Numerically integrates Imu data. More...

Data Structures
struct	Difference
	Differences (single or double) More...
struct	OutlierInfo
	Outlier removal info. More...
struct	PivotSatellite
	Pivot satellite information. More...
struct	UpdateStatus
	Update Valid information. More...

Public Types
enum	ReceiverType : uint8_t { Rover , Base , ReceiverType_COUNT }
	Receiver Types. More...
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...
enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
RealTimeKinematic &	operator= (const RealTimeKinematic &)=delete
	Copy assignment operator.
RealTimeKinematic &	operator= (RealTimeKinematic &&)=delete
	Move assignment operator.
	RealTimeKinematic ()
	Default constructor.
	RealTimeKinematic (const RealTimeKinematic &)=delete
	Copy constructor.
	RealTimeKinematic (RealTimeKinematic &&)=delete
	Move constructor.
void	restore (const json &j) override
	Restores the node from a json object.
json	save () const override
	Saves the node into a json object.
std::string	type () const override
	String representation of the Class Type.
	~RealTimeKinematic () override
	Destructor.
Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.
virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.
bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.
bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.
bool	doEnable ()
	Enable the node.
bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.
bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.
virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.
template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.
Mode	getMode () const
	Get the current mode of the node.
const ImVec2 &	getSize () const
	Get the size of the node.
State	getState () const
	Get the current state of the node.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.
bool	isDisabled () const
	Checks if the node is disabled.
bool	isInitialized () const
	Checks if the node is initialized.
bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)
bool	isTransient () const
	Checks if the node is changing its state currently.
std::string	nameId () const
	Node name and id.
	Node (const Node &)=delete
	Copy constructor.
	Node (Node &&)=delete
	Move constructor.
	Node (std::string name)
	Constructor.
void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.
virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.
Node &	operator= (const Node &)=delete
	Copy assignment operator.
Node &	operator= (Node &&)=delete
	Move assignment operator.
OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.
std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.
virtual bool	resetNode ()
	Resets the node. It is guaranteed that the node is initialized when this is called.
virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.
static std::string	typeStatic ()
	String representation of the Class Type.
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Types
using	Differences
	Difference storage type.
using	Receiver
	Receiver.
enum class	StdevAccelUnits : uint8_t { m_sqrts3 }
	Possible Units for the Standard deviation of the acceleration due to user motion. More...
enum class	StdevAmbiguityUnits : uint8_t { Cycle }
	Possible Units for the Standard deviation of the ambiguities. More...

Private Member Functions
void	addEventToGui (const std::shared_ptr< RtkSolution > &rtkSol, const std::string &text)
	Adds the event to the GUI list.
void	addOrRemoveKalmanFilterAmbiguities (const Observations &observations, const std::shared_ptr< RtkSolution > &rtkSol)
	Adds or remove Ambiguities to/from the Kalman Filter state depending on the received observations.
void	applyFixedAmbiguities (const Eigen::VectorXd &fixedAmb, const std::vector< RTK::States::StateKeyType > &ambKeys, const std::vector< RTK::Meas::MeasKeyTypes > &ambMeasKeys)
	Apply the fixed ambiguities to the kalman filter state.
void	assignSolutionToFilter (const std::shared_ptr< NAV::SppSolution > &sppSol)
	Assign the SPP solution to the RTK filter.
Differences	calcDoubleDifferences (const Observations &observations, const Differences &singleDifferences) const
	Calculates the double difference of the measurements and estimates.
std::shared_ptr< RtkSolution >	calcFallbackSppSolution ()
	Calculates a SPP solution as fallback in case no base data is available.
void	calcKalmanUpdateMatrices (const Observations &observations, const Differences &doubleDifferences, const unordered_map< GnssObs::ObservationType, KeyedMatrixXd< RTK::Meas::SingleObs< ReceiverType > > > &Rtilde)
	Calculates the Measurement vector 𝐳, Measurement sensitivity matrix 𝐇 and Measurement noise covariance matrix 𝐑 for the KF update.
void	calcRealTimeKinematicSolution ()
	Calculates the RTK solution.
Differences	calcSingleDifferences (const Observations &observations) const
	Calculates the single difference of the measurements and estimates.
unordered_map< GnssObs::ObservationType, KeyedMatrixXd< RTK::Meas::SingleObs< ReceiverType > > >	calcSingleObsMeasurementNoiseMatrices (const Observations &observations) const
	Calculate the measurement noise matrices for each observation type.
void	checkForCycleSlip (Observations &observations, const std::shared_ptr< RtkSolution > &rtkSol)
	Checks for cycle-slips.
void	deinitialize () override
	Deinitialize the node.
bool	initialize () override
	Initialize the node.
void	kalmanFilterPrediction ()
	Does the Kalman Filter prediction.
UpdateStatus	kalmanFilterUpdate (const std::shared_ptr< RtkSolution > &rtkSol)
	Does the Kalman Filter update.
void	printObservations (const Observations &observations)
	Prints the observations for logging.
void	printPivotSatellites ()
	Prints all pivot satellites.
void	recvBaseGnssObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the Base GNSS Observations.
void	recvBasePos (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the Base Position.
void	recvRoverGnssObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the RoverGNSS Observations.
std::vector< OutlierInfo >	removeOutlier (Observations &observations, const std::shared_ptr< RtkSolution > &rtkSol)
	Performs the NIS check.
void	removeSingleObservations (Observations &observations, ObservationFilter::Filtered *filtered, const std::shared_ptr< RtkSolution > &rtkSol)
	Removes observations which do not have a second one to do double differences.
bool	resolveAmbiguities (size_t nCarrierMeasUniqueSatellite, const std::shared_ptr< RtkSolution > &rtkSol)
	Resolves the ambiguities in the Kalman filter and updates the state and covariance matrix.
void	updateKalmanFilterAmbiguitiesForPivotChange (const SatSigId &newPivotSatSigId, const SatSigId &oldPivotSatSigId, bool oldPivotObservedInEpoch, const std::shared_ptr< RtkSolution > &rtkSol)
	Adapts the Kalman Filter if a pivot satellite signal was changed.
std::optional< RtkSolution::PivotChange >	updatePivotSatellite (Code code, GnssObs::ObservationType obsType, Observations &observations, const std::shared_ptr< RtkSolution > &rtkSol, const RtkSolution::PivotChange::Reason &reason)
	Update the specified pivot satellite and also does a pivot change in the Kalman filter state if necessary.
void	updatePivotSatellites (Observations &observations, const std::shared_ptr< RtkSolution > &rtkSol)
	Update the pivot satellites for each constellation.

Static Private Member Functions
static void	pinAddCallback (Node *node)
	Function to call to add a new pin.
static void	pinDeleteCallback (Node *node, size_t pinIdx)
	Function to call to delete a pin.

Private Attributes
double	_ambFixUpdateVariance
	Measurement noise variance used when fixing ambiguities in [cycles^2] (Value used for calculation)
std::unordered_map< SatSigId, double >	_ambiguitiesHold
	Ambiguities which are fixed and hold. Values in [cycles].
double	_ambiguityFixProcessNoiseVariance
	Process noise (standard deviation) for the ambiguities (while fix solution) in [cycles^2] (Value used for calculation)
double	_ambiguityFloatProcessNoiseVariance
	Process noise (variance) for the ambiguities (while float solution) in [cycles^2] (Value used for calculation)
AmbiguityResolutionParameters	_ambiguityResolutionParameters
	Ambiguity resolution algorithms and parameters to use.
AmbiguityResolutionStrategy	_ambiguityResolutionStrategy
	Ambiguity resolution strategy.
bool	_applyFixedAmbiguitiesWithUpdate
bool	_baseObsReceivedThisEpoch
	Flag, whether the observation was received this epoch.
bool	_calcSPPIfNoBase
	Wether to output a SPP solution if no base observations are available.
std::array< CycleSlipDetector, ReceiverType_COUNT >	_cycleSlipDetector
	Cycle-slip detector.
double	_dataInterval
	Data interval [s].
gui::widgets::DynamicInputPins	_dynamicInputPins
	Dynamic input pins.
std::string	_eventFilterRegex
	Regex for filtering events.
std::vector< std::pair< InsTime, std::vector< std::string > > >	_events
	List of event texts (pivot changes, cycle-slips)
double	_gui_ambFixUpdateStdDev
	Measurement noise standard deviation used when fixing ambiguities in [cycles] (GUI value)
StdevAmbiguityUnits	_gui_ambFixUpdateStdDevUnits
	Gui selection for the Unit of the input for the StDev of the ambiguities (while float solution)
double	_gui_ambiguityFixProcessNoiseStDev
	Process noise (standard deviation) for the ambiguities (while fix solution) (Selection in GUI)
double	_gui_ambiguityFloatProcessNoiseStDev
	Process noise (standard deviation) for the ambiguities (while float solution) (Selection in GUI)
std::array< double, 2 >	_gui_stdevAccel
	GUI selection for the Standard deviation of the acceleration 𝜎_a due to user motion in horizontal and vertical component.
StdevAccelUnits	_gui_stdevAccelUnits
	Gui selection for the Unit of the input stdev_accel parameter for the StDev due to acceleration due to user motion.
StdevAmbiguityUnits	_gui_stdevAmbiguityFixUnits
	Gui selection for the Unit of the input for the StDev of the ambiguities (while fix solution)
StdevAmbiguityUnits	_gui_stdevAmbiguityFloatUnits
	Gui selection for the Unit of the input for the StDev of the ambiguities (while float solution)
KeyedKalmanFilterD< RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes >	_kalmanFilter
	Kalman Filter representation.
RtkSolution::SolutionType	_lastSolutionStatus
	Solution type of last epoch.
InsTime	_lastUpdate
	Last update time.
double	_maxPosVar
	Do not attempt to fix if the position variance is above the threshold.
bool	_maxPosVarTriggered
	Trigger state of the check.
size_t	_maxRemoveOutlier
	Maximum amount of outliers to remove per epoch.
double	_maxTimeBetweenBaseRoverForRTK
	Maximum time between base and rover observations to calculate the RTK solution.
size_t	_nCycleSlipsDual
	Cycle-slip detection count (Dual)
size_t	_nCycleSlipsLLI
	Cycle-slip detection count (LLI)
size_t	_nCycleSlipsSingle
	Cycle-slip detection count (Single)
size_t	_nMeasExcludedNIS
	Measurement excluded due to NIS test count.
size_t	_nMinSatForAmbFix
	Minimum amount of satellites with carrier observations to try fixing the solution.
bool	_nMinSatForAmbFixTriggered
	Trigger state of the check.
size_t	_nMinSatForAmbHold
	Minimum amount of satellites with carrier observations for holding the ambiguities.
bool	_nMinSatForAmbHoldTriggered
	Trigger state of the check.
size_t	_nPivotChange
	Amount of pivot changes performed.
ObservationEstimator	_obsEstimator
	Observation Estimator.
ObservationFilter	_obsFilter
	Observation Filter.
double	_outlierMaxPosVarStartup
	Do not attempt to remove outlier if the position variance is above the threshold in the startup phase [m^2].
bool	_outlierMaxPosVarStartupTriggered
	Trigger state of the check.
size_t	_outlierMinPsrObsKeep
	Minumum amount of pseudorange observables to leave when doing a NIS check.
size_t	_outlierMinSat
	Minumum amount of satellites for doing a NIS check.
size_t	_outlierRemoveEpochs
	Amount of epochs to remove an outlier after being found (1 = only current)
bool	_outputStateEvents
	Whether to output state change events.
unordered_map< std::pair< Code, GnssObs::ObservationType >, PivotSatellite >	_pivotSatellites
	Pivot satellites for each constellation.
std::array< Receiver, ReceiverType::ReceiverType_COUNT >	_receiver
	Receivers.
SPP::Algorithm	_sppAlgorithm
	SPP algorithm.
size_t	nFixSolutions
	Percentage of fix solutions.
size_t	nFloatSolutions
	Percentage of float solutions.
size_t	nSingleSolutions
	Percentage of float solutions.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_BASE_GNSS_OBS
	GnssObs.
static constexpr size_t	INPUT_PORT_INDEX_BASE_POS
	Pos.
static constexpr size_t	INPUT_PORT_INDEX_GNSS_NAV_INFO
	GnssNavInfo.
static constexpr size_t	INPUT_PORT_INDEX_ROVER_GNSS_OBS
	GnssObs.
static constexpr size_t	OUTPUT_PORT_INDEX_RTKSOL
	Flow (RtkSol)

Additional Inherited Members
Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.
ax::NodeEditor::NodeId	id
	Unique Id of the Node.
std::vector< InputPin >	inputPins
	List of input pins.
Kind	kind
	Kind of the Node.
std::string	name
	Name of the Node.
std::vector< OutputPin >	outputPins
	List of output pins.
std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize
bool	_hasConfig
	Flag if the config window should be shown.
bool	_lockConfigDuringRun
	Lock the config when executing post-processing.
bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Numerically integrates Imu data.

Definition at line 52 of file RealTimeKinematic.hpp.

Member Typedef Documentation

◆ Differences

using NAV::RealTimeKinematic::Differences

private

Difference storage type.

Definition at line 229 of file RealTimeKinematic.hpp.

◆ Receiver

using NAV::RealTimeKinematic::Receiver

private

Receiver.

Definition at line 207 of file RealTimeKinematic.hpp.

Member Enumeration Documentation

◆ ReceiverType

enum NAV::RealTimeKinematic::ReceiverType : uint8_t

Receiver Types.

Enumerator
Rover	Rover.
Base	Base.
ReceiverType_COUNT	Amount of receiver types.

Definition at line 56 of file RealTimeKinematic.hpp.

◆ StdevAccelUnits

enum class NAV::RealTimeKinematic::StdevAccelUnits : uint8_t

strongprivate

Possible Units for the Standard deviation of the acceleration due to user motion.

Enumerator
m_sqrts3	[ m / √(s^3) ]

Definition at line 180 of file RealTimeKinematic.hpp.

◆ StdevAmbiguityUnits

enum class NAV::RealTimeKinematic::StdevAmbiguityUnits : uint8_t

strongprivate

Possible Units for the Standard deviation of the ambiguities.

Enumerator
Cycle	[cycle]

Definition at line 107 of file RealTimeKinematic.hpp.

Constructor & Destructor Documentation

◆ RealTimeKinematic() [1/3]

NAV::RealTimeKinematic::RealTimeKinematic ( )

Default constructor.

Definition at line 76 of file RealTimeKinematic.cpp.

◆ ~RealTimeKinematic()

NAV::RealTimeKinematic::~RealTimeKinematic ( )

override

Destructor.

Definition at line 92 of file RealTimeKinematic.cpp.

◆ RealTimeKinematic() [2/3]

NAV::RealTimeKinematic::RealTimeKinematic ( const RealTimeKinematic & )

delete

Copy constructor.

◆ RealTimeKinematic() [3/3]

NAV::RealTimeKinematic::RealTimeKinematic ( RealTimeKinematic && )

delete

Move constructor.

Member Function Documentation

◆ addEventToGui()

void NAV::RealTimeKinematic::addEventToGui	(	const std::shared_ptr< RtkSolution > &	rtkSol,
		const std::string &	text )

private

Adds the event to the GUI list.

Parameters

[in,out]	rtkSol	RtkSolution to update
[in]	text	Text to display

Definition at line 670 of file RealTimeKinematic.cpp.

◆ addOrRemoveKalmanFilterAmbiguities()

void NAV::RealTimeKinematic::addOrRemoveKalmanFilterAmbiguities	(	const Observations &	observations,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Adds or remove Ambiguities to/from the Kalman Filter state depending on the received observations.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in,out]	rtkSol	RtkSolution to update

Definition at line 1876 of file RealTimeKinematic.cpp.

◆ applyFixedAmbiguities()

void NAV::RealTimeKinematic::applyFixedAmbiguities	(	const Eigen::VectorXd &	fixedAmb,
		const std::vector< RTK::States::StateKeyType > &	ambKeys,
		const std::vector< RTK::Meas::MeasKeyTypes > &	ambMeasKeys )

private

Apply the fixed ambiguities to the kalman filter state.

Parameters

[in]	fixedAmb	Fixed ambiguities
[in]	ambKeys	Ambiguity state keys
[in]	ambMeasKeys	Ambiguity measurement keys

Definition at line 2737 of file RealTimeKinematic.cpp.

◆ assignSolutionToFilter()

void NAV::RealTimeKinematic::assignSolutionToFilter ( const std::shared_ptr< NAV::SppSolution > & sppSol )

private

Assign the SPP solution to the RTK filter.

Parameters

sppSol SPP solution

Definition at line 795 of file RealTimeKinematic.cpp.

◆ calcDoubleDifferences()

RealTimeKinematic::Differences NAV::RealTimeKinematic::calcDoubleDifferences	(	const Observations &	observations,
		const Differences &	singleDifferences ) const

nodiscardprivate

Calculates the double difference of the measurements and estimates.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in]	singleDifferences	List of single differences

Definition at line 2057 of file RealTimeKinematic.cpp.

◆ calcFallbackSppSolution()

std::shared_ptr< RtkSolution > NAV::RealTimeKinematic::calcFallbackSppSolution ( )

private

Calculates a SPP solution as fallback in case no base data is available.

Definition at line 1147 of file RealTimeKinematic.cpp.

◆ calcKalmanUpdateMatrices()

void NAV::RealTimeKinematic::calcKalmanUpdateMatrices	(	const Observations &	observations,
		const Differences &	doubleDifferences,
		const unordered_map< GnssObs::ObservationType, KeyedMatrixXd< RTK::Meas::SingleObs< ReceiverType > > > &	Rtilde )

private

Calculates the Measurement vector 𝐳, Measurement sensitivity matrix 𝐇 and Measurement noise covariance matrix 𝐑 for the KF update.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in]	doubleDifferences	List of double differences
[in]	Rtilde	Single observation Measurement Noise Covariance Matrix R for each observation type

Definition at line 2155 of file RealTimeKinematic.cpp.

◆ calcRealTimeKinematicSolution()

void NAV::RealTimeKinematic::calcRealTimeKinematicSolution ( )

private

Calculates the RTK solution.

Definition at line 822 of file RealTimeKinematic.cpp.

◆ calcSingleDifferences()

RealTimeKinematic::Differences NAV::RealTimeKinematic::calcSingleDifferences ( const Observations & observations ) const

nodiscardprivate

Calculates the single difference of the measurements and estimates.

Parameters

[in] observations List of GNSS observation data used for the calculation of this epoch

Definition at line 2028 of file RealTimeKinematic.cpp.

◆ calcSingleObsMeasurementNoiseMatrices()

unordered_map< GnssObs::ObservationType, KeyedMatrixXd< RTK::Meas::SingleObs< RealTimeKinematic::ReceiverType > > > NAV::RealTimeKinematic::calcSingleObsMeasurementNoiseMatrices ( const Observations & observations ) const

nodiscardprivate

Calculate the measurement noise matrices for each observation type.

Parameters

observations List of GNSS observation data used for the calculation of this epoch

Definition at line 2112 of file RealTimeKinematic.cpp.

◆ category()

std::string NAV::RealTimeKinematic::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 107 of file RealTimeKinematic.cpp.

◆ checkForCycleSlip()

void NAV::RealTimeKinematic::checkForCycleSlip	(	Observations &	observations,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Checks for cycle-slips.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in,out]	rtkSol	RtkSolution to update

Definition at line 1254 of file RealTimeKinematic.cpp.

◆ deinitialize()

void NAV::RealTimeKinematic::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 655 of file RealTimeKinematic.cpp.

◆ guiConfig()

void NAV::RealTimeKinematic::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 112 of file RealTimeKinematic.cpp.

◆ initialize()

bool NAV::RealTimeKinematic::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 589 of file RealTimeKinematic.cpp.

◆ kalmanFilterPrediction()

void NAV::RealTimeKinematic::kalmanFilterPrediction ( )

private

Does the Kalman Filter prediction.

Definition at line 1203 of file RealTimeKinematic.cpp.

◆ kalmanFilterUpdate()

RealTimeKinematic::UpdateStatus NAV::RealTimeKinematic::kalmanFilterUpdate ( const std::shared_ptr< RtkSolution > & rtkSol )

private

Does the Kalman Filter update.

Parameters

[in,out] rtkSol RtkSolution to update

Returns: Update valid information

Definition at line 2487 of file RealTimeKinematic.cpp.

◆ operator=() [1/2]

RealTimeKinematic & NAV::RealTimeKinematic::operator= ( const RealTimeKinematic & )

delete

Copy assignment operator.

◆ operator=() [2/2]

RealTimeKinematic & NAV::RealTimeKinematic::operator= ( RealTimeKinematic && )

delete

Move assignment operator.

◆ pinAddCallback()

void NAV::RealTimeKinematic::pinAddCallback ( Node * node )

staticprivate

Function to call to add a new pin.

Parameters

[in,out] node Pointer to this node

Definition at line 660 of file RealTimeKinematic.cpp.

◆ pinDeleteCallback()

void NAV::RealTimeKinematic::pinDeleteCallback	(	Node *	node,
		size_t	pinIdx )

staticprivate

Function to call to delete a pin.

Parameters

[in,out]	node	Pointer to this node
[in]	pinIdx	Input pin index to delete

Definition at line 665 of file RealTimeKinematic.cpp.

◆ printObservations()

void NAV::RealTimeKinematic::printObservations ( const Observations & observations )

private

Prints the observations for logging.

Parameters

[in] observations List of GNSS observation data used for the calculation of this epoch

Definition at line 684 of file RealTimeKinematic.cpp.

◆ printPivotSatellites()

void NAV::RealTimeKinematic::printPivotSatellites ( )

private

Prints all pivot satellites.

Definition at line 1682 of file RealTimeKinematic.cpp.

◆ recvBaseGnssObs()

void NAV::RealTimeKinematic::recvBaseGnssObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the Base GNSS Observations.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 743 of file RealTimeKinematic.cpp.

◆ recvBasePos()

void NAV::RealTimeKinematic::recvBasePos	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the Base Position.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 721 of file RealTimeKinematic.cpp.

◆ recvRoverGnssObs()

void NAV::RealTimeKinematic::recvRoverGnssObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the RoverGNSS Observations.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 768 of file RealTimeKinematic.cpp.

◆ removeOutlier()

std::vector< RealTimeKinematic::OutlierInfo > NAV::RealTimeKinematic::removeOutlier	(	Observations &	observations,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Performs the NIS check.

Parameters

[in,out]	observations	List of GNSS observation data. Elements can be removed
[in,out]	rtkSol	RtkSolution to update

Returns: Info of the removed outliers

Definition at line 2289 of file RealTimeKinematic.cpp.

◆ removeSingleObservations()

void NAV::RealTimeKinematic::removeSingleObservations	(	Observations &	observations,
		ObservationFilter::Filtered *	filtered,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Removes observations which do not have a second one to do double differences.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in]	filtered	Filtered observations
[in,out]	rtkSol	RtkSolution to update

Definition at line 1424 of file RealTimeKinematic.cpp.

◆ resolveAmbiguities()

bool NAV::RealTimeKinematic::resolveAmbiguities	(	size_t	nCarrierMeasUniqueSatellite,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Resolves the ambiguities in the Kalman filter and updates the state and covariance matrix.

Parameters

[in]	nCarrierMeasUniqueSatellite	Amount of used
[in,out]	rtkSol	RtkSolution to update

Returns: True if the ambiguities could be fixed

Definition at line 2536 of file RealTimeKinematic.cpp.

◆ restore()

void NAV::RealTimeKinematic::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

Definition at line 522 of file RealTimeKinematic.cpp.

◆ save()

json NAV::RealTimeKinematic::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 480 of file RealTimeKinematic.cpp.

◆ type()

std::string NAV::RealTimeKinematic::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 102 of file RealTimeKinematic.cpp.

◆ typeStatic()

std::string NAV::RealTimeKinematic::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 97 of file RealTimeKinematic.cpp.

◆ updateKalmanFilterAmbiguitiesForPivotChange()

void NAV::RealTimeKinematic::updateKalmanFilterAmbiguitiesForPivotChange	(	const SatSigId &	newPivotSatSigId,
		const SatSigId &	oldPivotSatSigId,
		bool	oldPivotObservedInEpoch,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Adapts the Kalman Filter if a pivot satellite signal was changed.

Parameters

[in]	newPivotSatSigId	Newly added pivot satellite signal
[in]	oldPivotSatSigId	Old pivot satellite signal
[in]	oldPivotObservedInEpoch	Indicates if the old pivot satellite is still observed, or is
[in,out]	rtkSol	RtkSolution to update

Definition at line 1745 of file RealTimeKinematic.cpp.

◆ updatePivotSatellite()

std::optional< RtkSolution::PivotChange > NAV::RealTimeKinematic::updatePivotSatellite	(	Code	code,
		GnssObs::ObservationType	obsType,
		Observations &	observations,
		const std::shared_ptr< RtkSolution > &	rtkSol,
		const RtkSolution::PivotChange::Reason &	reason )

private

Update the specified pivot satellite and also does a pivot change in the Kalman filter state if necessary.

Parameters

code	Code for the pivot
obsType	Observation type of the pivot
observations	List of GNSS observation data used for the calculation of this epoch
rtkSol	RtkSolution to update
reason	Reason for changing the pivot

Returns: The final pivot change result after the update. Empty if no pivot was selected

Definition at line 1486 of file RealTimeKinematic.cpp.

◆ updatePivotSatellites()

void NAV::RealTimeKinematic::updatePivotSatellites	(	Observations &	observations,
		const std::shared_ptr< RtkSolution > &	rtkSol )

private

Update the pivot satellites for each constellation.

Parameters

[in]	observations	List of GNSS observation data used for the calculation of this epoch
[in,out]	rtkSol	RtkSolution to update

Definition at line 1697 of file RealTimeKinematic.cpp.

Field Documentation

◆ _ambFixUpdateVariance

double NAV::RealTimeKinematic::_ambFixUpdateVariance

private

Measurement noise variance used when fixing ambiguities in [cycles^2] (Value used for calculation)

Definition at line 170 of file RealTimeKinematic.hpp.

◆ _ambiguitiesHold

std::unordered_map<SatSigId, double> NAV::RealTimeKinematic::_ambiguitiesHold

private

Ambiguities which are fixed and hold. Values in [cycles].

Definition at line 267 of file RealTimeKinematic.hpp.

◆ _ambiguityFixProcessNoiseVariance

double NAV::RealTimeKinematic::_ambiguityFixProcessNoiseVariance

private

Process noise (standard deviation) for the ambiguities (while fix solution) in [cycles^2] (Value used for calculation)

Definition at line 203 of file RealTimeKinematic.hpp.

◆ _ambiguityFloatProcessNoiseVariance

double NAV::RealTimeKinematic::_ambiguityFloatProcessNoiseVariance

private

Process noise (variance) for the ambiguities (while float solution) in [cycles^2] (Value used for calculation)

Definition at line 196 of file RealTimeKinematic.hpp.

◆ _ambiguityResolutionParameters

AmbiguityResolutionParameters NAV::RealTimeKinematic::_ambiguityResolutionParameters

private

Ambiguity resolution algorithms and parameters to use.

Definition at line 149 of file RealTimeKinematic.hpp.

◆ _ambiguityResolutionStrategy

AmbiguityResolutionStrategy NAV::RealTimeKinematic::_ambiguityResolutionStrategy

private

Ambiguity resolution strategy.

Definition at line 152 of file RealTimeKinematic.hpp.

◆ _applyFixedAmbiguitiesWithUpdate

bool NAV::RealTimeKinematic::_applyFixedAmbiguitiesWithUpdate

private

Make an update with the fixed ambiguities when true. Otherwise apply via $$a = a_fix$$ and $$b = b_float - Q_ba * Q_aa^-1 (a_fix - a_float)$$

Definition at line 163 of file RealTimeKinematic.hpp.

◆ _baseObsReceivedThisEpoch

bool NAV::RealTimeKinematic::_baseObsReceivedThisEpoch

private

Flag, whether the observation was received this epoch.

Definition at line 216 of file RealTimeKinematic.hpp.

◆ _calcSPPIfNoBase

bool NAV::RealTimeKinematic::_calcSPPIfNoBase

private

Wether to output a SPP solution if no base observations are available.

Definition at line 144 of file RealTimeKinematic.hpp.

◆ _cycleSlipDetector

std::array<CycleSlipDetector, ReceiverType_COUNT> NAV::RealTimeKinematic::_cycleSlipDetector

private

Cycle-slip detector.

Definition at line 255 of file RealTimeKinematic.hpp.

◆ _dataInterval

double NAV::RealTimeKinematic::_dataInterval

private

Data interval [s].

Definition at line 249 of file RealTimeKinematic.hpp.

◆ _dynamicInputPins

gui::widgets::DynamicInputPins NAV::RealTimeKinematic::_dynamicInputPins

private

Dynamic input pins.

Attention: This should always be the last variable in the header, because it accesses others through the function callbacks

Definition at line 284 of file RealTimeKinematic.hpp.

◆ _eventFilterRegex

std::string NAV::RealTimeKinematic::_eventFilterRegex

private

Regex for filtering events.

Definition at line 261 of file RealTimeKinematic.hpp.

◆ _events

std::vector<std::pair<InsTime, std::vector<std::string> > > NAV::RealTimeKinematic::_events

private

List of event texts (pivot changes, cycle-slips)

Definition at line 258 of file RealTimeKinematic.hpp.

◆ _gui_ambFixUpdateStdDev

double NAV::RealTimeKinematic::_gui_ambFixUpdateStdDev

private

Measurement noise standard deviation used when fixing ambiguities in [cycles] (GUI value)

Definition at line 166 of file RealTimeKinematic.hpp.

◆ _gui_ambFixUpdateStdDevUnits

StdevAmbiguityUnits NAV::RealTimeKinematic::_gui_ambFixUpdateStdDevUnits

private

Gui selection for the Unit of the input for the StDev of the ambiguities (while float solution)

Definition at line 168 of file RealTimeKinematic.hpp.

◆ _gui_ambiguityFixProcessNoiseStDev

double NAV::RealTimeKinematic::_gui_ambiguityFixProcessNoiseStDev

private

Process noise (standard deviation) for the ambiguities (while fix solution) (Selection in GUI)

Definition at line 201 of file RealTimeKinematic.hpp.

◆ _gui_ambiguityFloatProcessNoiseStDev

double NAV::RealTimeKinematic::_gui_ambiguityFloatProcessNoiseStDev

private

Process noise (standard deviation) for the ambiguities (while float solution) (Selection in GUI)

Definition at line 194 of file RealTimeKinematic.hpp.

◆ _gui_stdevAccel

std::array<double, 2> NAV::RealTimeKinematic::_gui_stdevAccel

private

GUI selection for the Standard deviation of the acceleration 𝜎_a due to user motion in horizontal and vertical component.

Note: See Groves (2013) eq. (9.156)

Definition at line 189 of file RealTimeKinematic.hpp.

◆ _gui_stdevAccelUnits

StdevAccelUnits NAV::RealTimeKinematic::_gui_stdevAccelUnits

private

Gui selection for the Unit of the input stdev_accel parameter for the StDev due to acceleration due to user motion.

Definition at line 185 of file RealTimeKinematic.hpp.

◆ _gui_stdevAmbiguityFixUnits

StdevAmbiguityUnits NAV::RealTimeKinematic::_gui_stdevAmbiguityFixUnits

private

Gui selection for the Unit of the input for the StDev of the ambiguities (while fix solution)

Definition at line 199 of file RealTimeKinematic.hpp.

◆ _gui_stdevAmbiguityFloatUnits

StdevAmbiguityUnits NAV::RealTimeKinematic::_gui_stdevAmbiguityFloatUnits

private

Gui selection for the Unit of the input for the StDev of the ambiguities (while float solution)

Definition at line 192 of file RealTimeKinematic.hpp.

◆ _kalmanFilter

KeyedKalmanFilterD<RTK::States::StateKeyType, RTK::Meas::MeasKeyTypes> NAV::RealTimeKinematic::_kalmanFilter

private

Kalman Filter representation.

Definition at line 252 of file RealTimeKinematic.hpp.

◆ _lastSolutionStatus

RtkSolution::SolutionType NAV::RealTimeKinematic::_lastSolutionStatus

private

Solution type of last epoch.

Definition at line 219 of file RealTimeKinematic.hpp.

◆ _lastUpdate

InsTime NAV::RealTimeKinematic::_lastUpdate

private

Last update time.

Definition at line 247 of file RealTimeKinematic.hpp.

◆ _maxPosVar

double NAV::RealTimeKinematic::_maxPosVar

private

Do not attempt to fix if the position variance is above the threshold.

Definition at line 159 of file RealTimeKinematic.hpp.

◆ _maxPosVarTriggered

bool NAV::RealTimeKinematic::_maxPosVarTriggered

private

Trigger state of the check.

Definition at line 172 of file RealTimeKinematic.hpp.

◆ _maxRemoveOutlier

size_t NAV::RealTimeKinematic::_maxRemoveOutlier

private

Maximum amount of outliers to remove per epoch.

Definition at line 132 of file RealTimeKinematic.hpp.

◆ _maxTimeBetweenBaseRoverForRTK

double NAV::RealTimeKinematic::_maxTimeBetweenBaseRoverForRTK

private

Maximum time between base and rover observations to calculate the RTK solution.

Definition at line 146 of file RealTimeKinematic.hpp.

◆ _nCycleSlipsDual

size_t NAV::RealTimeKinematic::_nCycleSlipsDual

private

Cycle-slip detection count (Dual)

Definition at line 279 of file RealTimeKinematic.hpp.

◆ _nCycleSlipsLLI

size_t NAV::RealTimeKinematic::_nCycleSlipsLLI

private

Cycle-slip detection count (LLI)

Definition at line 277 of file RealTimeKinematic.hpp.

◆ _nCycleSlipsSingle

size_t NAV::RealTimeKinematic::_nCycleSlipsSingle

private

Cycle-slip detection count (Single)

Definition at line 278 of file RealTimeKinematic.hpp.

◆ _nMeasExcludedNIS

size_t NAV::RealTimeKinematic::_nMeasExcludedNIS

private

Measurement excluded due to NIS test count.

Definition at line 280 of file RealTimeKinematic.hpp.

◆ _nMinSatForAmbFix

size_t NAV::RealTimeKinematic::_nMinSatForAmbFix

private

Minimum amount of satellites with carrier observations to try fixing the solution.

Definition at line 155 of file RealTimeKinematic.hpp.

◆ _nMinSatForAmbFixTriggered

bool NAV::RealTimeKinematic::_nMinSatForAmbFixTriggered

private

Trigger state of the check.

Definition at line 174 of file RealTimeKinematic.hpp.

◆ _nMinSatForAmbHold

size_t NAV::RealTimeKinematic::_nMinSatForAmbHold

private

Minimum amount of satellites with carrier observations for holding the ambiguities.

Definition at line 157 of file RealTimeKinematic.hpp.

◆ _nMinSatForAmbHoldTriggered

bool NAV::RealTimeKinematic::_nMinSatForAmbHoldTriggered

private

Trigger state of the check.

Definition at line 175 of file RealTimeKinematic.hpp.

◆ _nPivotChange

size_t NAV::RealTimeKinematic::_nPivotChange

private

Amount of pivot changes performed.

Definition at line 276 of file RealTimeKinematic.hpp.

◆ _obsEstimator

ObservationEstimator NAV::RealTimeKinematic::_obsEstimator

private

Observation Estimator.

Definition at line 130 of file RealTimeKinematic.hpp.

◆ _obsFilter

ObservationFilter NAV::RealTimeKinematic::_obsFilter

private

Observation Filter.

Definition at line 127 of file RealTimeKinematic.hpp.

◆ _outlierMaxPosVarStartup

double NAV::RealTimeKinematic::_outlierMaxPosVarStartup

private

Do not attempt to remove outlier if the position variance is above the threshold in the startup phase [m^2].

Definition at line 141 of file RealTimeKinematic.hpp.

◆ _outlierMaxPosVarStartupTriggered

bool NAV::RealTimeKinematic::_outlierMaxPosVarStartupTriggered

private

Trigger state of the check.

Definition at line 173 of file RealTimeKinematic.hpp.

◆ _outlierMinPsrObsKeep

size_t NAV::RealTimeKinematic::_outlierMinPsrObsKeep

private

Minumum amount of pseudorange observables to leave when doing a NIS check.

Definition at line 138 of file RealTimeKinematic.hpp.

◆ _outlierMinSat

size_t NAV::RealTimeKinematic::_outlierMinSat

private

Minumum amount of satellites for doing a NIS check.

Definition at line 136 of file RealTimeKinematic.hpp.

◆ _outlierRemoveEpochs

size_t NAV::RealTimeKinematic::_outlierRemoveEpochs

private

Amount of epochs to remove an outlier after being found (1 = only current)

Definition at line 134 of file RealTimeKinematic.hpp.

◆ _outputStateEvents

bool NAV::RealTimeKinematic::_outputStateEvents

private

Whether to output state change events.

Definition at line 264 of file RealTimeKinematic.hpp.

◆ _pivotSatellites

unordered_map<std::pair<Code, GnssObs::ObservationType>, PivotSatellite> NAV::RealTimeKinematic::_pivotSatellites

private

Pivot satellites for each constellation.

Definition at line 244 of file RealTimeKinematic.hpp.

◆ _receiver

std::array<Receiver, ReceiverType::ReceiverType_COUNT> NAV::RealTimeKinematic::_receiver

private

Receivers.

Definition at line 213 of file RealTimeKinematic.hpp.

◆ _sppAlgorithm

SPP::Algorithm NAV::RealTimeKinematic::_sppAlgorithm

private

SPP algorithm.

Definition at line 210 of file RealTimeKinematic.hpp.

◆ INPUT_PORT_INDEX_BASE_GNSS_OBS

size_t NAV::RealTimeKinematic::INPUT_PORT_INDEX_BASE_GNSS_OBS

staticconstexprprivate

GnssObs.

Definition at line 98 of file RealTimeKinematic.hpp.

◆ INPUT_PORT_INDEX_BASE_POS

size_t NAV::RealTimeKinematic::INPUT_PORT_INDEX_BASE_POS

staticconstexprprivate

Pos.

Definition at line 97 of file RealTimeKinematic.hpp.

◆ INPUT_PORT_INDEX_GNSS_NAV_INFO

size_t NAV::RealTimeKinematic::INPUT_PORT_INDEX_GNSS_NAV_INFO

staticconstexprprivate

GnssNavInfo.

Definition at line 100 of file RealTimeKinematic.hpp.

◆ INPUT_PORT_INDEX_ROVER_GNSS_OBS

size_t NAV::RealTimeKinematic::INPUT_PORT_INDEX_ROVER_GNSS_OBS

staticconstexprprivate

GnssObs.

Definition at line 99 of file RealTimeKinematic.hpp.

◆ nFixSolutions

size_t NAV::RealTimeKinematic::nFixSolutions

private

Percentage of fix solutions.

Definition at line 270 of file RealTimeKinematic.hpp.

◆ nFloatSolutions

size_t NAV::RealTimeKinematic::nFloatSolutions

private

Percentage of float solutions.

Definition at line 272 of file RealTimeKinematic.hpp.

◆ nSingleSolutions

size_t NAV::RealTimeKinematic::nSingleSolutions

private

Percentage of float solutions.

Definition at line 274 of file RealTimeKinematic.hpp.

◆ OUTPUT_PORT_INDEX_RTKSOL

size_t NAV::RealTimeKinematic::OUTPUT_PORT_INDEX_RTKSOL

staticconstexprprivate

Flow (RtkSol)

Definition at line 102 of file RealTimeKinematic.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/GNSS/RealTimeKinematic.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/GNSS/RealTimeKinematic.cpp

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Differences

◆ Receiver

Member Enumeration Documentation

◆ ReceiverType

◆ StdevAccelUnits

◆ StdevAmbiguityUnits

Constructor & Destructor Documentation

◆ RealTimeKinematic() [1/3]

◆ ~RealTimeKinematic()

◆ RealTimeKinematic() [2/3]

◆ RealTimeKinematic() [3/3]

Member Function Documentation

◆ addEventToGui()

◆ addOrRemoveKalmanFilterAmbiguities()

◆ applyFixedAmbiguities()

◆ assignSolutionToFilter()

◆ calcDoubleDifferences()

◆ calcFallbackSppSolution()

◆ calcKalmanUpdateMatrices()

◆ calcRealTimeKinematicSolution()

◆ calcSingleDifferences()

◆ calcSingleObsMeasurementNoiseMatrices()

◆ category()

◆ checkForCycleSlip()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ kalmanFilterPrediction()

◆ kalmanFilterUpdate()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pinAddCallback()

◆ pinDeleteCallback()

◆ printObservations()

◆ printPivotSatellites()

◆ recvBaseGnssObs()

◆ recvBasePos()

◆ recvRoverGnssObs()

◆ removeOutlier()

◆ removeSingleObservations()

◆ resolveAmbiguities()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

◆ updateKalmanFilterAmbiguitiesForPivotChange()

◆ updatePivotSatellite()

◆ updatePivotSatellites()

Field Documentation

◆ _ambFixUpdateVariance

◆ _ambiguitiesHold

◆ _ambiguityFixProcessNoiseVariance

◆ _ambiguityFloatProcessNoiseVariance

◆ _ambiguityResolutionParameters

◆ _ambiguityResolutionStrategy

◆ _applyFixedAmbiguitiesWithUpdate

◆ _baseObsReceivedThisEpoch

◆ _calcSPPIfNoBase

◆ _cycleSlipDetector

◆ _dataInterval

◆ _dynamicInputPins

◆ _eventFilterRegex

◆ _events

◆ _gui_ambFixUpdateStdDev

◆ _gui_ambFixUpdateStdDevUnits

◆ _gui_ambiguityFixProcessNoiseStDev

◆ _gui_ambiguityFloatProcessNoiseStDev

◆ _gui_stdevAccel