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gnss-sdr/src/algorithms/PVT/libs/rtklib_solver.h
2023-07-05 19:37:35 +02:00

165 lines
5.7 KiB
C++

/*!
* \file rtklib_solver.h
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017-2023, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -----------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017-2019, Javier Arribas
* Copyright (C) 2017-2023, Carles Fernandez
* All rights reserved.
*
* SPDX-License-Identifier: BSD-2-Clause
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_H
#define GNSS_SDR_RTKLIB_SOLVER_H
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "galileo_has_data.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_almanac.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "monitor_pvt.h"
#include "pvt_conf.h"
#include "pvt_kf.h"
#include "pvt_solution.h"
#include "rtklib.h"
#include "rtklib_conversions.h"
#include <array>
#include <cstdint>
#include <fstream>
#include <map>
#include <string>
#include <utility>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs pvt_libs
* Library for the computation of PVT solutions.
* \{ */
/*!
* \brief This class implements a PVT solution based on RTKLIB
*/
class Rtklib_Solver : public Pvt_Solution
{
public:
Rtklib_Solver(const rtk_t& rtk,
const std::string& dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat,
Pvt_Conf conf);
~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
double get_hdop() const override;
double get_vdop() const override;
double get_pdop() const override;
double get_gdop() const override;
Monitor_Pvt get_monitor_pvt() const;
void store_has_data(const Galileo_HAS_data& new_has_data);
void update_has_corrections(const std::map<int, Gnss_Synchro>& obs_map);
sol_t pvt_sol{};
std::array<ssat_t, MAXSAT> pvt_ssat{};
std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new BeiDou DNAV Ephmeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;
std::map<int, Galileo_Almanac> galileo_almanac_map;
Gps_Utc_Model gps_utc_model;
Gps_Iono gps_iono;
std::map<int, Gps_Almanac> gps_almanac_map;
Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model;
Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model
Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
Beidou_Dnav_Utc_Model beidou_dnav_utc_model;
Beidou_Dnav_Iono beidou_dnav_iono;
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
private:
bool save_matfile() const;
void check_has_orbit_clock_validity(const std::map<int, Gnss_Synchro>& obs_map);
void get_has_biases(const std::map<int, Gnss_Synchro>& obs_map);
void get_current_has_obs_correction(const std::string& signal, uint32_t tow_obs, int prn);
std::array<obsd_t, MAXOBS> d_obs_data{};
std::array<double, 4> d_dop{};
std::map<int, int> d_rtklib_freq_index;
std::map<std::string, int> d_rtklib_band_index;
std::map<std::string, std::map<int, HAS_orbit_corrections>> d_has_orbit_corrections_store_map; // first key is system, second key is PRN
std::map<std::string, std::map<int, HAS_clock_corrections>> d_has_clock_corrections_store_map; // first key is system, second key is PRN
std::map<std::string, std::map<int, std::pair<float, uint32_t>>> d_has_code_bias_store_map; // first key is signal, second key is PRN
std::map<std::string, std::map<int, std::pair<float, uint32_t>>> d_has_phase_bias_store_map; // first key is signal, second key is PRN
std::map<std::string, std::map<int, HAS_obs_corrections>> d_has_obs_corr_map; // first key is signal, second key is PRN
std::string d_dump_filename;
std::ofstream d_dump_file;
rtk_t d_rtk{};
nav_t d_nav_data{};
Monitor_Pvt d_monitor_pvt{};
Pvt_Conf d_conf;
Pvt_Kf d_pvt_kf;
uint32_t d_type_of_rx;
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
};
/** \} */
/** \} */
#endif // GNSS_SDR_RTKLIB_SOLVER_H