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.

Data Fields
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::array< SPP::States::StateKeyType, 3 > &	PosKey
	All position keys.

const std::array< SPP::States::StateKeyType, 6 > &	PosVelKey
	All position and velocity keys.

const std::array< SPP::States::StateKeyType, 3 > &	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.

Definition at line 37 of file Algorithm.hpp.

Member Typedef Documentation

◆ Receiver

using NAV::SPP::Algorithm::Receiver

private

Receiver.

Definition at line 92 of file Algorithm.hpp.

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.

Definition at line 41 of file Algorithm.hpp.

◆ ReceiverType

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

Receiver Types.

Enumerator
Rover	Rover.
ReceiverType_COUNT	Amount of receiver types.

Definition at line 50 of file Algorithm.hpp.

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)

Definition at line 695 of file Algorithm.cpp.

◆ 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)

Definition at line 593 of file Algorithm.cpp.

◆ 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

Definition at line 485 of file Algorithm.cpp.

◆ calcMatrixR()

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

Definition at line 529 of file Algorithm.cpp.

◆ calcMeasInnovation()

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

Definition at line 562 of file Algorithm.cpp.

◆ 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

Definition at line 73 of file Algorithm.cpp.

◆ 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

Definition at line 378 of file Algorithm.cpp.

◆ canEstimateInterFrequencyBias()

bool NAV::SPP::Algorithm::canEstimateInterFrequencyBias ( ) const

nodiscardprivate

Checks if the SPP algorithm can estimate inter-frequency biases.

Definition at line 385 of file Algorithm.cpp.

◆ 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)

Definition at line 769 of file Algorithm.cpp.

◆ 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)

Definition at line 455 of file Algorithm.cpp.

◆ 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)

Definition at line 421 of file Algorithm.cpp.

◆ getEstimatorType()

EstimatorType NAV::SPP::Algorithm::getEstimatorType ( ) const

inlinenodiscard

Get the Estimator Type.

Definition at line 66 of file Algorithm.hpp.

◆ getLastUpdateTime()

const InsTime & NAV::SPP::Algorithm::getLastUpdateTime ( ) const

inline

Get the last update time.

Definition at line 69 of file Algorithm.hpp.

◆ reset()

void NAV::SPP::Algorithm::reset ( )

Reset the algorithm.

Definition at line 65 of file Algorithm.cpp.

◆ 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

Definition at line 40 of file Algorithm.cpp.

◆ 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)

Definition at line 396 of file Algorithm.cpp.

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

Definition at line 806 of file Algorithm.cpp.

◆ 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

Definition at line 793 of file Algorithm.cpp.

Field Documentation

◆ _e_lastPositionCovarianceMatrix

Eigen::Matrix3d NAV::SPP::Algorithm::_e_lastPositionCovarianceMatrix

private

Last position covariance matrix.

Definition at line 196 of file Algorithm.hpp.

◆ _e_lastVelocityCovarianceMatrix

Eigen::Matrix3d NAV::SPP::Algorithm::_e_lastVelocityCovarianceMatrix

private

Last velocity covariance matrix.

Definition at line 197 of file Algorithm.hpp.

◆ _estimateInterFreqBiases

bool NAV::SPP::Algorithm::_estimateInterFreqBiases

Estimate Inter-frequency biases.

Definition at line 89 of file Algorithm.hpp.

◆ _estimatorType

EstimatorType NAV::SPP::Algorithm::_estimatorType

private

Estimator type used for the calculations.

Definition at line 188 of file Algorithm.hpp.

◆ _kalmanFilter

SPP::KalmanFilter NAV::SPP::Algorithm::_kalmanFilter

private

SPP specific Kalman filter.

Definition at line 191 of file Algorithm.hpp.

◆ _lastUpdate

InsTime NAV::SPP::Algorithm::_lastUpdate

private

Time of last update.

Definition at line 194 of file Algorithm.hpp.

◆ _obsEstimator

ObservationEstimator NAV::SPP::Algorithm::_obsEstimator

Observation Estimator.

Definition at line 86 of file Algorithm.hpp.

◆ _obsFilter

ObservationFilter NAV::SPP::Algorithm::_obsFilter

Observation Filter.

Definition at line 81 of file Algorithm.hpp.

◆ _receiver

Receiver NAV::SPP::Algorithm::_receiver

private

Receiver.

Definition at line 185 of file Algorithm.hpp.

◆ PosKey

const std::array<SPP::States::StateKeyType, 3>& NAV::SPP::Algorithm::PosKey

private

All position keys.

Definition at line 95 of file Algorithm.hpp.

◆ PosVelKey

const std::array<SPP::States::StateKeyType, 6>& NAV::SPP::Algorithm::PosVelKey

private

All position and velocity keys.

Definition at line 99 of file Algorithm.hpp.

◆ VelKey

const std::array<SPP::States::StateKeyType, 3>& NAV::SPP::Algorithm::VelKey

private

All velocity keys.

Definition at line 97 of file Algorithm.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/SPP/Algorithm.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/SPP/Algorithm.cpp

Public Types

Public Member Functions

Data Fields

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Receiver

Member Enumeration Documentation

◆ EstimatorType

◆ ReceiverType

Member Function Documentation

◆ assignKalmanFilterResult()

◆ assignLeastSquaresResult()

◆ calcMatrixH()

◆ calcMatrixR()

◆ calcMeasInnovation()

◆ calcSppSolution()

◆ canCalculateVelocity()

◆ canEstimateInterFrequencyBias()

◆ computeDOPs()

◆ determineMeasKeys()

◆ determineStateKeys()

◆ getEstimatorType()

◆ getLastUpdateTime()

◆ reset()

◆ ShowGuiWidgets()

◆ updateInterFrequencyBiases()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Field Documentation

◆ _e_lastPositionCovarianceMatrix

◆ _e_lastVelocityCovarianceMatrix

◆ _estimateInterFreqBiases

◆ _estimatorType

◆ _kalmanFilter

◆ _lastUpdate

◆ _obsEstimator

◆ _obsFilter

◆ _receiver

◆ PosKey

◆ PosVelKey

◆ VelKey