Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
gnss_utils
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
labrobotica
algorithms
gnss_utils
Commits
e7ee79a5
Commit
e7ee79a5
authored
4 years ago
by
Joan Vallvé Navarro
Browse files
Options
Downloads
Patches
Plain Diff
satellite pos using SBAS also using BRDC for the rest
parent
08598be6
No related branches found
No related tags found
2 merge requests
!20
new tag
,
!19
new tag
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
include/gnss_utils/utils/satellite.h
+1
-0
1 addition, 0 deletions
include/gnss_utils/utils/satellite.h
src/utils/satellite.cpp
+109
-57
109 additions, 57 deletions
src/utils/satellite.cpp
with
110 additions
and
57 deletions
include/gnss_utils/utils/satellite.h
+
1
−
0
View file @
e7ee79a5
...
...
@@ -35,6 +35,7 @@ namespace GnssUtils
double
clock_bias
;
double
clock_drift
;
int
svh
;
int
eph_mode
;
};
}
// namespace GnssUtils
...
...
This diff is collapsed.
Click to expand it.
src/utils/satellite.cpp
+
109
−
57
View file @
e7ee79a5
...
...
@@ -16,69 +16,121 @@ namespace GnssUtils
{
double
computeSatElevation
(
const
Eigen
::
Vector3d
&
receiver_ecef
,
const
Eigen
::
Vector3d
&
sat_ecef
)
{
// ecef 2 geodetic
Eigen
::
Vector3d
receiver_geo
;
ecef2pos
(
receiver_ecef
.
data
(),
receiver_geo
.
data
());
// receiver-sat vector ecef
Eigen
::
Vector3d
receiver_sat_ecef
=
sat_ecef
-
receiver_ecef
;
// receiver-sat vector enu (receiver ecef as origin)
Eigen
::
Vector3d
receiver_sat_enu
;
ecef2enu
(
receiver_geo
.
data
(),
// geodetic position {lat,lon} (rad)
receiver_sat_ecef
.
data
(),
// vector in ecef coordinate {x,y,z}
receiver_sat_enu
.
data
());
// vector in local tangental coordinate {e,n,u}
// elevation
return
atan2
(
receiver_sat_enu
(
2
),
sqrt
(
receiver_sat_enu
(
0
)
*
receiver_sat_enu
(
0
)
+
receiver_sat_enu
(
1
)
*
receiver_sat_enu
(
1
)));
// ecef 2 geodetic
Eigen
::
Vector3d
receiver_geo
;
ecef2pos
(
receiver_ecef
.
data
(),
receiver_geo
.
data
());
// receiver-sat vector ecef
Eigen
::
Vector3d
receiver_sat_ecef
=
sat_ecef
-
receiver_ecef
;
// receiver-sat vector enu (receiver ecef as origin)
Eigen
::
Vector3d
receiver_sat_enu
;
ecef2enu
(
receiver_geo
.
data
(),
// geodetic position {lat,lon} (rad)
receiver_sat_ecef
.
data
(),
// vector in ecef coordinate {x,y,z}
receiver_sat_enu
.
data
());
// vector in local tangental coordinate {e,n,u}
// elevation
return
atan2
(
receiver_sat_enu
(
2
),
sqrt
(
receiver_sat_enu
(
0
)
*
receiver_sat_enu
(
0
)
+
receiver_sat_enu
(
1
)
*
receiver_sat_enu
(
1
)));
}
Satellites
computeSatellites
(
const
Observations
&
obs
,
const
Navigation
&
nav
,
const
int
&
eph_opt
)
{
double
rs
[
6
*
obs
.
size
()],
dts
[
2
*
obs
.
size
()],
var
[
obs
.
size
()];
int
svh
[
obs
.
size
()];
// std::cout << "computing position of sats: ";
// for (auto&& obs_ref : obs.getObservations())
// std::cout << (int)obs_ref.sat << " ";
// std::cout << std::endl;
// compute positions
satposs
(
obs
.
getObservations
().
front
().
time
,
obs
.
data
(),
obs
.
size
(),
&
nav
.
getNavigation
(),
eph_opt
,
rs
,
dts
,
var
,
svh
);
// fill Satellites
Satellites
sats
;
//std::cout << "filling satellites: \n";
for
(
int
i
=
0
;
i
<
obs
.
size
();
i
++
)
{
auto
sat_pair
=
sats
.
emplace
(
obs
.
getObservationByIdx
(
i
).
sat
,
// Key
Satellite
({
satsys
(
obs
.
getObservationByIdx
(
i
).
sat
,
NULL
),
obs
.
getObservationByIdx
(
i
).
sat
,
// Constructor...
(
Eigen
::
Vector3d
()
<<
rs
[
6
*
i
],
rs
[
6
*
i
+
1
],
rs
[
6
*
i
+
2
]).
finished
(),
(
Eigen
::
Vector3d
()
<<
rs
[
6
*
i
+
3
],
rs
[
6
*
i
+
4
],
rs
[
6
*
i
+
5
]).
finished
(),
var
[
i
],
dts
[
2
*
i
],
dts
[
2
*
i
+
1
],
(
svh
[
i
]
==-
2
?
0
:
svh
[
i
])}));
// -2 = ephemeris without SBAS correction (remove negative error code)
assert
(
sat_pair
.
second
&&
"satellite already computed"
);
//std::cout << "\tsat: " << sat_pair.first->second.sat << std::endl
// << "\t\tpos: " << sat_pair.first->second.pos.transpose() << std::endl
// << "\t\tvel: " << sat_pair.first->second.vel.transpose() << std::endl
// << "\t\tvar: " << sat_pair.first->second.var << std::endl
// << "\t\tclock bias: " << sat_pair.first->second.clock_bias << std::endl
// << "\t\tclock drift: " << sat_pair.first->second.clock_drift << std::endl
// << "\t\tsvh: " << sat_pair.first->second.svh << std::endl;
// if (sat_pair.first->second.pos_ == Eigen::Vector3d::Zero())
// std::cout << "ephemeris not available for sat " << sat_pair.first->second.sat_ << std::endl;
}
return
sats
;
double
rs
[
6
*
obs
.
size
()],
dts
[
2
*
obs
.
size
()],
var
[
obs
.
size
()];
double
rs_brdc
[
6
*
obs
.
size
()],
dts_brdc
[
2
*
obs
.
size
()],
var_brdc
[
obs
.
size
()];
int
svh
[
obs
.
size
()];
int
svh_brdc
[
obs
.
size
()];
// std::cout << "computing position of sats: ";
// for (auto&& obs_ref : obs.getObservations())
// std::cout << (int)obs_ref.sat << " ";
// std::cout << std::endl;
// compute positions
// first compute all broadcasted ephemeris
satposs
(
obs
.
getObservations
().
front
().
time
,
obs
.
data
(),
obs
.
size
(),
&
nav
.
getNavigation
(),
0
,
rs_brdc
,
dts_brdc
,
var_brdc
,
svh_brdc
);
/* DEBUG
std::cout << "Sats positions with broadcasted ephemeris: \n";
for (int i = 0; i < obs.size(); i++)
{
if (rs_brdc[6*i] == 0 and rs_brdc[6*i+1] == 0 and rs_brdc[6*i+2] == 0)
std::cout << "\tsat: " << (int)obs.getObservationByIdx(i).sat << " ephemeris not available" << std::endl;
else
{
std::cout << "\tsat: " << (int)obs.getObservationByIdx(i).sat << std::endl
<< "\t\tpos: " << rs_brdc[6*i] << " " << rs_brdc[6*i+1] << " " << rs_brdc[6*i+2] << std::endl
<< "\t\tvel: " << rs_brdc[6*i+3] << " " << rs_brdc[6*i+4] << " " << rs_brdc[6*i+5] << std::endl
<< "\t\tvar: " << var_brdc[i] << std::endl
<< "\t\tclock bias: " << dts_brdc[2*i] << std::endl
<< "\t\tclock drift: " << dts_brdc[2*i+1] << std::endl
<< "\t\tsvh: " << svh_brdc[i] << std::endl;
}
}
//*/
// compute SBAS ephemeris
if
(
eph_opt
!=
0
)
satposs
(
obs
.
getObservations
().
front
().
time
,
obs
.
data
(),
obs
.
size
(),
&
nav
.
getNavigation
(),
eph_opt
,
rs
,
dts
,
var
,
svh
);
// fill Satellites
Satellites
sats
;
//std::cout << "computeSatellites: filling satellites: \n";
for
(
int
i
=
0
;
i
<
obs
.
size
();
i
++
)
{
bool
brdc_eph
=
eph_opt
==
0
or
(
rs
[
6
*
i
]
==
0
and
rs
[
6
*
i
+
1
]
==
0
and
rs
[
6
*
i
+
2
]
==
0
);
auto
sat_pair
=
sats
.
emplace
(
obs
.
getObservationByIdx
(
i
).
sat
,
// Key
Satellite
({
satsys
(
obs
.
getObservationByIdx
(
i
).
sat
,
NULL
),
obs
.
getObservationByIdx
(
i
).
sat
,
// Constructor...
brdc_eph
?
(
Eigen
::
Vector3d
()
<<
rs_brdc
[
6
*
i
],
rs_brdc
[
6
*
i
+
1
],
rs_brdc
[
6
*
i
+
2
]).
finished
()
:
(
Eigen
::
Vector3d
()
<<
rs
[
6
*
i
],
rs
[
6
*
i
+
1
],
rs
[
6
*
i
+
2
]).
finished
(),
brdc_eph
?
(
Eigen
::
Vector3d
()
<<
rs_brdc
[
6
*
i
+
3
],
rs_brdc
[
6
*
i
+
4
],
rs_brdc
[
6
*
i
+
5
]).
finished
()
:
(
Eigen
::
Vector3d
()
<<
rs
[
6
*
i
+
3
],
rs
[
6
*
i
+
4
],
rs
[
6
*
i
+
5
]).
finished
()
,
brdc_eph
?
var_brdc
[
i
]
:
var
[
i
],
brdc_eph
?
dts_brdc
[
2
*
i
]
:
dts
[
2
*
i
],
brdc_eph
?
dts_brdc
[
2
*
i
+
1
]
:
dts
[
2
*
i
+
1
],
brdc_eph
?
svh_brdc
[
i
]
:
svh
[
i
],
brdc_eph
?
0
:
2
}));
assert
(
sat_pair
.
second
&&
"satellite already computed"
);
/* DEBUG
if (sat_pair.first->second.pos == Eigen::Vector3d::Zero())
std::cout << "\tsat: " << sat_pair.first->second.sat << " ephemeris not available" << std::endl;
else
{
std::cout << "\tsat: " << sat_pair.first->second.sat << std::endl
<< "\t\tpos: " << sat_pair.first->second.pos.transpose() << std::endl
<< "\t\tvel: " << sat_pair.first->second.vel.transpose() << std::endl
<< "\t\tvar: " << sat_pair.first->second.var << std::endl
<< "\t\tclock bias: " << sat_pair.first->second.clock_bias << std::endl
<< "\t\tclock drift: " << sat_pair.first->second.clock_drift << std::endl
<< "\t\tsvh: " << sat_pair.first->second.svh << std::endl
<< "\t\teph: " << (sat_pair.first->second.eph_mode == 2 ? "SBAS" : "BRDC") << std::endl;
}//*/
}
return
sats
;
}
}
// namespace GnssUtils
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment