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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 GnssNavInfo.hpp | ||
| 10 | /// @brief Navigation message information | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2022-04-21 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <unordered_map> | ||
| 17 | #include <utility> | ||
| 18 | |||
| 19 | #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp" | ||
| 20 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 21 | #include "Navigation/Atmosphere/Ionosphere/IonosphericCorrections.hpp" | ||
| 22 | #include "Navigation/GNSS/Satellite/Satellite.hpp" | ||
| 23 | #include "util/Container/Pair.hpp" | ||
| 24 | #include "util/Logger.hpp" | ||
| 25 | |||
| 26 | namespace NAV | ||
| 27 | { | ||
| 28 | /// GNSS Navigation message information | ||
| 29 | class GnssNavInfo | ||
| 30 | { | ||
| 31 | public: | ||
| 32 | /// @brief Returns the type of the data class | ||
| 33 | /// @return The data type | ||
| 34 | 790 | [[nodiscard]] static std::string type() | |
| 35 | { | ||
| 36 |
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1580 | return "GnssNavInfo"; |
| 37 | } | ||
| 38 | |||
| 39 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 40 | /// @param[in] satId Satellite identifier | ||
| 41 | /// @param[in] transTime Transmit time of the signal | ||
| 42 | [[nodiscard]] Orbit::Pos calcSatellitePos(const SatId& satId, const InsTime& transTime) const | ||
| 43 | { | ||
| 44 | return m_satellites.at(satId).calcSatellitePos(transTime); | ||
| 45 | } | ||
| 46 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 47 | /// @param[in] satId Satellite identifier | ||
| 48 | /// @param[in] transTime Transmit time of the signal | ||
| 49 | [[nodiscard]] Orbit::PosVel calcSatellitePosVel(const SatId& satId, const InsTime& transTime) const | ||
| 50 | { | ||
| 51 | return m_satellites.at(satId).calcSatellitePosVel(transTime); | ||
| 52 | } | ||
| 53 | /// @brief Calculates position, velocity and acceleration of the satellite at transmission time | ||
| 54 | /// @param[in] satId Satellite identifier | ||
| 55 | /// @param[in] transTime Transmit time of the signal | ||
| 56 | [[nodiscard]] Orbit::PosVelAccel calcSatellitePosVelAccel(const SatId& satId, const InsTime& transTime) const | ||
| 57 | { | ||
| 58 | return m_satellites.at(satId).calcSatellitePosVelAccel(transTime); | ||
| 59 | } | ||
| 60 | |||
| 61 | /// @brief Calculates clock bias and drift of the satellite | ||
| 62 | /// @param[in] satId Satellite identifier | ||
| 63 | /// @param[in] recvTime Receiver time of the signal | ||
| 64 | /// @param[in] dist Distance between receiver and satellite (normally the pseudorange) [m] | ||
| 65 | /// @param[in] freq Signal Frequency | ||
| 66 | [[nodiscard]] Clock::Corrections calcSatelliteClockCorrections(const SatId& satId, const InsTime& recvTime, double dist, const Frequency& freq) const | ||
| 67 | { | ||
| 68 | return m_satellites.at(satId).calcClockCorrections(recvTime, dist, freq); | ||
| 69 | } | ||
| 70 | |||
| 71 | /// @brief Calculates the Variance of the satellite position in [m] | ||
| 72 | /// @param[in] satId Satellite identifier | ||
| 73 | /// @param[in] recvTime Receiver time to calculate the satellite position for | ||
| 74 | [[nodiscard]] double calcSatellitePositionVariance(const SatId& satId, const InsTime& recvTime) const | ||
| 75 | { | ||
| 76 | return m_satellites.at(satId).calcSatellitePositionVariance(recvTime); | ||
| 77 | } | ||
| 78 | |||
| 79 | /// @brief Checks whether the signal is healthy | ||
| 80 | /// @param[in] satId Satellite identifier | ||
| 81 | /// @param[in] recvTime Receive time for the data lookup | ||
| 82 | [[nodiscard]] bool isHealthy(const SatId& satId, const InsTime& recvTime) const | ||
| 83 | { | ||
| 84 | return m_satellites.at(satId).isHealthy(recvTime); | ||
| 85 | } | ||
| 86 | |||
| 87 | /// @brief Adds the provided satellite navigation data to the satellite | ||
| 88 | /// @param[in] satId Satellite identifier | ||
| 89 | /// @param[in] satNavData Satellite Navigation Data to add | ||
| 90 | 8291 | void addSatelliteNavData(const SatId& satId, const std::shared_ptr<SatNavData>& satNavData) | |
| 91 | { | ||
| 92 | 8291 | m_satellites[satId].addSatNavData(satNavData); | |
| 93 | 8289 | } | |
| 94 | |||
| 95 | /// @brief Checks whether the satellite is included in the internal data | ||
| 96 | /// @param[in] satId Satellite identifier | ||
| 97 | /// @param[in] recvTime Receive time for the data lookup | ||
| 98 | 58194 | [[nodiscard]] std::shared_ptr<NAV::SatNavData> searchNavigationData(const SatId& satId, const InsTime& recvTime) const | |
| 99 | { | ||
| 100 |
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58194 | if (!m_satellites.contains(satId)) { return nullptr; } |
| 101 | |||
| 102 |
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58194 | auto satNavData = m_satellites.at(satId).searchNavigationData(recvTime); |
| 103 |
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58194 | if (satNavData == nullptr) |
| 104 | { | ||
| 105 | [[maybe_unused]] auto printNavData = [&]() { | ||
| 106 | std::string ret; | ||
| 107 | for (const auto& navData : m_satellites.at(satId).getNavigationData()) | ||
| 108 | { | ||
| 109 | ret += fmt::format("[{} - diff {:.0f}s], ", navData->refTime.toYMDHMS(GPST), | ||
| 110 | static_cast<double>(std::abs((navData->refTime - recvTime).count()))); | ||
| 111 | } | ||
| 112 | return ret.substr(0, ret.length() - 2); | ||
| 113 | ✗ | }; | |
| 114 | |||
| 115 | LOG_TRACE("[{}][{}]: No navigation data found. Available data are at time: {}", satId, recvTime.toYMDHMS(GPST), printNavData()); | ||
| 116 | } | ||
| 117 | |||
| 118 | 58194 | return satNavData; | |
| 119 | 58194 | } | |
| 120 | |||
| 121 | /// @brief Returns the amount of satellites contained in this message | ||
| 122 | ✗ | [[nodiscard]] size_t nSatellites() const | |
| 123 | { | ||
| 124 | ✗ | return m_satellites.size(); | |
| 125 | } | ||
| 126 | |||
| 127 | /// @brief Get the satellites | ||
| 128 | /// @return Reference to the internal satellites map | ||
| 129 | 1645 | const auto& satellites() const | |
| 130 | { | ||
| 131 | 1645 | return m_satellites; | |
| 132 | } | ||
| 133 | |||
| 134 | /// @brief Resets the data by clearing the member variables | ||
| 135 | 57 | void reset() | |
| 136 | { | ||
| 137 | 57 | satelliteSystems = SatSys_None; | |
| 138 | 57 | ionosphericCorrections.clear(); | |
| 139 | 57 | timeSysCorr.clear(); | |
| 140 | 57 | m_satellites.clear(); | |
| 141 | 57 | } | |
| 142 | |||
| 143 | /// @brief Satellite Systems available | ||
| 144 | SatelliteSystem satelliteSystems = SatSys_None; | ||
| 145 | |||
| 146 | /// @brief Ionospheric correction values | ||
| 147 | IonosphericCorrections ionosphericCorrections; | ||
| 148 | |||
| 149 | /// @brief Time system correction parameters | ||
| 150 | struct TimeSystemCorrections | ||
| 151 | { | ||
| 152 | double a0 = std::nan(""); ///< a0 / tau_c Coefficient of linear polynomial [s] Δt = a0 + a1 * (t - t_ref) | ||
| 153 | double a1 = std::nan(""); ///< a1 Coefficient of linear polynomial [s/s] | ||
| 154 | // TODO: Add a2 value | ||
| 155 | }; | ||
| 156 | |||
| 157 | /// Time system correction parameters. Difference between GNSS system time and UTC or other time systems | ||
| 158 | std::unordered_map<std::pair<TimeSystem, TimeSystem>, TimeSystemCorrections> timeSysCorr; | ||
| 159 | |||
| 160 | private: | ||
| 161 | /// Map of satellites containing the navigation message data | ||
| 162 | std::unordered_map<SatId, Satellite> m_satellites; | ||
| 163 | }; | ||
| 164 | |||
| 165 | } // namespace NAV | ||
| 166 |