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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 | #include "Functions.hpp" | ||
| 10 | |||
| 11 | namespace NAV | ||
| 12 | { | ||
| 13 | |||
| 14 | 81844 | double doppler2rangeRate(double doppler, Frequency freq, int8_t num) | |
| 15 | { | ||
| 16 | 81844 | return -InsConst::C / freq.getFrequency(num) * doppler; | |
| 17 | } | ||
| 18 | |||
| 19 | ✗ | double rangeRate2doppler(double rangeRate, Frequency freq, int8_t num) | |
| 20 | { | ||
| 21 | ✗ | return -freq.getFrequency(num) / InsConst::C * rangeRate; | |
| 22 | } | ||
| 23 | |||
| 24 | 104073 | double ratioFreqSquared(Frequency f1, Frequency f2, int8_t num1, int8_t num2) | |
| 25 | { | ||
| 26 | 104073 | return std::pow(f1.getFrequency(num1) / f2.getFrequency(num2), 2); | |
| 27 | } | ||
| 28 | |||
| 29 | ✗ | uint8_t galSisaVal2Idx(double val) | |
| 30 | { | ||
| 31 | ✗ | if (val < 0.0 || val > 6.0) { return 255; } // No Accuracy Prediction Available (NAPA) | |
| 32 | ✗ | if (val <= 0.5) { return static_cast<uint8_t>(static_cast<unsigned int>(val) / 0.01); } | |
| 33 | ✗ | if (val <= 1.0) { return static_cast<uint8_t>(static_cast<unsigned int>((val - 0.5)) / 0.02) + 50; } | |
| 34 | ✗ | if (val <= 2.0) { return static_cast<uint8_t>(static_cast<unsigned int>((val - 1.0)) / 0.04) + 75; } | |
| 35 | ✗ | return static_cast<uint8_t>(static_cast<unsigned int>((val - 2.0)) / 0.16) + 100; | |
| 36 | } | ||
| 37 | |||
| 38 | 225 | double galSisaIdx2Val(uint8_t idx) | |
| 39 | { | ||
| 40 |
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225 | if (idx <= 49) { return static_cast<double>(idx) * 0.01; } |
| 41 | ✗ | if (idx <= 74) { return 0.5 + (static_cast<double>(idx) - 50.0) * 0.02; } | |
| 42 | ✗ | if (idx <= 99) { return 1.0 + (static_cast<double>(idx) - 75.0) * 0.04; } | |
| 43 | ✗ | if (idx <= 125) { return 2.0 + (static_cast<double>(idx) - 100.0) * 0.16; } | |
| 44 | ✗ | return 500.0; | |
| 45 | } | ||
| 46 | |||
| 47 | ✗ | uint8_t gpsUraVal2Idx(double val) | |
| 48 | { | ||
| 49 | ✗ | constexpr std::array<double, 15> URA = { 2.4, 3.4, 4.85, 6.85, 9.65, 13.65, 24.0, 48.0, 96.0, 192.0, 384.0, 768.0, 1536.0, 3072.0, 6144.0 }; | |
| 50 | ✗ | return val < 0.0 ? static_cast<uint8_t>(URA.size()) | |
| 51 | ✗ | : static_cast<uint8_t>(std::ranges::lower_bound(URA, val) - URA.begin()); | |
| 52 | } | ||
| 53 | |||
| 54 | 245 | double gpsUraIdx2Val(uint8_t idx) | |
| 55 | { | ||
| 56 |
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245 | if (idx == 1) { return 2.8; } |
| 57 |
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245 | if (idx == 3) { return 5.7; } |
| 58 |
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245 | if (idx == 5) { return 11.3; } |
| 59 |
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245 | if (idx <= 6) { return std::pow(2, 1.0 + idx / 2.0); } |
| 60 | ✗ | if (idx < 15) { return std::pow(2, idx - 2); } | |
| 61 | ✗ | return 6144.0; | |
| 62 | } | ||
| 63 | |||
| 64 | } // namespace NAV | ||
| 65 |