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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 Antenna.hpp | ||
| 10 | /// @brief GNSS Antenna related transformations | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2024-08-01 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <Eigen/Dense> | ||
| 17 | #include <memory> | ||
| 18 | |||
| 19 | #include "CoordinateFrames.hpp" | ||
| 20 | #include "NodeData/GNSS/GnssObs.hpp" | ||
| 21 | #include "Navigation/GNSS/Positioning/AntexReader.hpp" | ||
| 22 | |||
| 23 | namespace NAV::trafo | ||
| 24 | { | ||
| 25 | |||
| 26 | /// @brief Converts a marker position to the antenna reference point position | ||
| 27 | /// @param[in] e_posMarker Marker position in ECEF coordinates [m] | ||
| 28 | /// @param[in] gnssObs GNSS observation with antenna info | ||
| 29 | /// @param[in] hen_delta Additional height, east, north in [m] | ||
| 30 | /// @return Antenna Reference Point position in ECEF frame [m] (Marker + antennaDeltaNEU) | ||
| 31 | template<typename Derived> | ||
| 32 | [[nodiscard]] Eigen::Vector3<typename Derived::Scalar> | ||
| 33 | 41798 | e_posMarker2ARP(const Eigen::MatrixBase<Derived>& e_posMarker, | |
| 34 | const std::shared_ptr<const GnssObs>& gnssObs, | ||
| 35 | const Eigen::Vector3d& hen_delta = Eigen::Vector3d::Zero()) | ||
| 36 | { | ||
| 37 |
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41798 | Eigen::Vector3<typename Derived::Scalar> e_posARP = e_posMarker; |
| 38 | |||
| 39 |
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41798 | auto lla_posMarker = trafo::ecef2lla_WGS84(e_posMarker); |
| 40 |
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41798 | auto e_Quat_n = trafo::e_Quat_n(lla_posMarker(0), lla_posMarker(1)); |
| 41 | |||
| 42 |
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41798 | if (gnssObs && gnssObs->receiverInfo) |
| 43 | { | ||
| 44 | ✗ | Eigen::Vector3<typename Derived::Scalar> n_antennaDelta(typename Derived::Scalar(0.0), | |
| 45 | ✗ | typename Derived::Scalar(0.0), | |
| 46 |
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41798 | typename Derived::Scalar(-gnssObs->receiverInfo->get().antennaDeltaNEU.z())); |
| 47 |
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41798 | e_posARP += e_Quat_n * n_antennaDelta; |
| 48 | } | ||
| 49 | return e_posARP | ||
| 50 | + e_Quat_n | ||
| 51 | ✗ | * Eigen::Vector3<typename Derived::Scalar>(typename Derived::Scalar(0.0), | |
| 52 | ✗ | typename Derived::Scalar(0.0), | |
| 53 |
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83596 | typename Derived::Scalar(hen_delta(0))); |
| 54 | } | ||
| 55 | |||
| 56 | /// @brief Converts a marker position to the antenna reference point position | ||
| 57 | /// @param[in] lla_posMarker Marker position in LLA coordinates [rad, rad, m] | ||
| 58 | /// @param[in] gnssObs GNSS observation with antenna info | ||
| 59 | /// @param[in] hen_delta Additional height, east, north in [m] | ||
| 60 | /// @return Antenna Reference Point position in LLA coordinates [rad, rad, m] (Marker + antennaDeltaNEU) | ||
| 61 | template<typename Derived> | ||
| 62 | [[nodiscard]] Eigen::Vector3<typename Derived::Scalar> | ||
| 63 | lla_posMarker2ARP(const Eigen::MatrixBase<Derived>& lla_posMarker, | ||
| 64 | const std::shared_ptr<const GnssObs>& gnssObs, | ||
| 65 | const Eigen::Vector3d& hen_delta = Eigen::Vector3d::Zero()) | ||
| 66 | { | ||
| 67 | Eigen::Vector3<typename Derived::Scalar> lla_posARP = lla_posMarker; | ||
| 68 | auto e_Quat_n = trafo::e_Quat_n(lla_posMarker(0), lla_posMarker(1)); | ||
| 69 | if (gnssObs && gnssObs->receiverInfo) | ||
| 70 | { | ||
| 71 | lla_posARP.z() += gnssObs->receiverInfo->get().antennaDeltaNEU.z(); | ||
| 72 | } | ||
| 73 | return lla_posARP | ||
| 74 | + e_Quat_n | ||
| 75 | * Eigen::Vector3<typename Derived::Scalar>(typename Derived::Scalar(0.0), | ||
| 76 | typename Derived::Scalar(0.0), | ||
| 77 | typename Derived::Scalar(hen_delta(0))); | ||
| 78 | } | ||
| 79 | |||
| 80 | /// @brief Converts a antenna reference point position position to the antenna phase center position | ||
| 81 | /// @param[in] e_posARP Antenna reference point position in ECEF coordinates [m] | ||
| 82 | /// @param[in] gnssObs GNSS observation with antenna info | ||
| 83 | /// @param[in] freq Frequency of the observation | ||
| 84 | /// @param[in] antennaType Antenna type | ||
| 85 | /// @param[in] nameId NameId of the calling node for Log output | ||
| 86 | /// @return Antenna phase center position in ECEF frame [m] (ARP + antenna phase center) | ||
| 87 | template<typename Derived> | ||
| 88 | [[nodiscard]] Eigen::Vector3<typename Derived::Scalar> | ||
| 89 | 41798 | e_posARP2APC(const Eigen::MatrixBase<Derived>& e_posARP, | |
| 90 | const std::shared_ptr<const GnssObs>& gnssObs, | ||
| 91 | Frequency freq, | ||
| 92 | const std::string& antennaType, | ||
| 93 | const std::string& nameId) | ||
| 94 | { | ||
| 95 | 41798 | Eigen::Vector3<typename Derived::Scalar> e_posAPC = e_posARP; | |
| 96 |
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41798 | if (gnssObs) |
| 97 | { | ||
| 98 |
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83596 | if (auto neu_antennaPhaseCenterOffset = AntexReader::Get().getAntennaPhaseCenterOffsetToARP(antennaType, |
| 99 | Frequency_(freq), | ||
| 100 | 41798 | gnssObs->insTime, | |
| 101 | nameId)) | ||
| 102 | { | ||
| 103 | ✗ | Eigen::Vector3<typename Derived::Scalar> n_antennaPhaseCenterOffset(typename Derived::Scalar(0.0), | |
| 104 | ✗ | typename Derived::Scalar(0.0), | |
| 105 | ✗ | typename Derived::Scalar(-neu_antennaPhaseCenterOffset->z())); | |
| 106 | ✗ | auto lla_posARP = trafo::ecef2lla_WGS84(e_posARP); | |
| 107 | ✗ | if (!std::isnan(lla_posARP(0)) && !std::isnan(lla_posARP(1))) | |
| 108 | { | ||
| 109 | ✗ | e_posAPC += trafo::e_Quat_n(lla_posARP(0), lla_posARP(1)) * n_antennaPhaseCenterOffset; | |
| 110 | } | ||
| 111 | } | ||
| 112 | } | ||
| 113 | 41798 | return e_posAPC; | |
| 114 | } | ||
| 115 | |||
| 116 | /// @brief Converts a antenna reference point position to the antenna phase center position | ||
| 117 | /// @param[in] lla_posARP Antenna reference point position in LLA coordinates [rad, rad, m] | ||
| 118 | /// @param[in] gnssObs GNSS observation with antenna info | ||
| 119 | /// @param[in] freq Frequency of the observation | ||
| 120 | /// @param[in] antennaType Antenna type | ||
| 121 | /// @param[in] nameId NameId of the calling node for Log output | ||
| 122 | /// @return Antenna phase center position in LLA coordinates [rad, rad, m] (ARP + antenna phase center) | ||
| 123 | template<typename Derived> | ||
| 124 | [[nodiscard]] Eigen::Vector3<typename Derived::Scalar> | ||
| 125 | lla_posARP2APC(const Eigen::MatrixBase<Derived>& lla_posARP, | ||
| 126 | const std::shared_ptr<const GnssObs>& gnssObs, | ||
| 127 | Frequency freq, | ||
| 128 | const std::string& antennaType, | ||
| 129 | const std::string& nameId) | ||
| 130 | { | ||
| 131 | Eigen::Vector3<typename Derived::Scalar> lla_posAPC = lla_posARP; | ||
| 132 | if (gnssObs) | ||
| 133 | { | ||
| 134 | if (auto neu_antennaPhaseCenterOffset = | ||
| 135 | AntexReader::Get().getAntennaPhaseCenterOffsetToARP(antennaType, | ||
| 136 | Frequency_(freq), | ||
| 137 | gnssObs->insTime, | ||
| 138 | nameId)) | ||
| 139 | { | ||
| 140 | lla_posAPC.z() += neu_antennaPhaseCenterOffset->z(); | ||
| 141 | } | ||
| 142 | } | ||
| 143 | return lla_posAPC; | ||
| 144 | } | ||
| 145 | |||
| 146 | } // namespace NAV::trafo | ||
| 147 |