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|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file Algorithm.hpp | ||
| 10 | /// @brief Single Point Positioning Algorithm | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2023-12-20 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <fmt/format.h> | ||
| 17 | #include <cstdint> | ||
| 18 | #include <set> | ||
| 19 | |||
| 20 | #include "Navigation/GNSS/Positioning/Observation.hpp" | ||
| 21 | #include "Navigation/GNSS/Positioning/ObservationEstimator.hpp" | ||
| 22 | #include "Navigation/GNSS/Positioning/ObservationFilter.hpp" | ||
| 23 | #include "Navigation/GNSS/Positioning/Receiver.hpp" | ||
| 24 | #include "Navigation/GNSS/Positioning/SPP/Keys.hpp" | ||
| 25 | #include "Navigation/GNSS/Positioning/SPP/KalmanFilter.hpp" | ||
| 26 | |||
| 27 | #include "NodeData/GNSS/GnssObs.hpp" | ||
| 28 | #include "NodeData/GNSS/SppSolution.hpp" | ||
| 29 | |||
| 30 | namespace NAV | ||
| 31 | { | ||
| 32 | |||
| 33 | namespace SPP | ||
| 34 | { | ||
| 35 | |||
| 36 | /// Single Point Positioning Algorithm | ||
| 37 | class Algorithm | ||
| 38 | { | ||
| 39 | public: | ||
| 40 | /// Possible SPP estimation algorithms | ||
| 41 | enum class EstimatorType : uint8_t | ||
| 42 | { | ||
| 43 | LeastSquares, ///< Linear Least Squares | ||
| 44 | WeightedLeastSquares, ///< Weighted Linear Least Squares | ||
| 45 | KalmanFilter, ///< Kalman Filter | ||
| 46 | COUNT, ///< Amount of items in the enum | ||
| 47 | }; | ||
| 48 | |||
| 49 | /// @brief Receiver Types | ||
| 50 | enum ReceiverType : uint8_t | ||
| 51 | { | ||
| 52 | Rover, ///< Rover | ||
| 53 | ReceiverType_COUNT, ///< Amount of receiver types | ||
| 54 | }; | ||
| 55 | |||
| 56 | /// @brief Shows the GUI input to select the options | ||
| 57 | /// @param[in] id Unique id for ImGui. | ||
| 58 | /// @param[in] itemWidth Width of the widgets | ||
| 59 | /// @param[in] unitWidth Width on unit inputs | ||
| 60 | bool ShowGuiWidgets(const char* id, float itemWidth, float unitWidth); | ||
| 61 | |||
| 62 | /// Reset the algorithm | ||
| 63 | void reset(); | ||
| 64 | |||
| 65 | /// @brief Get the Estimator Type | ||
| 66 | [[nodiscard]] EstimatorType getEstimatorType() const { return _estimatorType; } | ||
| 67 | |||
| 68 | /// @brief Get the last update time | ||
| 69 | const InsTime& getLastUpdateTime() const { return _lastUpdate; } | ||
| 70 | |||
| 71 | /// @brief Calculate the SPP solution | ||
| 72 | /// @param[in] gnssObs GNSS observation | ||
| 73 | /// @param[in] gnssNavInfos Collection of GNSS Nav information | ||
| 74 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 75 | /// @return The SPP Solution if it could be calculated, otherwise nullptr | ||
| 76 | std::shared_ptr<SppSolution> calcSppSolution(const std::shared_ptr<const GnssObs>& gnssObs, | ||
| 77 | const std::vector<const GnssNavInfo*>& gnssNavInfos, | ||
| 78 | const std::string& nameId); | ||
| 79 | |||
| 80 | /// Observation Filter | ||
| 81 | ObservationFilter _obsFilter{ ReceiverType_COUNT, | ||
| 82 | /* available */ std::unordered_set{ GnssObs::Pseudorange, GnssObs::Doppler }, | ||
| 83 | /* needed */ std::unordered_set{ GnssObs::Pseudorange } }; | ||
| 84 | |||
| 85 | /// Observation Estimator | ||
| 86 | ObservationEstimator _obsEstimator{ ReceiverType_COUNT }; | ||
| 87 | |||
| 88 | /// Estimate Inter-frequency biases | ||
| 89 | bool _estimateInterFreqBiases = true; | ||
| 90 | |||
| 91 | private: | ||
| 92 | using Receiver = NAV::Receiver<ReceiverType>; ///< Receiver | ||
| 93 | |||
| 94 | /// @brief All position keys | ||
| 95 | const std::vector<SPP::States::StateKeyType>& PosKey = Keys::Pos<SPP::States::StateKeyType>; | ||
| 96 | /// @brief All velocity keys | ||
| 97 | const std::vector<SPP::States::StateKeyType>& VelKey = Keys::Vel<SPP::States::StateKeyType>; | ||
| 98 | /// @brief All position and velocity keys | ||
| 99 | const std::vector<SPP::States::StateKeyType>& PosVelKey = Keys::PosVel<SPP::States::StateKeyType>; | ||
| 100 | |||
| 101 | /// @brief Checks if the SPP algorithm can calculate the position (always true for Kalman filter) | ||
| 102 | /// @param[in] nDoppMeas Amount of Doppler measurements | ||
| 103 | [[nodiscard]] bool canCalculateVelocity(size_t nDoppMeas) const; | ||
| 104 | |||
| 105 | /// @brief Checks if the SPP algorithm can estimate inter-frequency biases | ||
| 106 | [[nodiscard]] bool canEstimateInterFrequencyBias() const; | ||
| 107 | |||
| 108 | /// @brief Updates the inter frequency biases | ||
| 109 | /// @param[in] observations List of GNSS observation data used for the calculation | ||
| 110 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 111 | void updateInterFrequencyBiases(const Observations& observations, const std::string& nameId); | ||
| 112 | |||
| 113 | /// @brief Returns a list of state keys | ||
| 114 | /// @param[in] usedSatSystems Used Satellite systems this epoch | ||
| 115 | /// @param[in] nDoppMeas Amount of Doppler measurements | ||
| 116 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 117 | std::vector<States::StateKeyType> determineStateKeys(const std::set<SatelliteSystem>& usedSatSystems, size_t nDoppMeas, const std::string& nameId) const; | ||
| 118 | |||
| 119 | /// @brief Returns a list of measurement keys | ||
| 120 | /// @param[in] observations List of GNSS observation data used for the calculation | ||
| 121 | /// @param[in] nPsrMeas Amount of pseudo-range measurements | ||
| 122 | /// @param[in] nDoppMeas Amount of doppler measurements | ||
| 123 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 124 | std::vector<Meas::MeasKeyTypes> determineMeasKeys(const Observations& observations, size_t nPsrMeas, size_t nDoppMeas, const std::string& nameId) const; | ||
| 125 | |||
| 126 | /// @brief Calculates the measurement sensitivity matrix 𝐇 | ||
| 127 | /// @param[in] stateKeys State Keys | ||
| 128 | /// @param[in] measKeys Measurement Keys | ||
| 129 | /// @param[in] observations List of GNSS observation data used for the calculation | ||
| 130 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 131 | /// @return The 𝐇 matrix | ||
| 132 | [[nodiscard]] KeyedMatrixXd<Meas::MeasKeyTypes, States::StateKeyType> calcMatrixH(const std::vector<States::StateKeyType>& stateKeys, | ||
| 133 | const std::vector<Meas::MeasKeyTypes>& measKeys, | ||
| 134 | const Observations& observations, | ||
| 135 | const std::string& nameId) const; | ||
| 136 | |||
| 137 | /// @brief Calculates the measurement noise covariance matrix 𝐑 | ||
| 138 | /// @param[in] measKeys Measurement Keys | ||
| 139 | /// @param[in] observations List of GNSS observation data used for the calculation | ||
| 140 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 141 | /// @return The 𝐑 matrix | ||
| 142 | [[nodiscard]] static KeyedMatrixXd<Meas::MeasKeyTypes, Meas::MeasKeyTypes> calcMatrixR(const std::vector<Meas::MeasKeyTypes>& measKeys, | ||
| 143 | const Observations& observations, | ||
| 144 | const std::string& nameId); | ||
| 145 | |||
| 146 | /// @brief Calculates the measurement innovation vector 𝜹𝐳 | ||
| 147 | /// @param[in] measKeys Measurement Keys | ||
| 148 | /// @param[in] observations List of GNSS observation data used for the calculation | ||
| 149 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 150 | /// @return The measurement innovation 𝜹𝐳 vector | ||
| 151 | [[nodiscard]] static KeyedVectorXd<Meas::MeasKeyTypes> calcMeasInnovation(const std::vector<Meas::MeasKeyTypes>& measKeys, | ||
| 152 | const Observations& observations, | ||
| 153 | const std::string& nameId); | ||
| 154 | |||
| 155 | /// @brief Assigns the result to the receiver variable | ||
| 156 | /// @param[in] state Delta state | ||
| 157 | /// @param[in] variance Variance of the state | ||
| 158 | /// @param[in] e_oldPos Old position in ECEF coordinates in [m] | ||
| 159 | /// @param[in] nParams Number of parameters to estimate the position | ||
| 160 | /// @param[in] nUniqueDopplerMeas Number of available doppler measurements (unique per satellite) | ||
| 161 | /// @param[in] dt Time step size in [s] | ||
| 162 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 163 | void assignLeastSquaresResult(const KeyedVectorXd<States::StateKeyType>& state, | ||
| 164 | const KeyedMatrixXd<States::StateKeyType, States::StateKeyType>& variance, | ||
| 165 | const Eigen::Vector3d& e_oldPos, | ||
| 166 | size_t nParams, size_t nUniqueDopplerMeas, double dt, const std::string& nameId); | ||
| 167 | |||
| 168 | /// @brief Assigns the result to the receiver variable | ||
| 169 | /// @param state Total state | ||
| 170 | /// @param variance Variance of the state | ||
| 171 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 172 | void assignKalmanFilterResult(const KeyedVectorXd<States::StateKeyType>& state, | ||
| 173 | const KeyedMatrixXd<States::StateKeyType, States::StateKeyType>& variance, | ||
| 174 | const std::string& nameId); | ||
| 175 | |||
| 176 | /// @brief Computes all DOP values (by reference) | ||
| 177 | /// @param[in, out] sppSol SppSol to fill with DOP values | ||
| 178 | /// @param[in] H Measurement sensitivity matrix 𝐇 | ||
| 179 | /// @param[in] nameId Name and id of the node calling this (only used for logging purposes) | ||
| 180 | void computeDOPs(const std::shared_ptr<SppSolution>& sppSol, | ||
| 181 | const KeyedMatrixXd<Meas::MeasKeyTypes, States::StateKeyType>& H, | ||
| 182 | const std::string& nameId); | ||
| 183 | |||
| 184 | /// Receiver | ||
| 185 | Receiver _receiver{ Rover, _obsFilter.getSystemFilter().toVector() }; | ||
| 186 | |||
| 187 | /// Estimator type used for the calculations | ||
| 188 | EstimatorType _estimatorType = EstimatorType::WeightedLeastSquares; | ||
| 189 | |||
| 190 | /// SPP specific Kalman filter | ||
| 191 | SPP::KalmanFilter _kalmanFilter; | ||
| 192 | |||
| 193 | /// Time of last update | ||
| 194 | InsTime _lastUpdate; | ||
| 195 | |||
| 196 | Eigen::Matrix3d _e_lastPositionCovarianceMatrix; ///< Last position covariance matrix | ||
| 197 | Eigen::Matrix3d _e_lastVelocityCovarianceMatrix; ///< Last velocity covariance matrix | ||
| 198 | |||
| 199 | friend void to_json(json& j, const Algorithm& obj); | ||
| 200 | friend void from_json(const json& j, Algorithm& obj); | ||
| 201 | }; | ||
| 202 | |||
| 203 | /// @brief Converts the provided object into json | ||
| 204 | /// @param[out] j Json object which gets filled with the info | ||
| 205 | /// @param[in] obj Object to convert into json | ||
| 206 | void to_json(json& j, const Algorithm& obj); | ||
| 207 | /// @brief Converts the provided json object into a node object | ||
| 208 | /// @param[in] j Json object with the needed values | ||
| 209 | /// @param[out] obj Object to fill from the json | ||
| 210 | void from_json(const json& j, Algorithm& obj); | ||
| 211 | |||
| 212 | } // namespace SPP | ||
| 213 | |||
| 214 | /// @brief Converts the enum to a string | ||
| 215 | /// @param[in] estimatorType Enum value to convert into text | ||
| 216 | /// @return String representation of the enum | ||
| 217 | [[nodiscard]] const char* to_string(SPP::Algorithm::EstimatorType estimatorType); | ||
| 218 | |||
| 219 | /// @brief Converts the enum to a string | ||
| 220 | /// @param[in] receiver Enum value to convert into text | ||
| 221 | /// @return String representation of the enum | ||
| 222 | [[nodiscard]] const char* to_string(SPP::Algorithm::ReceiverType receiver); | ||
| 223 | |||
| 224 | } // namespace NAV | ||
| 225 | |||
| 226 | /// @brief Stream insertion operator overload | ||
| 227 | /// @param[in, out] os Output stream object to stream the time into | ||
| 228 | /// @param[in] obj Object to print | ||
| 229 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 230 | std::ostream& operator<<(std::ostream& os, const NAV::SPP::Algorithm::EstimatorType& obj); | ||
| 231 | |||
| 232 | /// @brief Stream insertion operator overload | ||
| 233 | /// @param[in, out] os Output stream object to stream the time into | ||
| 234 | /// @param[in] obj Object to print | ||
| 235 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 236 | std::ostream& operator<<(std::ostream& os, const NAV::SPP::Algorithm::ReceiverType& obj); | ||
| 237 | |||
| 238 | #ifndef DOXYGEN_IGNORE | ||
| 239 | |||
| 240 | /// @brief Formatter | ||
| 241 | template<> | ||
| 242 | struct fmt::formatter<NAV::SPP::Algorithm::EstimatorType> : fmt::formatter<const char*> | ||
| 243 | { | ||
| 244 | /// @brief Defines how to format structs | ||
| 245 | /// @param[in] type Struct to format | ||
| 246 | /// @param[in, out] ctx Format context | ||
| 247 | /// @return Output iterator | ||
| 248 | template<typename FormatContext> | ||
| 249 | ✗ | auto format(const NAV::SPP::Algorithm::EstimatorType& type, FormatContext& ctx) const | |
| 250 | { | ||
| 251 | ✗ | return fmt::formatter<const char*>::format(NAV::to_string(type), ctx); | |
| 252 | } | ||
| 253 | }; | ||
| 254 | |||
| 255 | /// @brief Formatter | ||
| 256 | template<> | ||
| 257 | struct fmt::formatter<NAV::SPP::Algorithm::ReceiverType> : fmt::formatter<const char*> | ||
| 258 | { | ||
| 259 | /// @brief Defines how to format structs | ||
| 260 | /// @param[in] type Struct to format | ||
| 261 | /// @param[in, out] ctx Format context | ||
| 262 | /// @return Output iterator | ||
| 263 | template<typename FormatContext> | ||
| 264 | ✗ | auto format(const NAV::SPP::Algorithm::ReceiverType& type, FormatContext& ctx) const | |
| 265 | { | ||
| 266 | ✗ | return fmt::formatter<const char*>::format(NAV::to_string(type), ctx); | |
| 267 | } | ||
| 268 | }; | ||
| 269 | |||
| 270 | #endif | ||
| 271 |