiB
C++
/*!
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* \file rtklib_solver.h
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* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
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* data flow and structures
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* \authors <ul>
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* <li> 2007-2013, T. Takasu
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* -------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_SOLVER_H_
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#define GNSS_SDR_RTKLIB_SOLVER_H_
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#include "beidou_dnav_navigation_message.h"
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#include "galileo_almanac.h"
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#include "galileo_navigation_message.h"
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#include "glonass_gnav_navigation_message.h"
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#include "gnss_synchro.h"
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#include "gps_cnav_navigation_message.h"
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#include "gps_navigation_message.h"
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#include "monitor_pvt.h"
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#include "pvt_solution.h"
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#include "rtklib_rtkpos.h"
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#include <array>
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#include <fstream>
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#include <map>
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#include <string>
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/*!
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* \brief This class implements a simple PVT Least Squares solution
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*/
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class Rtklib_Solver : public Pvt_Solution
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{
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private:
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rtk_t rtk_;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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bool save_matfile();
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bool d_flag_dump_enabled;
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bool d_flag_dump_mat_enabled;
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int d_nchannels; // Number of available channels for positioning
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std::array<double, 4> dop_;
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Monitor_Pvt monitor_pvt;
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public:
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sol_t pvt_sol;
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ssat_t pvt_ssat[MAXSAT];
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Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
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~Rtklib_Solver();
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bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
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double get_hdop() const;
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double get_vdop() const;
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double get_pdop() const;
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double get_gdop() const;
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Monitor_Pvt get_monitor_pvt() const;
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std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
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std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
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std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
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std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
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std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
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Galileo_Utc_Model galileo_utc_model;
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Galileo_Iono galileo_iono;
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std::map<int, Galileo_Almanac> galileo_almanac_map;
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Gps_Utc_Model gps_utc_model;
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Gps_Iono gps_iono;
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std::map<int, Gps_Almanac> gps_almanac_map;
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Gps_CNAV_Iono gps_cnav_iono;
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Gps_CNAV_Utc_Model gps_cnav_utc_model;
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Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model
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Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
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Beidou_Dnav_Utc_Model beidou_dnav_utc_model;
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Beidou_Dnav_Iono beidou_dnav_iono;
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std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
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int count_valid_position;
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};
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#endif
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