Single Point Positioning Algorithm. More...

Public Types
enum class	EstimatorType : uint8_t { LeastSquares , WeightedLeastSquares , KalmanFilter , COUNT }
	Possible SPP estimation algorithms. More...

enum	ReceiverType : uint8_t { Rover , ReceiverType_COUNT }
	Receiver Types. More...

Public Member Functions
std::shared_ptr< SppSolution >	calcSppSolution (const std::shared_ptr< const GnssObs > &gnssObs, const std::vector< const GnssNavInfo * > &gnssNavInfos, const std::string &nameId)
	Calculate the SPP solution.

EstimatorType	getEstimatorType () const
	Get the Estimator Type.

const InsTime &	getLastUpdateTime () const
	Get the last update time.

void	reset ()
	Reset the algorithm.

bool	ShowGuiWidgets (const char *id, float itemWidth, float unitWidth)
	Shows the GUI input to select the options.

Public Attributes
bool	_estimateInterFreqBiases
	Estimate Inter-frequency biases.

ObservationEstimator	_obsEstimator
	Observation Estimator.

ObservationFilter	_obsFilter
	Observation Filter.

Private Types
using	Receiver
	Receiver.

Private Member Functions
void	assignKalmanFilterResult (const KeyedVectorXd< States::StateKeyType > &state, const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &variance, const std::string &nameId)
	Assigns the result to the receiver variable.

void	assignLeastSquaresResult (const KeyedVectorXd< States::StateKeyType > &state, const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &variance, const Eigen::Vector3d &e_oldPos, size_t nParams, size_t nUniqueDopplerMeas, double dt, const std::string &nameId)
	Assigns the result to the receiver variable.

KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType >	calcMatrixH (const std::vector< States::StateKeyType > &stateKeys, const std::vector< Meas::MeasKeyTypes > &measKeys, const Observations &observations, const std::string &nameId) const
	Calculates the measurement sensitivity matrix 𝐇

bool	canCalculateVelocity (size_t nDoppMeas) const
	Checks if the SPP algorithm can calculate the position (always true for Kalman filter)

bool	canEstimateInterFrequencyBias () const
	Checks if the SPP algorithm can estimate inter-frequency biases.

void	computeDOPs (const std::shared_ptr< SppSolution > &sppSol, const KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType > &H, const std::string &nameId)
	Computes all DOP values (by reference)

std::vector< Meas::MeasKeyTypes >	determineMeasKeys (const Observations &observations, size_t nPsrMeas, size_t nDoppMeas, const std::string &nameId) const
	Returns a list of measurement keys.

std::vector< States::StateKeyType >	determineStateKeys (const std::set< SatelliteSystem > &usedSatSystems, size_t nDoppMeas, const std::string &nameId) const
	Returns a list of state keys.

void	updateInterFrequencyBiases (const Observations &observations, const std::string &nameId)
	Updates the inter frequency biases.

Static Private Member Functions
static KeyedMatrixXd< Meas::MeasKeyTypes, Meas::MeasKeyTypes >	calcMatrixR (const std::vector< Meas::MeasKeyTypes > &measKeys, const Observations &observations, const std::string &nameId)
	Calculates the measurement noise covariance matrix 𝐑

static KeyedVectorXd< Meas::MeasKeyTypes >	calcMeasInnovation (const std::vector< Meas::MeasKeyTypes > &measKeys, const Observations &observations, const std::string &nameId)
	Calculates the measurement innovation vector 𝜹𝐳

Private Attributes
Eigen::Matrix3d	_e_lastPositionCovarianceMatrix
	Last position covariance matrix.

Eigen::Matrix3d	_e_lastVelocityCovarianceMatrix
	Last velocity covariance matrix.

EstimatorType	_estimatorType
	Estimator type used for the calculations.

SPP::KalmanFilter	_kalmanFilter
	SPP specific Kalman filter.

InsTime	_lastUpdate
	Time of last update.

Receiver	_receiver
	Receiver.

const std::vector< SPP::States::StateKeyType > &	PosKey
	All position keys.

const std::vector< SPP::States::StateKeyType > &	PosVelKey
	All position and velocity keys.

const std::vector< SPP::States::StateKeyType > &	VelKey
	All velocity keys.

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

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

Detailed Description

Single Point Positioning Algorithm.

Member Enumeration Documentation

◆ EstimatorType

enum class NAV::SPP::Algorithm::EstimatorType : uint8_t

strong

Possible SPP estimation algorithms.

Enumerator
LeastSquares	Linear Least Squares.
WeightedLeastSquares	Weighted Linear Least Squares.
KalmanFilter	Kalman Filter.
COUNT	Amount of items in the enum.

◆ ReceiverType

enum NAV::SPP::Algorithm::ReceiverType : uint8_t

Receiver Types.

Enumerator
Rover	Rover.
ReceiverType_COUNT	Amount of receiver types.

Member Function Documentation

◆ assignKalmanFilterResult()

void NAV::SPP::Algorithm::assignKalmanFilterResult	(	const KeyedVectorXd< States::StateKeyType > &	state,
		const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &	variance,
		const std::string &	nameId )

private

Assigns the result to the receiver variable.

Parameters

	state	Total state
	variance	Variance of the state
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

◆ assignLeastSquaresResult()

void NAV::SPP::Algorithm::assignLeastSquaresResult	(	const KeyedVectorXd< States::StateKeyType > &	state,
		const KeyedMatrixXd< States::StateKeyType, States::StateKeyType > &	variance,
		const Eigen::Vector3d &	e_oldPos,
		size_t	nParams,
		size_t	nUniqueDopplerMeas,
		double	dt,
		const std::string &	nameId )

private

Assigns the result to the receiver variable.

Parameters

[in]	state	Delta state
[in]	variance	Variance of the state
[in]	e_oldPos	Old position in ECEF coordinates in [m]
[in]	nParams	Number of parameters to estimate the position
[in]	nUniqueDopplerMeas	Number of available doppler measurements (unique per satellite)
[in]	dt	Time step size in [s]
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

◆ calcMatrixH()

KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType > NAV::SPP::Algorithm::calcMatrixH	(	const std::vector< States::StateKeyType > &	stateKeys,
		const std::vector< Meas::MeasKeyTypes > &	measKeys,
		const Observations &	observations,
		const std::string &	nameId ) const

nodiscardprivate

Calculates the measurement sensitivity matrix 𝐇

Parameters

[in]	stateKeys	State Keys
[in]	measKeys	Measurement Keys
[in]	observations	List of GNSS observation data used for the calculation
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Returns: The 𝐇 matrix

◆ calcMatrixR()

static KeyedMatrixXd< Meas::MeasKeyTypes, Meas::MeasKeyTypes > NAV::SPP::Algorithm::calcMatrixR	(	const std::vector< Meas::MeasKeyTypes > &	measKeys,
		const Observations &	observations,
		const std::string &	nameId )

staticnodiscardprivate

Calculates the measurement noise covariance matrix 𝐑

Parameters

[in]	measKeys	Measurement Keys
[in]	observations	List of GNSS observation data used for the calculation
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Returns: The 𝐑 matrix

◆ calcMeasInnovation()

static KeyedVectorXd< Meas::MeasKeyTypes > NAV::SPP::Algorithm::calcMeasInnovation	(	const std::vector< Meas::MeasKeyTypes > &	measKeys,
		const Observations &	observations,
		const std::string &	nameId )

staticnodiscardprivate

Calculates the measurement innovation vector 𝜹𝐳

Parameters

[in]	measKeys	Measurement Keys
[in]	observations	List of GNSS observation data used for the calculation
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Returns: The measurement innovation 𝜹𝐳 vector

◆ calcSppSolution()

std::shared_ptr< SppSolution > NAV::SPP::Algorithm::calcSppSolution	(	const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::vector< const GnssNavInfo * > &	gnssNavInfos,
		const std::string &	nameId )

Calculate the SPP solution.

Parameters

[in]	gnssObs	GNSS observation
[in]	gnssNavInfos	Collection of GNSS Nav information
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Returns: The SPP Solution if it could be calculated, otherwise nullptr

◆ canCalculateVelocity()

bool NAV::SPP::Algorithm::canCalculateVelocity ( size_t nDoppMeas ) const

nodiscardprivate

Checks if the SPP algorithm can calculate the position (always true for Kalman filter)

Parameters

[in] nDoppMeas Amount of Doppler measurements

◆ computeDOPs()

void NAV::SPP::Algorithm::computeDOPs	(	const std::shared_ptr< SppSolution > &	sppSol,
		const KeyedMatrixXd< Meas::MeasKeyTypes, States::StateKeyType > &	H,
		const std::string &	nameId )

private

Computes all DOP values (by reference)

Parameters

[in,out]	sppSol	SppSol to fill with DOP values
[in]	H	Measurement sensitivity matrix 𝐇
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

◆ determineMeasKeys()

std::vector< Meas::MeasKeyTypes > NAV::SPP::Algorithm::determineMeasKeys	(	const Observations &	observations,
		size_t	nPsrMeas,
		size_t	nDoppMeas,
		const std::string &	nameId ) const

private

Returns a list of measurement keys.

Parameters

[in]	observations	List of GNSS observation data used for the calculation
[in]	nPsrMeas	Amount of pseudo-range measurements
[in]	nDoppMeas	Amount of doppler measurements
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

◆ determineStateKeys()

std::vector< States::StateKeyType > NAV::SPP::Algorithm::determineStateKeys	(	const std::set< SatelliteSystem > &	usedSatSystems,
		size_t	nDoppMeas,
		const std::string &	nameId ) const

private

Returns a list of state keys.

Parameters

[in]	usedSatSystems	Used Satellite systems this epoch
[in]	nDoppMeas	Amount of Doppler measurements
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

◆ ShowGuiWidgets()

bool NAV::SPP::Algorithm::ShowGuiWidgets	(	const char *	id,
		float	itemWidth,
		float	unitWidth )

Shows the GUI input to select the options.

Parameters

[in]	id	Unique id for ImGui.
[in]	itemWidth	Width of the widgets
[in]	unitWidth	Width on unit inputs

◆ updateInterFrequencyBiases()

void NAV::SPP::Algorithm::updateInterFrequencyBiases	(	const Observations &	observations,
		const std::string &	nameId )

private

Updates the inter frequency biases.

Parameters

[in]	observations	List of GNSS observation data used for the calculation
[in]	nameId	Name and id of the node calling this (only used for logging purposes)

Friends And Related Symbol Documentation

◆ from_json

void from_json	(	const json &	j,
		Algorithm &	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

void to_json	(	json &	j,
		const Algorithm &	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/SPP/Algorithm.hpp

Public Types

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ EstimatorType

◆ ReceiverType

Member Function Documentation

◆ assignKalmanFilterResult()

◆ assignLeastSquaresResult()

◆ calcMatrixH()

◆ calcMatrixR()

◆ calcMeasInnovation()

◆ calcSppSolution()

◆ canCalculateVelocity()

◆ computeDOPs()

◆ determineMeasKeys()

◆ determineStateKeys()

◆ ShowGuiWidgets()

◆ updateInterFrequencyBiases()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json