| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 GnssAnalyzer.hpp | ||
| 10 | /// @brief Allows creation of GNSS measurement combinations | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2023-10-17 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <vector> | ||
| 17 | |||
| 18 | #include "internal/Node/Node.hpp" | ||
| 19 | |||
| 20 | #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp" | ||
| 21 | #include "Navigation/GNSS/Ambiguity/CycleSlipDetector.hpp" | ||
| 22 | #include "Navigation/Math/Polynomial.hpp" | ||
| 23 | |||
| 24 | namespace NAV | ||
| 25 | { | ||
| 26 | /// @brief Allows creation of GNSS measurement combinations | ||
| 27 | class GnssAnalyzer : public Node | ||
| 28 | { | ||
| 29 | public: | ||
| 30 | /// @brief Default constructor | ||
| 31 | GnssAnalyzer(); | ||
| 32 | /// @brief Destructor | ||
| 33 | ~GnssAnalyzer() override; | ||
| 34 | /// @brief Copy constructor | ||
| 35 | GnssAnalyzer(const GnssAnalyzer&) = delete; | ||
| 36 | /// @brief Move constructor | ||
| 37 | GnssAnalyzer(GnssAnalyzer&&) = delete; | ||
| 38 | /// @brief Copy assignment operator | ||
| 39 | GnssAnalyzer& operator=(const GnssAnalyzer&) = delete; | ||
| 40 | /// @brief Move assignment operator | ||
| 41 | GnssAnalyzer& operator=(GnssAnalyzer&&) = delete; | ||
| 42 | |||
| 43 | /// @brief String representation of the Class Type | ||
| 44 | [[nodiscard]] static std::string typeStatic(); | ||
| 45 | |||
| 46 | /// @brief String representation of the Class Type | ||
| 47 | [[nodiscard]] std::string type() const override; | ||
| 48 | |||
| 49 | /// @brief String representation of the Class Category | ||
| 50 | [[nodiscard]] static std::string category(); | ||
| 51 | |||
| 52 | /// @brief ImGui config window which is shown on double click | ||
| 53 | /// @attention Don't forget to set _hasConfig to true in the constructor of the node | ||
| 54 | void guiConfig() override; | ||
| 55 | |||
| 56 | /// @brief Saves the node into a json object | ||
| 57 | [[nodiscard]] json save() const override; | ||
| 58 | |||
| 59 | /// @brief Restores the node from a json object | ||
| 60 | /// @param[in] j Json object with the node state | ||
| 61 | void restore(const json& j) override; | ||
| 62 | |||
| 63 | private: | ||
| 64 | constexpr static size_t INPUT_PORT_INDEX_GNSS_OBS = 0; ///< @brief Flow (GnssObs) | ||
| 65 | constexpr static size_t OUTPUT_PORT_INDEX_GNSS_COMBINATION = 0; ///< @brief Flow (GnssCombination) | ||
| 66 | |||
| 67 | /// Combination of GNSS measurements | ||
| 68 | struct Combination | ||
| 69 | { | ||
| 70 | /// Possible units to calculate the combination in | ||
| 71 | enum class Unit : uint8_t | ||
| 72 | { | ||
| 73 | Meters, ///< Meters | ||
| 74 | Cycles, ///< Cycles | ||
| 75 | }; | ||
| 76 | |||
| 77 | /// Unit to calculate the combination in | ||
| 78 | Unit unit = Unit::Meters; | ||
| 79 | |||
| 80 | /// Term of a combination equation | ||
| 81 | struct Term | ||
| 82 | { | ||
| 83 | /// @brief Observation types | ||
| 84 | enum class ObservationType : uint8_t | ||
| 85 | { | ||
| 86 | Pseudorange, ///< Pseudorange | ||
| 87 | Carrier, ///< Carrier-Phase | ||
| 88 | }; | ||
| 89 | |||
| 90 | int sign = +1; ///< +1 or -1 | ||
| 91 | SatSigId satSigId = { Code::G1C, 1 }; ///< SignalId and satellite number | ||
| 92 | int8_t freqNum = -128; ///< Frequency number. Only used for GLONASS G1 and G2 // TODO: Set this somewhere | ||
| 93 | ObservationType obsType = ObservationType::Carrier; ///< Observation Type | ||
| 94 | bool receivedDuringRun = false; ///< Flag weather the signal was received | ||
| 95 | }; | ||
| 96 | std::vector<Term> terms{ Term() }; ///< List of terms making up the combination | ||
| 97 | |||
| 98 | /// Cycle-slip detector | ||
| 99 | PolynomialCycleSlipDetector<std::string> polynomialCycleSlipDetector{ /* windowSize = */ 4, /* polyDegree = */ 2 }; | ||
| 100 | /// Threshold to categorize a measurement as cycle slip [% of smallest wavelength] | ||
| 101 | double polynomialCycleSlipDetectorThresholdPercentage = 0.5; | ||
| 102 | /// Whether to output the prediction even when the window size is not reached | ||
| 103 | bool polynomialCycleSlipDetectorOutputWhenWindowSizeNotReached = false; | ||
| 104 | /// Whether the polynomials should be outputted | ||
| 105 | bool polynomialCycleSlipDetectorOutputPolynomials = false; | ||
| 106 | /// Polynomial collection | ||
| 107 | std::vector<std::pair<InsTime, Polynomial<double>>> polynomials; | ||
| 108 | |||
| 109 | /// @brief Get a string description of the combination | ||
| 110 | ✗ | [[nodiscard]] std::string description() const | |
| 111 | { | ||
| 112 | ✗ | std::string desc; | |
| 113 | ✗ | for (const auto& term : terms) | |
| 114 | { | ||
| 115 | ✗ | if (!desc.empty()) { desc += " "; } | |
| 116 | ✗ | desc += term.sign == 1 ? "+" : "-"; | |
| 117 | ✗ | desc += " "; | |
| 118 | ✗ | switch (term.obsType) | |
| 119 | { | ||
| 120 | ✗ | case Term::ObservationType::Pseudorange: | |
| 121 | ✗ | desc += unit == Unit::Cycles ? "P" : "p"; | |
| 122 | ✗ | break; | |
| 123 | ✗ | case Term::ObservationType::Carrier: | |
| 124 | ✗ | desc += unit == Unit::Cycles ? "Φ" : "φ"; | |
| 125 | ✗ | break; | |
| 126 | } | ||
| 127 | ✗ | desc += fmt::format("({})", term.satSigId); | |
| 128 | } | ||
| 129 | ✗ | if (unit == Unit::Cycles) { desc += " [cycles]"; } | |
| 130 | ✗ | else { desc += " [m]"; } | |
| 131 | |||
| 132 | ✗ | return desc; | |
| 133 | ✗ | } | |
| 134 | |||
| 135 | /// @brief Calculates the combined frequency of all terms | ||
| 136 | ✗ | [[nodiscard]] double calcCombinationFrequency() const | |
| 137 | { | ||
| 138 | ✗ | double combinedFreq = 0.0; | |
| 139 | ✗ | for (const auto& term : terms) | |
| 140 | { | ||
| 141 | ✗ | double freq = term.satSigId.freq().getFrequency(term.freqNum); | |
| 142 | ✗ | combinedFreq += static_cast<double>(term.sign) * freq; | |
| 143 | } | ||
| 144 | ✗ | return combinedFreq == 0 ? terms.front().satSigId.freq().getFrequency(terms.front().freqNum) : combinedFreq; | |
| 145 | } | ||
| 146 | }; | ||
| 147 | |||
| 148 | /// Combinations to calculate | ||
| 149 | std::vector<Combination> _combinations{ Combination() }; | ||
| 150 | |||
| 151 | /// @brief Initialize the node | ||
| 152 | bool initialize() override; | ||
| 153 | |||
| 154 | /// @brief Deinitialize the node | ||
| 155 | void deinitialize() override; | ||
| 156 | |||
| 157 | /// @brief Receive Gnss observation | ||
| 158 | /// @param[in] queue Queue with all the received data messages | ||
| 159 | /// @param[in] pinIdx Index of the pin the data is received on | ||
| 160 | void receiveGnssObs(InputPin::NodeDataQueue& queue, size_t pinIdx); | ||
| 161 | |||
| 162 | /// @brief Write info to a json object | ||
| 163 | /// @param[out] j Json output | ||
| 164 | /// @param[in] data Object to read info from | ||
| 165 | friend void to_json(json& j, const Combination& data); | ||
| 166 | /// @brief Read info from a json object | ||
| 167 | /// @param[in] j Json variable to read info from | ||
| 168 | /// @param[out] data Output object | ||
| 169 | friend void from_json(const json& j, Combination& data); | ||
| 170 | /// @brief Write info to a json object | ||
| 171 | /// @param[out] j Json output | ||
| 172 | /// @param[in] data Object to read info from | ||
| 173 | friend void to_json(json& j, const Combination::Term& data); | ||
| 174 | /// @brief Read info from a json object | ||
| 175 | /// @param[in] j Json variable to read info from | ||
| 176 | /// @param[out] data Output object | ||
| 177 | friend void from_json(const json& j, Combination::Term& data); | ||
| 178 | }; | ||
| 179 | |||
| 180 | } // namespace NAV | ||
| 181 |