mirror of https://github.com/gnss-sdr/gnss-sdr
54 lines
1.3 KiB
C++
54 lines
1.3 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) 2010-2019 (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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* SPDX-License-Identifier: GPL-3.0-or-later
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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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public:
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Ls_Pvt() = default;
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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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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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};
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#endif
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