mirror of https://github.com/gnss-sdr/gnss-sdr
145 lines
5.2 KiB
C++
145 lines
5.2 KiB
C++
/*!
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* \file galileo_e1_ls_pvt.h
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* \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
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* solver, based on K.Borre's Matlab receiver.
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (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 <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GALILEO_E1_LS_PVT_H_
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#define GNSS_SDR_GALILEO_E1_LS_PVT_H_
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#include <algorithm>
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#include <cmath>
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#include <cstdlib>
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#include <cstdio>
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#include <deque>
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#include <fstream>
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#include <iostream>
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#include <map>
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#include <sstream>
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#include <string>
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#include <armadillo>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include "GPS_L1_CA.h"
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#include "galileo_navigation_message.h"
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#include "gnss_synchro.h"
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#include "galileo_ephemeris.h"
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#include "galileo_utc_model.h"
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#define PVT_MAX_CHANNELS 24
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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 galileo_e1_ls_pvt
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{
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private:
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arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
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arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
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void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
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void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
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void 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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public:
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int d_nchannels; //!< Number of available channels for positioning
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int d_valid_observations; //!< Number of valid pseudorange observations (valid satellites)
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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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Galileo_Navigation_Message* d_ephemeris;
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std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
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Galileo_Utc_Model galileo_utc_model;
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Galileo_Iono galileo_iono;
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Galileo_Almanac galileo_almanac;
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double d_galileo_current_time;
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boost::posix_time::ptime d_position_UTC_time;
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bool b_valid_position;
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double d_latitude_d; //!< Latitude in degrees
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double d_longitude_d; //!< Longitude in degrees
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double d_height_m; //!< Height [m]
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//averaging
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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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int d_averaging_depth; //!< Length of averaging window
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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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double d_x_m;
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double d_y_m;
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double d_z_m;
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// DOP estimations
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arma::mat d_Q;
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double d_GDOP;
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double d_PDOP;
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double d_HDOP;
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double d_VDOP;
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double d_TDOP;
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bool d_flag_dump_enabled;
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bool d_flag_averaging;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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void set_averaging_depth(int depth);
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galileo_e1_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);
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~galileo_e1_ls_pvt();
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bool get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging);
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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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void cart2geo(double X, double Y, double Z, int elipsoid_selection);
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};
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#endif
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