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https://github.com/gnss-sdr/gnss-sdr
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435 lines
12 KiB
C++
435 lines
12 KiB
C++
/*!
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* \file pvt_solution.cc
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* \brief Implementation 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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#include "pvt_solution.h"
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#include "GPS_L1_CA.h"
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#include "geofunctions.h"
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#include <glog/logging.h>
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#include <exception>
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using google::LogMessage;
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Pvt_Solution::Pvt_Solution()
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{
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d_latitude_d = 0.0;
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d_longitude_d = 0.0;
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d_height_m = 0.0;
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d_speed_over_ground_m_s = 0.0;
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d_course_over_ground_d = 0.0;
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d_avg_latitude_d = 0.0;
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d_avg_longitude_d = 0.0;
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d_avg_height_m = 0.0;
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d_flag_averaging = false;
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b_valid_position = false;
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d_averaging_depth = 0;
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d_valid_observations = 0;
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d_rx_pos = arma::zeros(3, 1);
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d_rx_dt_s = 0.0;
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}
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arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
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{
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/*
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* Returns rotated satellite ECEF coordinates due to Earth
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* rotation during signal travel time
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*
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* Inputs:
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* travelTime - signal travel time
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* X_sat - satellite's ECEF coordinates
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*
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* Returns:
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* X_sat_rot - rotated satellite's coordinates (ECEF)
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*/
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//--- Find rotation angle --------------------------------------------------
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double omegatau;
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omegatau = OMEGA_EARTH_DOT * traveltime;
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//--- Build a rotation matrix ----------------------------------------------
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arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
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{-sin(omegatau), cos(omegatau), 0.0},
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{0.0, 0.0, 1.0}};
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//--- Do the rotation ------------------------------------------------------
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arma::vec X_sat_rot;
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X_sat_rot = R3 * X_sat;
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return X_sat_rot;
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}
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int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
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{
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/* Conversion of Cartesian coordinates (X,Y,Z) to geographical
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coordinates (latitude, longitude, h) on a selected reference ellipsoid.
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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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const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
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const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
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double lambda = atan2(Y, X);
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double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
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double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
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double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
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double h = 0.1;
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double oldh = 0.0;
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double N;
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int iterations = 0;
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do
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{
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oldh = h;
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N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
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phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
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h = sqrt(X * X + Y * Y) / cos(phi) - N;
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iterations = iterations + 1;
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if (iterations > 100)
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{
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DLOG(WARNING) << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
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break;
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}
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}
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while (std::abs(h - oldh) > 1.0e-12);
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d_latitude_d = phi * 180.0 / GPS_PI;
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d_longitude_d = lambda * 180.0 / GPS_PI;
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d_height_m = h;
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//todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
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return 0;
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}
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int Pvt_Solution::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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/* Inputs:
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sinel - sin of elevation angle of satellite
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hsta_km - height of station in km
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p_mb - atmospheric pressure in mb at height hp_km
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t_kel - surface temperature in degrees Kelvin at height htkel_km
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hum - humidity in % at height hhum_km
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hp_km - height of pressure measurement in km
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htkel_km - height of temperature measurement in km
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hhum_km - height of humidity measurement in km
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Outputs:
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ddr_m - range correction (meters)
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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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Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
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*/
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const double a_e = 6378.137; // semi-major axis of earth ellipsoid
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const double b0 = 7.839257e-5;
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const double tlapse = -6.5;
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const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
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double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
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double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15);
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double e0 = 0.0611 * hum * pow(10, atkel);
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double tksea = t_kel - tlapse * htkel_km;
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double tkelh = tksea + tlapse * hhum_km;
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double e0sea = e0 * pow((tksea / tkelh), (4 * em));
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double tkelp = tksea + tlapse * hp_km;
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double psea = p_mb * pow((tksea / tkelp), em);
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if (sinel < 0)
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{
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sinel = 0.0;
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}
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double tropo_delay = 0.0;
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bool done = false;
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double refsea = 77.624e-6 / tksea;
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double htop = 1.1385e-5 / refsea;
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refsea = refsea * psea;
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double ref = refsea * pow(((htop - hsta_km) / htop), 4);
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double a;
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double b;
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double rtop;
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while (1)
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{
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rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
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// check to see if geometry is crazy
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if (rtop < 0)
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{
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rtop = 0;
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}
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rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
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a = -sinel / (htop - hsta_km);
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b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
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arma::vec rn = arma::vec(8);
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rn.zeros();
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for (int i = 0; i < 8; i++)
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{
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rn(i) = pow(rtop, (i + 1 + 1));
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}
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arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b / 3, a * (pow(a, 2) + 3 * b),
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pow(a, 4) / 5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b) / 3,
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pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
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if (pow(b, 2) > 1.0e-35)
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{
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alpha(6) = a * pow(b, 3) / 2;
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alpha(7) = pow(b, 4) / 9;
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}
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double dr = rtop;
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arma::mat aux_ = alpha * rn;
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dr = dr + aux_(0, 0);
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tropo_delay = tropo_delay + dr * ref * 1000;
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if (done == true)
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{
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*ddr_m = tropo_delay;
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break;
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}
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done = true;
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refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
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htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
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ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
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}
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return 0;
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}
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void Pvt_Solution::set_averaging_depth(int depth)
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{
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d_averaging_depth = depth;
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}
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void Pvt_Solution::set_averaging_flag(bool flag)
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{
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d_flag_averaging = flag;
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}
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void Pvt_Solution::perform_pos_averaging()
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{
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// MOVING AVERAGE PVT
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bool avg = d_flag_averaging;
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if (avg == true)
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{
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if (d_hist_longitude_d.size() == static_cast<unsigned int>(d_averaging_depth))
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{
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// Pop oldest value
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d_hist_longitude_d.pop_back();
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d_hist_latitude_d.pop_back();
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d_hist_height_m.pop_back();
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// Push new values
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d_hist_longitude_d.push_front(d_longitude_d);
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d_hist_latitude_d.push_front(d_latitude_d);
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d_hist_height_m.push_front(d_height_m);
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d_avg_latitude_d = 0.0;
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d_avg_longitude_d = 0.0;
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d_avg_height_m = 0.0;
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for (unsigned int i = 0; i < d_hist_longitude_d.size(); i++)
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{
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d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
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d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
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d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
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}
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d_avg_latitude_d = d_avg_latitude_d / static_cast<double>(d_averaging_depth);
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d_avg_longitude_d = d_avg_longitude_d / static_cast<double>(d_averaging_depth);
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d_avg_height_m = d_avg_height_m / static_cast<double>(d_averaging_depth);
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b_valid_position = true;
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}
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else
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{
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//int current_depth=d_hist_longitude_d.size();
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// Push new values
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d_hist_longitude_d.push_front(d_longitude_d);
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d_hist_latitude_d.push_front(d_latitude_d);
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d_hist_height_m.push_front(d_height_m);
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d_avg_latitude_d = d_latitude_d;
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d_avg_longitude_d = d_longitude_d;
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d_avg_height_m = d_height_m;
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b_valid_position = false;
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}
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}
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else
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{
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b_valid_position = true;
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}
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}
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double Pvt_Solution::get_time_offset_s() const
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{
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return d_rx_dt_s;
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}
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void Pvt_Solution::set_time_offset_s(double offset)
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{
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d_rx_dt_s = offset;
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}
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double Pvt_Solution::get_latitude() const
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{
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return d_latitude_d;
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}
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double Pvt_Solution::get_longitude() const
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{
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return d_longitude_d;
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}
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double Pvt_Solution::get_height() const
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{
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return d_height_m;
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}
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double Pvt_Solution::get_speed_over_ground() const
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{
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return d_speed_over_ground_m_s;
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}
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void Pvt_Solution::set_speed_over_ground(double speed_m_s)
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{
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d_speed_over_ground_m_s = speed_m_s;
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}
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void Pvt_Solution::set_course_over_ground(double cog_deg)
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{
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d_course_over_ground_d = cog_deg;
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}
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double Pvt_Solution::get_course_over_ground() const
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{
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return d_course_over_ground_d;
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}
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double Pvt_Solution::get_avg_latitude() const
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{
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return d_avg_latitude_d;
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}
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double Pvt_Solution::get_avg_longitude() const
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{
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return d_avg_longitude_d;
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}
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double Pvt_Solution::get_avg_height() const
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{
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return d_avg_height_m;
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}
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bool Pvt_Solution::is_averaging() const
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{
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return d_flag_averaging;
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}
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bool Pvt_Solution::is_valid_position() const
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{
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return b_valid_position;
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}
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void Pvt_Solution::set_valid_position(bool is_valid)
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{
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b_valid_position = is_valid;
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}
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void Pvt_Solution::set_rx_pos(const arma::vec &pos)
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{
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d_rx_pos = pos;
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d_latitude_d = d_rx_pos(0);
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d_longitude_d = d_rx_pos(1);
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d_height_m = d_rx_pos(2);
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}
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arma::vec Pvt_Solution::get_rx_pos() const
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{
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return d_rx_pos;
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}
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boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
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{
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return d_position_UTC_time;
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}
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void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime &pt)
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{
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d_position_UTC_time = pt;
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}
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int Pvt_Solution::get_num_valid_observations() const
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{
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return d_valid_observations;
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}
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void Pvt_Solution::set_num_valid_observations(int num)
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{
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d_valid_observations = num;
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}
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