Calculates Observation estimates. More...

Classes
struct	Antenna
	Antenna information. More...

struct	SatelliteInfo
	Satellite Info used for estimate calculation. More...

Public Types
enum	ObservationDifference : uint8_t { NoDifference , SingleDifference , DoubleDifference }
	How the observation gets used. Influenced the measurement variance. More...

Public Member Functions
template<typename Derived >
std::pair< double, Eigen::Vector3d >	calcCarrierEstimate (Frequency freq, int8_t freqNum, size_t receiverType, const Eigen::MatrixBase< Derived > &e_recvPosMarker, double recvClockBias, const std::shared_ptr< const SatelliteInfo > &satInfo, const std::shared_ptr< const GnssObs > &gnssObs, const std::shared_ptr< const IonosphericCorrections > &ionosphericCorrections, const std::string &nameId) const
	Calculates the carrier-phase estimate.

template<typename DerivedPos , typename DerivedVel >
auto	calcDopplerEstimate (Frequency freq, size_t receiverType, const Eigen::MatrixBase< DerivedPos > &e_recvPosMarker, const Eigen::MatrixBase< DerivedVel > &e_recvVel, auto recvClockDrift, const std::shared_ptr< const SatelliteInfo > &satInfo, const std::shared_ptr< const GnssObs > &gnssObs, const std::string &nameId) const
	Calculates the doppler estimate.

template<typename ReceiverType >
void	calcObservationEstimate (const SatSigId &satSigId, Observations::SignalObservation &observation, const Receiver< ReceiverType > &receiver, const std::shared_ptr< const IonosphericCorrections > &ionosphericCorrections, const std::string &nameId, ObservationDifference obsDiff) const
	Calculates the observation estimate for the given signal.

template<typename ReceiverType >
void	calcObservationEstimates (Observations &observations, const Receiver< ReceiverType > &receiver, const std::shared_ptr< const IonosphericCorrections > &ionosphericCorrections, const std::string &nameId, ObservationDifference obsDiff) const
	Calculates the observation estimates.

double	calcObservationVariance (Frequency freq, int8_t freqNum, size_t receiverType, GnssObs::ObservationType obsType, const Eigen::Vector3d &e_recvPosMarker, const Eigen::Vector3d &e_satPos, double cn0, const std::shared_ptr< const GnssObs > &gnssObs, const std::shared_ptr< const SatNavData > &navData, const std::shared_ptr< const IonosphericCorrections > &ionosphericCorrections, const std::string &nameId, ObservationDifference obsDiff) const
	Calculates the observation variance.

double	calcPCV (const Frequency &freq, const InsTime &insTime, double elevation, std::optional< double > azimuth, size_t receiverType, const std::shared_ptr< const GnssObs > &gnssObs, const std::string &nameId) const
	Calculates the phase center variation.

template<typename Derived >
auto	calcPseudorangeEstimate (Frequency freq, size_t receiverType, const Eigen::MatrixBase< Derived > &e_recvPosMarker, auto recvClockBias, auto interFreqBias, auto dpsr_T_r_s, auto dpsr_I_r_s, const std::shared_ptr< const SatelliteInfo > &satInfo, const std::shared_ptr< const GnssObs > &gnssObs, const std::string &nameId) const
	Calculates the pseudorange estimate.

double	calculateIonosphericDelay (const Frequency &freq, int8_t freqNum, const Eigen::Vector3d &lla_recvPosAPC, const std::shared_ptr< const GnssObs > &gnssObs, const std::shared_ptr< const IonosphericCorrections > &ionosphericCorrections, double elevation, double azimuth) const
	Calculate the ionospheric delay with the model selected in the GUI.

double	calculateTroposphericDelay (const Eigen::Vector3d &lla_recvPosAPC, const std::shared_ptr< const GnssObs > &gnssObs, double elevation, double azimuth, const std::string &nameId) const
	Calculate the tropospheric delay with the model selected in the GUI.

template<typename Derived >
Eigen::Vector3< typename Derived::Scalar >	e_calcRecvPosAPC (const Frequency &freq, size_t receiverType, const Eigen::MatrixBase< Derived > &e_recvPosMarker, const std::shared_ptr< const GnssObs > &gnssObs, const std::string &nameId) const
	Calculates the antenna phase center position for the marker.

const GnssMeasurementErrorModel &	getGnssMeasurementErrorModel () const
	Get the GNSS measurement error model.

const IonosphereModel &	getIonosphereModel () const
	Get the Ionosphere Model selected.

const TroposphereModelSelection &	getTroposphereModels () const
	Get the Troposphere Model selection.

	ObservationEstimator (size_t receiverCount)
	Constructor.

template<typename ReceiverType >
bool	ShowGuiWidgets (const char *id, float itemWidth)
	Shows the GUI input to select the options.

Private Attributes
std::unordered_map< size_t, Antenna >	_antenna
	User antenna selection. Key is receiver type.

GnssMeasurementErrorModel	_gnssMeasurementErrorModel
	GNSS measurement error model to use.

IonosphereModel	_ionosphereModel
	Ionosphere Model used for the calculation.

size_t	_receiverCount
	Number of receivers (used for GUI)

TroposphereModelSelection	_troposphereModels
	Troposphere Models used for the calculation.

Friends
void	from_json (const json &j, ObservationEstimator &obj)
	Converts the provided json object into a node object.

void	from_json (const json &j, ObservationEstimator::Antenna &obj)
	Converts the provided json object into a node object.

void	to_json (json &j, const ObservationEstimator &obj)
	Converts the provided object into json.

void	to_json (json &j, const ObservationEstimator::Antenna &obj)
	Converts the provided object into json.

Detailed Description

Calculates Observation estimates.

Member Enumeration Documentation

◆ ObservationDifference

enum NAV::ObservationEstimator::ObservationDifference : uint8_t

How the observation gets used. Influenced the measurement variance.

Enumerator
NoDifference	Estimation is not differenced.
SingleDifference	Single Difference.
DoubleDifference	Double Difference.

Constructor & Destructor Documentation

◆ ObservationEstimator()

NAV::ObservationEstimator::ObservationEstimator ( size_t receiverCount )

inlineexplicit

Constructor.

Parameters

[in] receiverCount Number of receivers

Member Function Documentation

◆ calcCarrierEstimate()

template<typename Derived >

std::pair< double, Eigen::Vector3d > NAV::ObservationEstimator::calcCarrierEstimate	(	Frequency	freq,
		int8_t	freqNum,
		size_t	receiverType,
		const Eigen::MatrixBase< Derived > &	e_recvPosMarker,
		double	recvClockBias,
		const std::shared_ptr< const SatelliteInfo > &	satInfo,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::shared_ptr< const IonosphericCorrections > &	ionosphericCorrections,
		const std::string &	nameId ) const

inline

Calculates the carrier-phase estimate.

Parameters

[in]	freq	Signal frequency
[in]	freqNum	Frequency number. Only used for GLONASS G1 and G2
[in]	receiverType	Receiver type to select the correct antenna
[in]	e_recvPosMarker	Receiver marker position in ECEF coordinates [m]
[in]	recvClockBias	Receiver clock bias [s]
[in]	satInfo	Satellite Information (pos, vel, clock)
[in]	gnssObs	GNSS observation
[in]	ionosphericCorrections	Ionospheric correction parameters collected from the Nav data
[in]	nameId	Name and Id of the node used for log messages only

Returns: The estimate [m] and the position line-of-sight unit vector (used for the Jacobian)

◆ calcDopplerEstimate()

template<typename DerivedPos , typename DerivedVel >

auto NAV::ObservationEstimator::calcDopplerEstimate	(	Frequency	freq,
		size_t	receiverType,
		const Eigen::MatrixBase< DerivedPos > &	e_recvPosMarker,
		const Eigen::MatrixBase< DerivedVel > &	e_recvVel,
		auto	recvClockDrift,
		const std::shared_ptr< const SatelliteInfo > &	satInfo,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::string &	nameId ) const

inline

Calculates the doppler estimate.

Parameters

[in]	freq	Signal frequency
[in]	receiverType	Receiver type to select the correct antenna
[in]	e_recvPosMarker	Receiver marker position in ECEF coordinates [m]
[in]	e_recvVel	Receiver velocity in ECEF frame [m/s]
[in]	recvClockDrift	Receiver clock drift [s/s]
[in]	satInfo	Satellite Information (pos, vel, clock)
[in]	gnssObs	GNSS observation
[in]	nameId	Name and Id of the node used for log messages only

Returns: The estimate [m/s] and the position line-of-sight unit vector (used for the Jacobian)

◆ calcObservationEstimate()

template<typename ReceiverType >

void NAV::ObservationEstimator::calcObservationEstimate	(	const SatSigId &	satSigId,
		Observations::SignalObservation &	observation,
		const Receiver< ReceiverType > &	receiver,
		const std::shared_ptr< const IonosphericCorrections > &	ionosphericCorrections,
		const std::string &	nameId,
		ObservationDifference	obsDiff ) const

inline

Calculates the observation estimate for the given signal.

Parameters

[in]	satSigId	Satellite signal identifier
[in,out]	observation	GNSS observation data used for the calculation of this epoch
[in]	ionosphericCorrections	Ionospheric correction parameters collected from the Nav data
[in]	receiver	Receiver
[in]	nameId	Name and Id of the node used for log messages only
[in]	obsDiff	Observation Difference type to estimate

◆ calcObservationEstimates()

template<typename ReceiverType >

void NAV::ObservationEstimator::calcObservationEstimates	(	Observations &	observations,
		const Receiver< ReceiverType > &	receiver,
		const std::shared_ptr< const IonosphericCorrections > &	ionosphericCorrections,
		const std::string &	nameId,
		ObservationDifference	obsDiff ) const

inline

Calculates the observation estimates.

Parameters

[in,out]	observations	List of GNSS observation data used for the calculation of this epoch
[in]	ionosphericCorrections	Ionospheric correction parameters collected from the Nav data
[in]	receiver	Receiver
[in]	nameId	Name and Id of the node used for log messages only
[in]	obsDiff	Observation Difference type to estimate

◆ calcObservationVariance()

double NAV::ObservationEstimator::calcObservationVariance	(	Frequency	freq,
		int8_t	freqNum,
		size_t	receiverType,
		GnssObs::ObservationType	obsType,
		const Eigen::Vector3d &	e_recvPosMarker,
		const Eigen::Vector3d &	e_satPos,
		double	cn0,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::shared_ptr< const SatNavData > &	navData,
		const std::shared_ptr< const IonosphericCorrections > &	ionosphericCorrections,
		const std::string &	nameId,
		ObservationDifference	obsDiff ) const

inline

Calculates the observation variance.

Parameters

[in]	freq	Signal Frequency
[in]	freqNum	Frequency number. Only used for GLONASS G1 and G2
[in]	receiverType	Receiver type to select the correct antenna
[in]	obsType	Observation type to calculate the variance for
[in]	e_recvPosMarker	Receiver marker position in ECEF coordinates [m]
[in]	e_satPos	Satellite position in ECEF coordinates [m]
[in]	cn0	Carrier-to-Noise density [dBHz]
[in]	gnssObs	GNSS observation
[in]	navData	Navigation data including this satellite
[in]	ionosphericCorrections	Ionospheric correction parameters collected from the Nav data
[in]	nameId	Name and Id of the node used for log messages only
[in]	obsDiff	Observation Difference type to estimate

Returns: Observation variance in [m] (pseudorange, carrier) or [m/s] (doppler)

◆ calcPCV()

double NAV::ObservationEstimator::calcPCV	(	const Frequency &	freq,
		const InsTime &	insTime,
		double	elevation,
		std::optional< double >	azimuth,
		size_t	receiverType,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::string &	nameId ) const

inlinenodiscard

Calculates the phase center variation.

Parameters

[in]	freq	Signal frequency
[in]	insTime	Time to lookup the PCV pattern
[in]	elevation	Elevation angle in [rad]
[in]	azimuth	Azimuth in [rad] or nullopt to use the azimuth independent (NOAZI)
[in]	receiverType	Receiver type to select the correct antenna
[in]	gnssObs	GNSS observation
[in]	nameId	Name and Id of the node used for log messages only

Returns: The PCV value in [m]

◆ calcPseudorangeEstimate()

template<typename Derived >

auto NAV::ObservationEstimator::calcPseudorangeEstimate	(	Frequency	freq,
		size_t	receiverType,
		const Eigen::MatrixBase< Derived > &	e_recvPosMarker,
		auto	recvClockBias,
		auto	interFreqBias,
		auto	dpsr_T_r_s,
		auto	dpsr_I_r_s,
		const std::shared_ptr< const SatelliteInfo > &	satInfo,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::string &	nameId ) const

inline

Calculates the pseudorange estimate.

Parameters

[in]	freq	Signal frequency
[in]	receiverType	Receiver type to select the correct antenna
[in]	e_recvPosMarker	Receiver marker position in ECEF coordinates [m]
[in]	recvClockBias	Receiver clock bias [s]
[in]	interFreqBias	Receiver inter-frequency bias [s]
[in]	dpsr_T_r_s	Estimated troposphere propagation error [m]
[in]	dpsr_I_r_s	Estimated ionosphere propagation error [m]
[in]	satInfo	Satellite Information (pos, vel, clock)
[in]	gnssObs	GNSS observation
[in]	nameId	Name and Id of the node used for log messages only

Returns: The estimate [m] and the position line-of-sight unit vector (used for the Jacobian)

◆ calculateIonosphericDelay()

double NAV::ObservationEstimator::calculateIonosphericDelay	(	const Frequency &	freq,
		int8_t	freqNum,
		const Eigen::Vector3d &	lla_recvPosAPC,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::shared_ptr< const IonosphericCorrections > &	ionosphericCorrections,
		double	elevation,
		double	azimuth ) const

inline

Calculate the ionospheric delay with the model selected in the GUI.

Parameters

[in]	freq	Frequency of the signal
[in]	freqNum	Frequency number. Only used for GLONASS G1 and G2
[in]	lla_recvPosAPC	Receiver antenna phase center position in LLA coordinates [rad, rad, m]
[in]	gnssObs	GNSS observation
[in]	ionosphericCorrections	Ionospheric correction parameters collected from the Nav data
[in]	elevation	Satellite elevation [rad]
[in]	azimuth	Satellite azimuth [rad]

Returns: Estimated ionosphere propagation error [m]

◆ calculateTroposphericDelay()

double NAV::ObservationEstimator::calculateTroposphericDelay	(	const Eigen::Vector3d &	lla_recvPosAPC,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		double	elevation,
		double	azimuth,
		const std::string &	nameId ) const

inline

Calculate the tropospheric delay with the model selected in the GUI.

Parameters

[in]	lla_recvPosAPC	Receiver antenna phase center position in LLA coordinates [rad, rad, m]
[in]	gnssObs	GNSS observation
[in]	elevation	Satellite elevation [rad]
[in]	azimuth	Satellite azimuth [rad]
[in]	nameId	Name and Id of the node used for log messages only

Returns: Estimated troposphere propagation error [m]

◆ e_calcRecvPosAPC()

template<typename Derived >

Eigen::Vector3< typename Derived::Scalar > NAV::ObservationEstimator::e_calcRecvPosAPC	(	const Frequency &	freq,
		size_t	receiverType,
		const Eigen::MatrixBase< Derived > &	e_recvPosMarker,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::string &	nameId ) const

inlinenodiscard

Calculates the antenna phase center position for the marker.

Parameters

[in]	freq	Signal frequency
[in]	receiverType	Receiver type to select the correct antenna
[in]	e_recvPosMarker	Receiver marker position in ECEF coordinates [m]
[in]	gnssObs	GNSS observation
[in]	nameId	Name and Id of the node used for log messages only

◆ ShowGuiWidgets()

template<typename ReceiverType >

bool NAV::ObservationEstimator::ShowGuiWidgets	(	const char *	id,
		float	itemWidth )

inline

Shows the GUI input to select the options.

Parameters

[in]	id	Unique id for ImGui.
[in]	itemWidth	Width of the widgets

Friends And Related Symbol Documentation

◆ from_json [1/2]

void from_json	(	const json &	j,
		ObservationEstimator &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

◆ from_json [2/2]

void from_json	(	const json &	j,
		ObservationEstimator::Antenna &	obj )

friend

Converts the provided json object into a node object.

Parameters

[in]	j	Json object with the needed values
[out]	obj	Object to fill from the json

◆ to_json [1/2]

void to_json	(	json &	j,
		const ObservationEstimator &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

◆ to_json [2/2]

void to_json	(	json &	j,
		const ObservationEstimator::Antenna &	obj )

friend

Converts the provided object into json.

Parameters

[out]	j	Json object which gets filled with the info
[in]	obj	Object to convert into json

The documentation for this class was generated from the following file:

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/ObservationEstimator.hpp

Classes

Public Types

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ ObservationDifference

Constructor & Destructor Documentation

◆ ObservationEstimator()

Member Function Documentation

◆ calcCarrierEstimate()

◆ calcDopplerEstimate()

◆ calcObservationEstimate()

◆ calcObservationEstimates()

◆ calcObservationVariance()

◆ calcPCV()

◆ calcPseudorangeEstimate()

◆ calculateIonosphericDelay()

◆ calculateTroposphericDelay()

◆ e_calcRecvPosAPC()

◆ ShowGuiWidgets()

Friends And Related Symbol Documentation

◆ from_json [1/2]

◆ from_json [2/2]

◆ to_json [1/2]

◆ to_json [2/2]