GNSS helper functions. More...

Functions
template<typename DerivedA , typename DerivedB >
DerivedA::Scalar	NAV::calcSagnacCorrection (const Eigen::MatrixBase< DerivedA > &e_posAnt, const Eigen::MatrixBase< DerivedB > &e_satPos)
	Calculates the Earth rotation/Sagnac correction.

template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD >
DerivedA::Scalar	NAV::calcSagnacRateCorrection (const Eigen::MatrixBase< DerivedA > &e_recvPos, const Eigen::MatrixBase< DerivedB > &e_satPos, const Eigen::MatrixBase< DerivedC > &e_recvVel, const Eigen::MatrixBase< DerivedD > &e_satVel)
	Calculates the Range-rate Earth rotation/Sagnac correction.

template<typename Derived >
Derived::Scalar	NAV::calcSatAzimuth (const Eigen::MatrixBase< Derived > &n_lineOfSightUnitVector)
	Calculates the azimuth of the satellite from the antenna.

template<typename Derived >
Derived::Scalar	NAV::calcSatElevation (const Eigen::MatrixBase< Derived > &n_lineOfSightUnitVector)
	Calculates the elevation of the satellite from the antenna.

double	NAV::doppler2rangeRate (double doppler, Frequency freq, int8_t num)
	Transforms a doppler-shift into a range-rate.

template<typename DerivedA , typename DerivedB >
Eigen::Vector3< typename DerivedA::Scalar >	NAV::e_calcLineOfSightUnitVector (const Eigen::MatrixBase< DerivedA > &e_posAnt, const Eigen::MatrixBase< DerivedB > &e_posSat)
	Calculates the line-of-sight unit vector from the user antenna to the satellite.

double	NAV::galSisaIdx2Val (uint8_t idx)
	Converts a GALILEO SISA (Signal in space accuracy) index to it's value.

uint8_t	NAV::galSisaVal2Idx (double val)
	Converts a GALILEO SISA (Signal in space accuracy) value to it's index.

double	NAV::gpsUraIdx2Val (uint8_t idx)
	Converts a GPS URA (user range accuracy) index to it's value.

uint8_t	NAV::gpsUraVal2Idx (double val)
	Converts a GPS URA (user range accuracy) value to it's index.

double	NAV::rangeRate2doppler (double rangeRate, Frequency freq, int8_t num)
	Transforms a range-rate into a doppler-shift.

double	NAV::ratioFreqSquared (Frequency f1, Frequency f2, int8_t num1, int8_t num2)
	Calculates the ration of the frequencies squared γ

Detailed Description

GNSS helper functions.

Author: T. Topp (topp@.nosp@m.ins..nosp@m.uni-s.nosp@m.tutt.nosp@m.gart..nosp@m.de)

Date: 2022-05-19

Function Documentation

◆ calcSagnacCorrection()

template<typename DerivedA , typename DerivedB >

DerivedA::Scalar NAV::calcSagnacCorrection	(	const Eigen::MatrixBase< DerivedA > &	e_posAnt,
		const Eigen::MatrixBase< DerivedB > &	e_satPos )

nodiscard

Calculates the Earth rotation/Sagnac correction.

Parameters

[in]	e_posAnt	Position of the user antenna in ECEF frame coordinates
[in]	e_satPos	Position of the satellite in ECEF frame coordinates

Returns: Earth rotation/Sagnac correction [m]

Note: See [45] Springer Handbook ch. 19.1.1, eq. 19.7, p. 562

◆ calcSagnacRateCorrection()

template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD >

DerivedA::Scalar NAV::calcSagnacRateCorrection	(	const Eigen::MatrixBase< DerivedA > &	e_recvPos,
		const Eigen::MatrixBase< DerivedB > &	e_satPos,
		const Eigen::MatrixBase< DerivedC > &	e_recvVel,
		const Eigen::MatrixBase< DerivedD > &	e_satVel )

nodiscard

Calculates the Range-rate Earth rotation/Sagnac correction.

Parameters

[in]	e_recvPos	Position of the user antenna in ECEF frame coordinates
[in]	e_satPos	Position of the satellite in ECEF frame coordinates
[in]	e_recvVel	Velocity of the user antenna in ECEF frame coordinates
[in]	e_satVel	Velocity of the satellite in ECEF frame coordinates

Returns: Range-rate Earth rotation/Sagnac correction [m/s]

Note: See [17] Groves ch. 8.5.3, eq. 8.46, p. 342

◆ calcSatAzimuth()

template<typename Derived >

Derived::Scalar NAV::calcSatAzimuth ( const Eigen::MatrixBase< Derived > & n_lineOfSightUnitVector )

nodiscard

Calculates the azimuth of the satellite from the antenna.

Parameters

[in] n_lineOfSightUnitVector Line-of-sight unit vector from the antenna to the satellite in NED frame coordinates

Returns: Azimuth [rad]

Note: See [17] Groves, ch. 8.5.4, eq. 8.57, p. 344

◆ calcSatElevation()

template<typename Derived >

Derived::Scalar NAV::calcSatElevation ( const Eigen::MatrixBase< Derived > & n_lineOfSightUnitVector )

nodiscard

Calculates the elevation of the satellite from the antenna.

Parameters

[in] n_lineOfSightUnitVector Line-of-sight unit vector from the antenna to the satellite in NED frame coordinates

Returns: Elevation [rad]

Note: See [17] Groves, ch. 8.5.4, eq. 8.57, p. 344

◆ doppler2rangeRate()

double NAV::doppler2rangeRate	(	double	doppler,
		Frequency	freq,
		int8_t	num )

nodiscard

Transforms a doppler-shift into a range-rate.

Parameters

[in]	doppler	The doppler-shift to transform [Hz]
[in]	freq	Frequency
[in]	num	Frequency number. Only used for GLONASS G1 and G2

Returns: The corresponding range-rate [m/s]

Note: See [17] Groves, ch. 9.2.7, eq. 9.70, p. 388

◆ e_calcLineOfSightUnitVector()

template<typename DerivedA , typename DerivedB >

Eigen::Vector3< typename DerivedA::Scalar > NAV::e_calcLineOfSightUnitVector	(	const Eigen::MatrixBase< DerivedA > &	e_posAnt,
		const Eigen::MatrixBase< DerivedB > &	e_posSat )

nodiscard

Calculates the line-of-sight unit vector from the user antenna to the satellite.

Parameters

[in]	e_posAnt	Position of the user antenna in ECEF frame coordinates
[in]	e_posSat	Position of the satellite in ECEF frame coordinates

Returns: The line-of-sight unit vector in ECEF frame coordinates

Note: See [17] Groves, ch. 8.5.3, eq. 8.41, p. 341

◆ galSisaIdx2Val()

double NAV::galSisaIdx2Val ( uint8_t idx )

nodiscard

Converts a GALILEO SISA (Signal in space accuracy) index to it's value.

Parameters

[in] idx The SISA index

Returns: SISA value in [m]

Note: See [13] GAL ICD ch. 5.1.12, p.58

◆ galSisaVal2Idx()

uint8_t NAV::galSisaVal2Idx ( double val )

nodiscard

Converts a GALILEO SISA (Signal in space accuracy) value to it's index.

Parameters

[in] val SISA value in [m]

Returns: The SISA index

Note: See [13] GAL ICD ch. 5.1.12, p.58

◆ gpsUraIdx2Val()

double NAV::gpsUraIdx2Val ( uint8_t idx )

nodiscard

Converts a GPS URA (user range accuracy) index to it's value.

Parameters

[in] idx The URA index

Returns: URA value in [m]

Note: See [21] GPS ICD ch. 20.3.3.3.1.3, p.92ff

◆ gpsUraVal2Idx()

uint8_t NAV::gpsUraVal2Idx ( double val )

nodiscard

Converts a GPS URA (user range accuracy) value to it's index.

Parameters

[in] val URA value in [m]

Returns: The URA index

Note: See [21] GPS ICD ch. 20.3.3.3.1.3, p.92ff

◆ rangeRate2doppler()

double NAV::rangeRate2doppler	(	double	rangeRate,
		Frequency	freq,
		int8_t	num )

nodiscard

Transforms a range-rate into a doppler-shift.

Parameters

[in]	rangeRate	The range-rate to transform [m/s]
[in]	freq	Frequency
[in]	num	Frequency number. Only used for GLONASS G1 and G2

Returns: The corresponding doppler-shift [Hz]

Note: See [17] Groves, ch. 9.2.7, eq. 9.70, p. 388

◆ ratioFreqSquared()

double NAV::ratioFreqSquared	(	Frequency	f1,
		Frequency	f2,
		int8_t	num1,
		int8_t	num2 )

nodiscard

Calculates the ration of the frequencies squared γ

\begin{equation} \label{eq:eq-GNSS-freqRatio} \gamma = (f_1 / f_2)^2 \end{equation}

Parameters

[in]	f1	First frequency (usually L1)
[in]	f2	Second frequency (usually L2)
[in]	num1	First frequency number. Only used for GLONASS G1 and G2
[in]	num2	Second frequency number. Only used for GLONASS G1 and G2

Returns: The ratio (f1/f2)^2 [-]

Note: See [21] IS-GPS-200 ch. 20.3.3.3.3.2 p.99

Functions

Detailed Description

Function Documentation

◆ calcSagnacCorrection()

◆ calcSagnacRateCorrection()

◆ calcSatAzimuth()

◆ calcSatElevation()

◆ doppler2rangeRate()

◆ e_calcLineOfSightUnitVector()

◆ galSisaIdx2Val()

◆ galSisaVal2Idx()

◆ gpsUraIdx2Val()

◆ gpsUraVal2Idx()

◆ rangeRate2doppler()

◆ ratioFreqSquared()