MeasurementErrors.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <array>
 
#include "Navigation/GNSS/Core/SatelliteSystem.hpp"
#include "Navigation/GNSS/Core/Frequency.hpp"
#include "Navigation/Transformations/Units.hpp"
 
#include "util/Container/Array.hpp"
 
namespace NAV
{
 
class GnssMeasurementErrorModel
{
  public:
    GnssMeasurementErrorModel();
 
    enum Model : int
    {
        None,        
        SINE,        
        SINE_OFFSET, 
        SINE_CN0,    
        RTKLIB,      
        SINE_TYPE,   
        SINE_SQRT,   
        EXPONENTIAL, 
        COSINE_TYPE, 
        COUNT,       
    };
 
    [[nodiscard]] double psrMeasErrorVar(const SatelliteSystem& satSys, double elevation, double cn0) const;
 
    [[nodiscard]] double carrierMeasErrorVar(const SatelliteSystem& satSys, double elevation, double cn0) const;
 
    [[nodiscard]] double psrRateMeasErrorVar(const Frequency& freq, int8_t num, double elevation, double cn0) const;
 
    [[nodiscard]] double codeBiasErrorVar() const;
 
    bool ShowGuiWidgets(const char* id, float width);
 
  private:
    Model _model = RTKLIB;
 
    double _carrierStdDev = 0.003;
    double _codeStdDev = 0.9;
    double _dopplerStdDev = 1;
 
    double _plotCN0 = 30;
 
    // #######################################################################################################
 
    struct ModelParametersSine
    {
        double a = 1.0; 
    };
    ModelParametersSine _modelParametersSine;
 
    struct ModelParametersSineOffset
    {
        double a = 0.5; 
        double b = 0.5; 
    };
    ModelParametersSineOffset _modelParametersSineOffset;
 
    struct ModelParametersSineCN0
    {
        double a = 1.0; 
        double b = 1.0; 
        double c = 1.0; 
    };
    ModelParametersSineCN0 _modelParametersSineCN0;
 
    struct ModelParametersRtklib
    {
        double a = 1.0; 
        double b = 1.0; 
    };
    ModelParametersRtklib _modelParametersRtklib;
 
    struct ModelParametersSineType
    {
        double a = 0.64; 
        double b = 0.36; 
    };
    ModelParametersSineType _modelParametersSineType;
 
    struct ModelParametersSineSqrt
    {
        double a = 0.3; 
        double b = 0.5; 
    };
    ModelParametersSineSqrt _modelParametersSineSqrt;
 
    struct ModelParametersExponential
    {
        double a = 1.0; 
        double b = 3.5; 
        double e0 = 9;  
    };
    ModelParametersExponential _modelParametersExponential;
 
    struct ModelParametersCosineType
    {
        double a = 1.0; 
        double b = 4.0; 
        int n = 8;      
    };
    ModelParametersCosineType _modelParametersCosineType;
 
    // #######################################################################################################
 
    static constexpr size_t PLOT_SAMPLES = 9001;
    static constexpr std::array<double, PLOT_SAMPLES> _elevation = genRangeArray<PLOT_SAMPLES>(0.0, deg2rad(0.01), deg2rad(90.001));
    static constexpr std::array<double, PLOT_SAMPLES> _elevation_deg = genRangeArray<PLOT_SAMPLES>(0.0, 0.01, 90.001);
    std::vector<std::vector<double>> _stdDevCurvePlot{ Model::COUNT, std::vector<double>(PLOT_SAMPLES) };
 
    [[nodiscard]] double weightingFunction(Model model, double elevation, double cn0) const;
 
    [[nodiscard]] static double satSysErrorFactorVariance(const SatelliteSystem& satSys);
 
    void updateStdDevCurvePlot(Model model);
 
    friend void to_json(json& j, const GnssMeasurementErrorModel& obj);
    friend void from_json(const json& j, GnssMeasurementErrorModel& obj);
 
    friend void to_json(json& j, const ModelParametersSine& obj);
    friend void from_json(const json& j, ModelParametersSine& obj);
 
    friend void to_json(json& j, const ModelParametersSineOffset& obj);
    friend void from_json(const json& j, ModelParametersSineOffset& obj);
 
    friend void to_json(json& j, const ModelParametersSineCN0& obj);
    friend void from_json(const json& j, ModelParametersSineCN0& obj);
 
    friend void to_json(json& j, const ModelParametersRtklib& obj);
    friend void from_json(const json& j, ModelParametersRtklib& obj);
 
    friend void to_json(json& j, const ModelParametersSineType& obj);
    friend void from_json(const json& j, ModelParametersSineType& obj);
 
    friend void to_json(json& j, const ModelParametersSineSqrt& obj);
    friend void from_json(const json& j, ModelParametersSineSqrt& obj);
 
    friend void to_json(json& j, const ModelParametersExponential& obj);
    friend void from_json(const json& j, ModelParametersExponential& obj);
 
    friend void to_json(json& j, const ModelParametersCosineType& obj);
    friend void from_json(const json& j, ModelParametersCosineType& obj);
};
 
const char* to_string(GnssMeasurementErrorModel::Model model);
 
void to_json(json& j, const GnssMeasurementErrorModel& obj);
void from_json(const json& j, GnssMeasurementErrorModel& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSine& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSine& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineOffset& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineOffset& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineCN0& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineCN0& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersRtklib& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersRtklib& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineType& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineType& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineSqrt& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineSqrt& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersExponential& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersExponential& obj);
 
void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersCosineType& obj);
void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersCosineType& obj);
 
} // namespace NAV