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Commit 947f8856 authored by Javier Laplaza Galindo's avatar Javier Laplaza Galindo
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Added static function to get fix

parent ffb6ace3
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1 merge request!2Resolve "Enable Standard Point Positioning (SPP) computation"
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include/getPos.h 0 → 100644
+ 19
− 0
View file @ 947f8856
#ifndef GNSS_UTILS_H
#define GNSS_UTILS_H
#include <vector>
#include <iostream>
#include <memory>
#include "observations.h"
#include "navigation.h"
extern "C"
{
#include "../deps/RTKLIB/src/rtklib.h"
}
namespace GNSSUtils
{
static int getPos(Observations obs, Navigation nav, sol_t sol);
}
#endif
include/gnss_utils.h deleted 100644 → 0
+ 0
− 84
View file @ ffb6ace3
#ifndef GNSS_UTILS_H
#define GNSS_UTILS_H
#include <vector>
#include <iostream>
#include <memory>
#include "observations.h"
#include "navigation.h"
extern "C"
{
#include "../deps/RTKLIB/src/rtklib.h"
}
namespace GNSSUtils
{
class Receiver
{
public:
// Public objects
// Constructor & Destructor
Receiver();
~Receiver();
// Public methods
const std::shared_ptr<GNSSUtils::Observations> getObs();
const std::shared_ptr<GNSSUtils::Navigation> getNav();
/* - Processing Options - */
void clearOptions();
void setOptions(prcopt_t opt);
prcopt_t getOptions();
/* - Solution - */
void clearSolution();
void setSolution(sol_t sol);
sol_t getSolution();
/* - Satellite status - */
void clearSatStatus();
void setSatStatus(ssat_t ssat);
ssat_t getSatStatus();
/* - Compute Fix - */
int computeSPP(double *azel, char *msg);
protected:
// Private objects
// GNSSUtils::Observation attribute to represent the different observation msgs for a given epoch
std::shared_ptr<GNSSUtils::Observations> obs_ptr_;
// GNSSUtils::Navigation attribute to represent the different navigation msgs for a given epoch
std::shared_ptr<GNSSUtils::Navigation> nav_ptr_;
// rtklib-like attribute to represent the different options for a given epoch
prcopt_t _opt;
// rtklib-like attribute to represent the solution for a given epoch
sol_t _sol;
// rtklib-like attribute to represent the satellite status for a given epoch
ssat_t _ssat;
// Private methods
};
}
#endif
src/examples/gnss_utils_test.cpp
+ 101
− 97
View file @ 947f8856
......@@ -9,115 +9,101 @@
extern "C"
{
#include "../deps/RTKLIB/src/rinex.c"
#include "/home/jlaplaza/RTKLIB/src/rinex.c"
}
using namespace GNSSUtils;
Observations createObs()
int createObsAndNav(Observations* observations, char* obs_path, Navigation* navigation, char* nav_path)
{
/* create an Observations object */
Observations observations;
/* set _obsVector attribute */
int year=2018, month=5, day=17, hour=14, min=1, seconds=2;
double seconds_frac=0.002;
time_t te = {0};
gtime_t time = {te, seconds_frac};
obsd_t observation;
observation.time = time;
observation.sat = 25;
observation.rcv = 1;
observation.SNR[0] = 45;
observation.LLI[0] = 0; //??????????
observation.code[0] = 0; //?????????
observation.L[0] = 117441226.71621;
observation.P[0] = 22348322.550;
observation.D[0] = -3039.055;
observations.pushObservation(observation);
observation.time = time;
observation.sat = 29;
observation.rcv = 1;
observation.SNR[0] = 23;
observation.LLI[0] = 0; //??????????
observation.code[0] = 0; //?????????
// observation.L[0] = ;
observation.P[0] = 20873167.574;
observation.D[0] = -2449.652;
observations.pushObservation(observation);
observation.time = time;
observation.sat = 31;
observation.rcv = 1;
observation.SNR[0] = 39;
observation.LLI[0] = 0; //??????????
observation.code[0] = 0; //?????????
observation.L[0] = 109939061.00922;
observation.P[0] = 20920707.830;
observation.D[0] = -1587.315;
observations.pushObservation(observation);
observation.time = time;
observation.sat = 21;
observation.rcv = 1;
observation.SNR[0] = 37;
observation.LLI[0] = 0; //??????????
observation.code[0] = 0; //?????????
observation.L[0] = 113496465.14223;
observation.P[0] = 21597659.275;
observation.D[0] = 1343.465;
observations.pushObservation(observation);
return observations;
}
// Time
double ts_d[] = {2018, 5, 17, 14, 1, 2};
gtime_t ts = epoch2time(ts_d);
double te_d[] = {2018, 5, 17, 14, 42, 8};
gtime_t te = epoch2time(te_d);
double tint = 0.1;
Navigation createNav(char * nav_path)
{
/* create a Navigation object */
Navigation navigation;
// Create options container
char* opt = "-SYS=G";
/* Load _nav attribute into nav variable */
nav_t nav = navigation.getNavigation();
// Create receiver identifier
int rcv = 1;
/* Open navigation file */
FILE *fp = fopen(nav_path,"r");
// Create object types
rnxopt_t rnx_opt;
/* Set constellation mask -SYS=sys[,sys...]: select navi systems (sys=G:GPS,R:GLO,E:GAL,J:QZS,C:BDS,S:SBS) */
char* opt = "-SYS=G";
// Create obsd_t object to hold the observations
obs_t obs;
obs.data = (obsd_t *) malloc(sizeof(obsd_t)*MAXSAT);
if (readrnx(obs_path, rcv, opt, &obs, NULL, NULL))
{
obs.data[0].P[0] = 22352029.710;
obs.data[1].P[0] = 20876138.578;
obs.data[2].P[0] = 20922649.533;
obs.data[3].P[0] = 24736002.147;
obs.data[4].P[0] = 21596022.619;
std::cout << "Obs number: " << obs.n << std::endl;
sortobs(&obs);
}
else
{
std::cout << "Couldn't load provided observation file" << std::endl;
return 0;
}
for (int i=0; i < obs.n; i++)
{
std::cout << "time: " << obs.data[i].time.time << " | sat: " << int(obs.data[i].sat) << " | rcv: " << obs.data[i].rcv <<
" | SNR: " << obs.data[i].SNR[0] << " | LLI: " << obs.data[i].LLI[0] << " | code: " << obs.data[i].code[0] <<
" | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] << std::endl;
observations->pushObservation(obs.data[i]);
}
free(obs.data);
/* Read navigation file, SYS can be SYS_ALL, SYS_GPS, SYS_SBS, SYS_GLO, SYS_GAL, ... */
if (readrnxnav(fp, opt, 3.03, SYS_ALL, &nav)){
/* Load _nav attribute into nav variable */
nav_t nav = navigation->getNavigation();
if (readrnx(nav_path, rcv, opt, NULL, &nav, NULL))
{
std::cout << "Navigation file loaded" << std::endl;
std::cout << "GPS satellites: " << nav.n << std::endl;
std::cout << "GLONASS satellites: " << nav.ng << std::endl;
std::cout << "SBAS satellites: " << nav.ns << std::endl;
std::cout << "Almanac satellites: " << nav.na << std::endl;
uniqnav(&nav);
}
else {
else
{
std::cout << "Couldn't load provided navigation file" << std::endl;
return 0;
}
/* Print Constellation Satellites ids */
for (int i=0;i<nav.n;i++)
{
std::cout << i << "GPS/GAL Sat Id: " << nav.eph[i].sat << std::endl;
std::cout << i << " GPS Sat Id: " << nav.eph[i].sat << std::endl;
}
for (int i=0;i<nav.ng;i++)
{
std::cout << i << "GLONASS Sat Id: " << nav.geph[i].sat << std::endl;
std::cout << i << " GLONASS Sat Id: " << nav.geph[i].sat << std::endl;
}
for (int i=0;i<nav.ns;i++)
......@@ -126,18 +112,22 @@ Navigation createNav(char * nav_path)
}
navigation.setNavigation(nav);
navigation->setNavigation(nav);
std::cout << "Navigation message loaded to Navigation class." << std::endl;
//std::cout << navigation.getNavigation()->ns << std::endl;
return navigation;
return 1;
}
int main(int argc, char *argv[])
{
/* header */
......@@ -145,19 +135,24 @@ int main(int argc, char *argv[])
std::cout << "GNSS Utils Library Example" << std::endl;
std::cout << "--------------------------" << std::endl;
// Create Observations object
Observations observations = createObs();
std::cout << "_obsVector size: " << observations.getObservations().size() << std::endl;
// create Observations object
Observations observations;
// create Navigation object
Navigation navigation;
// Create Navigation object
Navigation navigation = createNav("../src/examples/raw_201805171357.nav");
createObsAndNav(&observations, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.obs" ,&navigation, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.nav");
//readrnx()
/* Set processing options */
prcopt_t prcopt = prcopt_default;
nav_t nav2 = navigation.getNavigation();
std::cout << "Navigation eph number " << nav2.n << std::endl;
/* Set processing options */
prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
......@@ -166,13 +161,18 @@ int main(int argc, char *argv[])
prcopt.sateph = EPHOPT_BRDC;
prcopt.ionoopt = IONOOPT_OFF;
prcopt.tropopt = TROPOPT_OFF;
prcopt.dynamics = 0;
prcopt.tidecorr = 0;
prcopt.sbascorr = SBSOPT_FCORR;
prcopt.ru[0] = 4789374.0336;
prcopt.ru[1] = 177048.3292;
prcopt.ru[2] = 4194542.6444;
std::cout << "Processing options defined." << std::endl;
std::cout << "Processing options defined" << std::endl;
//Compute fix
int stat;
sol_t solb={{0}};
......@@ -181,9 +181,13 @@ int main(int argc, char *argv[])
std::vector<obsd_t> obs = observations.getObservations();
std::cout << "obs: " << obs[0].P[0] << std::endl;
nav_t nav = navigation.getNavigation();
stat = pntpos(&obs[0], obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
std::cout << "msg: " << msg << std::endl;
std::cout << "Stat: " << stat << std::endl;
......
src/getPos.cpp 0 → 100644
+ 37
− 0
View file @ 947f8856
#include "../include/gnss_utils.h"
using namespace GNSSUtils;
static int getPos(Observations observations, Navigation navigation, sol_t sol)
{
// Define observations
std::vector<obsd_t> obs = observations.getObservations();
// Define navigation
nav_t nav = navigation.getNavigation();
// Define processing options
prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
prcopt.navsys = SYS_GPS;
prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
prcopt.sateph = EPHOPT_BRDC;
prcopt.ionoopt = IONOOPT_OFF;
prcopt.tropopt = TROPOPT_OFF;
prcopt.dynamics = 0;
prcopt.tidecorr = 0;
prcopt.sbascorr = SBSOPT_FCORR;
// Define solution
sol_t solb={{0}};
// Define error msg
char msg[128]="";
int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
return stat;
}
src/gnss_utils.cpp deleted 100644 → 0
+ 0
− 98
View file @ ffb6ace3
#include "../include/gnss_utils.h"
using namespace GNSSUtils;
/******************************* RECEIVER CLASS *******************************************/
Receiver::Receiver()
{
obs_ptr_ = std::make_shared<GNSSUtils::Observations>();
nav_ptr_ = std::make_shared<GNSSUtils::Navigation>();
}
Receiver::~Receiver()
{
}
const std::shared_ptr<GNSSUtils::Observations> Receiver::getObs()
{
// return obs_ptr_;
}
const std::shared_ptr<GNSSUtils::Navigation> Receiver::getNav()
{
// return nav_ptr_;
}
/* - Processing options - */
void Receiver::clearOptions()
{
//_opt = NULL;
}
void Receiver::setOptions(prcopt_t opt)
{
_opt = opt;
}
prcopt_t Receiver::getOptions()
{
return this->_opt;
}
/* - Solution - */
void Receiver::clearSolution()
{
//_sol = NULL;
}
void Receiver::setSolution(sol_t sol)
{
_sol = sol;
}
sol_t Receiver::getSolution()
{
return this->_sol;
}
/* - Satellite Status - */
void Receiver::clearSatStatus()
{
//_ssat = NULL;
}
void Receiver::setSatStatus(ssat_t ssat)
{
_ssat = ssat;
}
ssat_t Receiver::getSatStatus()
{
return this->_ssat;
}
/* - Compute Fix - */
int Receiver::computeSPP(double *azel, char *msg)
{
/*
const obsd_t *obs = &this->_obsVector[0];
int n = this->_obsVector.size();
const nav_t *nav = this->_nav;
const prcopt_t *opt = this->_opt;
sol_t *sol = this->_sol;
ssat_t *ssat = this->_ssat;
*/
// return pntpos(obs, n, &_nav, &_opt, &_sol, azel, &_ssat, msg);
return 0;
}
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