| 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 GnssCombination.hpp | ||
| 10 | /// @brief 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 | #include <tuple> | ||
| 18 | |||
| 19 | #include "NodeData/NodeData.hpp" | ||
| 20 | #include "GnssObs.hpp" | ||
| 21 | #include "Navigation/GNSS/Ambiguity/CycleSlipDetector/PolynomialCycleSlipDetector.hpp" | ||
| 22 | |||
| 23 | namespace NAV | ||
| 24 | { | ||
| 25 | |||
| 26 | /// GNSS measurement combinations | ||
| 27 | class GnssCombination : public NodeData | ||
| 28 | { | ||
| 29 | public: | ||
| 30 | /// @brief Returns the type of the data class | ||
| 31 | /// @return The data type | ||
| 32 | 582110 | [[nodiscard]] static std::string type() | |
| 33 | { | ||
| 34 |
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1164220 | return "GnssCombination"; |
| 35 | } | ||
| 36 | |||
| 37 | /// @brief Returns the type of the data class | ||
| 38 | /// @return The data type | ||
| 39 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 40 | |||
| 41 | /// @brief Returns the parent types of the data class | ||
| 42 | /// @return The parent data types | ||
| 43 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 44 | { | ||
| 45 |
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336 | return { NodeData::type() }; |
| 46 | 112 | } | |
| 47 | |||
| 48 | /// Combination of GNSS measurements | ||
| 49 | struct Combination | ||
| 50 | { | ||
| 51 | /// Term of a combination equation | ||
| 52 | struct Term | ||
| 53 | { | ||
| 54 | int sign = +1; ///< +1 or -1 | ||
| 55 | SatSigId satSigId = { Code::None, 0 }; ///< SignalId and satellite number | ||
| 56 | GnssObs::ObservationType obsType = GnssObs::ObservationType::Carrier; ///< Observation Type | ||
| 57 | std::optional<double> value; ///< Measurement (if present) | ||
| 58 | }; | ||
| 59 | |||
| 60 | std::string description; ///< String describing the combination | ||
| 61 | std::optional<double> result; ///< Calculated combination (only set if all terms where present) | ||
| 62 | std::vector<Term> terms; ///< List of terms making up the combination | ||
| 63 | |||
| 64 | std::optional<PolynomialCycleSlipDetectorResult> cycleSlipResult; ///< Cycle-slip result | ||
| 65 | std::optional<double> cycleSlipPrediction; ///< Predicted value from the cycle-slip detector (polynomial fit) | ||
| 66 | std::optional<double> cycleSlipMeasMinPred; ///< Measurement minus predicted value from the cycle-slip detector | ||
| 67 | std::vector<std::tuple<InsTime, Polynomial<double>, double>> cycleSlipPolynomials; ///< Polynomial fits | ||
| 68 | }; | ||
| 69 | |||
| 70 | /// List of combinations | ||
| 71 | std::vector<Combination> combinations; | ||
| 72 | |||
| 73 | /// @brief Returns a vector of data descriptors for the dynamic data | ||
| 74 | ✗ | [[nodiscard]] std::vector<std::string> dynamicDataDescriptors() const override | |
| 75 | { | ||
| 76 | ✗ | std::vector<std::string> descriptors; | |
| 77 | ✗ | descriptors.reserve(combinations.size() * 4); | |
| 78 | |||
| 79 | ✗ | for (const auto& comb : combinations) | |
| 80 | { | ||
| 81 | ✗ | descriptors.push_back(comb.description); | |
| 82 | ✗ | descriptors.push_back(comb.description + " Cycle Slip"); | |
| 83 | ✗ | descriptors.push_back(comb.description + " Prediction"); | |
| 84 | ✗ | descriptors.push_back(comb.description + " Meas - Pred"); | |
| 85 | } | ||
| 86 | |||
| 87 | ✗ | return descriptors; | |
| 88 | ✗ | } | |
| 89 | |||
| 90 | /// @brief Get the value for the descriptor | ||
| 91 | /// @return Value if in the observation | ||
| 92 | ✗ | [[nodiscard]] std::optional<double> getDynamicDataAt(const std::string& descriptor) const override | |
| 93 | { | ||
| 94 | ✗ | for (const auto& comb : combinations) | |
| 95 | { | ||
| 96 | ✗ | if (descriptor == comb.description) { return comb.result; } | |
| 97 | ✗ | if (descriptor == comb.description + " Cycle Slip" && comb.cycleSlipResult) { return static_cast<double>(*comb.cycleSlipResult); } | |
| 98 | ✗ | if (descriptor == comb.description + " Prediction") { return comb.cycleSlipPrediction; } | |
| 99 | ✗ | if (descriptor == comb.description + " Meas - Pred") { return comb.cycleSlipMeasMinPred; } | |
| 100 | } | ||
| 101 | ✗ | return std::nullopt; | |
| 102 | } | ||
| 103 | |||
| 104 | /// @brief Returns a vector of data descriptors and values for the dynamic data | ||
| 105 | ✗ | [[nodiscard]] std::vector<std::pair<std::string, double>> getDynamicData() const override | |
| 106 | { | ||
| 107 | ✗ | std::vector<std::pair<std::string, double>> dynData; | |
| 108 | ✗ | dynData.reserve(combinations.size() * 4); | |
| 109 | ✗ | for (const auto& comb : combinations) | |
| 110 | { | ||
| 111 | ✗ | if (comb.result) { dynData.emplace_back(comb.description, *comb.result); } | |
| 112 | ✗ | if (comb.cycleSlipResult) { dynData.emplace_back(comb.description + " Cycle Slip", static_cast<double>(*comb.cycleSlipResult)); } | |
| 113 | ✗ | if (comb.cycleSlipPrediction) { dynData.emplace_back(comb.description + " Prediction", *comb.cycleSlipPrediction); } | |
| 114 | ✗ | if (comb.cycleSlipMeasMinPred) { dynData.emplace_back(comb.description + " Meas - Pred", *comb.cycleSlipMeasMinPred); } | |
| 115 | } | ||
| 116 | ✗ | return dynData; | |
| 117 | ✗ | } | |
| 118 | }; | ||
| 119 | |||
| 120 | } // namespace NAV | ||
| 121 |