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Commit b71ab39d authored by Pep Martí Saumell's avatar Pep Martí Saumell
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[feature] Load complete rinex

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3 merge requests!20new tag,!19new tag,!12Resolve "load from rinex outside classes"
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include/gnss_utils/utils/utils.h
+ 4
− 0
View file @ b71ab39d
......@@ -8,6 +8,7 @@
#include "gnss_utils/internal/config.h"
#include "gnss_utils/gnss_utils.h"
#include "gnss_utils/observations.h"
#define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
#define ARRAY2D_NROWS(arr) sizeof(arr) / sizeof(arr[0])
......@@ -165,6 +166,9 @@ bool equalArray3d(const T* array_1,
return true;
}
std::vector<Observations>
loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt);
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2);
......
src/examples/gnss_utils_test.cpp
+ 63
− 49
View file @ b71ab39d
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
#include "gnss_utils/utils/transformations.h"
#include "gnss_utils/utils/utils.h"
#include <typeinfo>
......@@ -33,8 +34,19 @@ int main(int argc, char* argv[])
const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
// load observations from RINEX file
observations.loadFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
observations.print();
std::vector<Observations> obs_rinex =
loadObservationsFromRinex("../src/examples/rover_sample.obs", t_start, t_end, dt, opt);
std::cout << "Number of epochs: " << obs_rinex.size() << std::endl;
observations = obs_rinex.back();
for (auto obs = observations.getObservations().begin(); obs != observations.getObservations().end(); ++obs)
{
printf("Satellite number: %u \n",obs->sat);
}
// observations = obs_rinex[0];
// observations.print();
// RTKLIB trace
// char str_file[80];
......@@ -43,61 +55,63 @@ int main(int argc, char* argv[])
// traceopen(str_file);
// load navigation from RINEX file
navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
navigation.print();
// navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
// navigation.print();
// Trace close
// traceclose();
// // Trace close
// // traceclose();
/* Set processing options */
// /* Set processing options */
/* header */
std::cout << "------------------" << std::endl;
std::cout << "Processing options" << std::endl;
std::cout << "------------------" << std::endl;
prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
prcopt.navsys = SYS_GPS;
prcopt.elmin = 0.525; // 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;
prcopt.ru[0] = 0; // 4789374.0336;
prcopt.ru[1] = 0; // 177048.3292;
prcopt.ru[2] = 0; // 4194542.6444;
std::cout << "Processing options defined" << std::endl;
Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
// Compute spp
// /* header */
// std::cout << "------------------" << std::endl;
// std::cout << "Processing options" << std::endl;
// std::cout << "------------------" << std::endl;
/* header */
std::cout << "-----------" << std::endl;
std::cout << "pntpos call" << std::endl;
std::cout << "-----------" << std::endl;
// prcopt_t prcopt = prcopt_default;
// prcopt.mode = PMODE_SINGLE;
// prcopt.soltype = 0;
// prcopt.nf = 1;
// prcopt.navsys = SYS_GPS;
// prcopt.elmin = 0.525; // 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;
// prcopt.ru[0] = 0; // 4789374.0336;
// prcopt.ru[1] = 0; // 177048.3292;
// prcopt.ru[2] = 0; // 4194542.6444;
int stat;
// std::cout << "Processing options defined" << std::endl;
sol_t solb = { { 0 } };
// Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
char msg[128] = "";
// // Compute spp
stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
// /* header */
// std::cout << "-----------" << std::endl;
// std::cout << "pntpos call" << std::endl;
// std::cout << "-----------" << std::endl;
std::cout << "msg: " << msg << std::endl;
std::cout << "sol.stat: " << int(solb.stat) << std::endl;
std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1], solb.rr[2])).transpose()
<< std::endl;
std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
// int stat;
traceclose();
// sol_t solb = { { 0 } };
// char msg[128] = "";
// stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
// msg);
// std::cout << "msg: " << msg << std::endl;
// std::cout << "sol.stat: " << int(solb.stat) << std::endl;
// std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
// std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
// std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
// solb.rr[2])).transpose()
// << std::endl;
// std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
// traceclose();
}
src/utils/utils.cpp
+ 49
− 0
View file @ b71ab39d
......@@ -9,6 +9,55 @@ void print(std::string& _msg)
std::cout << msg << "\n";
}
std::vector<Observations>
loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt)
{
obs_t obs;
obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
obs.n = 0;
obs.nmax = MAXSAT;
// const char* opt = "";
auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
int n_epochs;
if (stat == 1)
n_epochs = sortobs(&obs);
else
{
std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error")
<< stat << std::endl;
return;
}
std::vector<Observations> obs_vector;
obs_vector.reserve(n_epochs);
Observations obs_epoch;
for (int i = 0; i < obs.n; i++)
{
obs_epoch.addObservation(obs.data[i]);
bool last_obs_epoch = false;
if (i < obs.n - 1)
{
double tt = timediff(obs.data[i].time, obs.data[i + 1].time);
if (fabs(tt) > DTTOL)
{
obs_vector.push_back(obs_epoch);
obs_epoch.clearObservations();
}
}
else
{
obs_vector.push_back(obs_epoch);
}
}
free(obs.data);
return obs_vector;
}
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2)
......
test/gtest_observations.cpp
+ 32
− 14
View file @ b71ab39d
......@@ -55,7 +55,9 @@ TEST(ObservationsTest, LoadFromRinex)
// GnssUtils utilities
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations = obs_rinex[0];
ASSERT_EQ(obs.n, 18);
......@@ -75,7 +77,9 @@ TEST(ObservationsTest, GetObservationBySat)
loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
......@@ -90,7 +94,9 @@ TEST(ObservationsTest, GetObservationByIdx)
loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
......@@ -104,7 +110,9 @@ TEST(ObservationsTest, data)
loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
......@@ -118,7 +126,9 @@ TEST(ObservationsTest, HasSatellite)
loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
......@@ -129,7 +139,10 @@ TEST(ObservationsTest, HasSatellite)
TEST(ObservationsTest, FindCommonObservations)
{
Observations observations1;
observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations1 = obs_rinex[0];
Observations observations2(observations1);
ASSERT_TRUE(observations1 == observations2);
......@@ -140,15 +153,17 @@ TEST(ObservationsTest, FindCommonObservations)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsRemoved)
{
Observations observations1;
observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations1 = obs_rinex[0];
Observations observations2(observations1);
// Remove first observation of observations2
......@@ -161,15 +176,18 @@ TEST(ObservationsTest, FindCommonObservationsRemoved)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsChangeTime)
{
Observations observations1;
observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations1 = obs_rinex[0];
Observations observations2(observations1);
// Change time
......@@ -184,8 +202,8 @@ TEST(ObservationsTest, FindCommonObservationsChangeTime)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
ASSERT_TRUE(observations1.hasSatellite(sat));
ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
......
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