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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 InterFrequencyBiasModel.hpp | ||
| 10 | /// @brief Inter Frequency Bias System Model | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2024-08-20 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "Units.hpp" | ||
| 17 | |||
| 18 | #include "Navigation/GNSS/SystemModel/SystemModel.hpp" | ||
| 19 | #include "util/Container/KeyedMatrix.hpp" | ||
| 20 | #include <fmt/format.h> | ||
| 21 | #include "Navigation/GNSS/SystemModel/Units.hpp" | ||
| 22 | #include "internal/gui/widgets/InputWithUnit.hpp" | ||
| 23 | #include "Navigation/GNSS/Core/Frequency.hpp" | ||
| 24 | |||
| 25 | #include "util/Logger.hpp" | ||
| 26 | |||
| 27 | namespace NAV | ||
| 28 | { | ||
| 29 | |||
| 30 | namespace Keys | ||
| 31 | { | ||
| 32 | |||
| 33 | /// @brief Inter-frequency bias | ||
| 34 | struct InterFreqBias | ||
| 35 | { | ||
| 36 | /// @brief Equal comparison operator | ||
| 37 | /// @param rhs Right-hand side | ||
| 38 | 102678 | bool operator==(const InterFreqBias& rhs) const { return freq == rhs.freq; } | |
| 39 | /// @brief Frequency | ||
| 40 | Frequency freq; | ||
| 41 | }; | ||
| 42 | |||
| 43 | } // namespace Keys | ||
| 44 | |||
| 45 | /// Inter Frequency Bias System Model | ||
| 46 | template<typename StateKeyType> | ||
| 47 | class InterFrequencyBiasModel | ||
| 48 | { | ||
| 49 | public: | ||
| 50 | /// @brief Initializes the inter-frequency bias | ||
| 51 | 13 | void initialize() | |
| 52 | { | ||
| 53 | // Covariance of the inter-frequency bias [m²/s] | ||
| 54 | 13 | _covarianceInterFrequencyBias = convertUnit(_gui_covarianceInterFrequencyBias, _gui_covarianceInterFrequencyBiasUnit); | |
| 55 | 13 | } | |
| 56 | |||
| 57 | /// @brief Initializes the inter-frequency bias | ||
| 58 | /// @param[in] bias Bias to init | ||
| 59 | /// @param[in, out] F System model matrix | ||
| 60 | /// @param[in, out] G Noise input matrix | ||
| 61 | /// @param[in, out] W Noise scale matrix | ||
| 62 | template<typename Scalar, int Size> | ||
| 63 | 13 | void initialize(Keys::InterFreqBias bias, | |
| 64 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& F, | ||
| 65 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& G, | ||
| 66 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& W) | ||
| 67 | { | ||
| 68 | 13 | initialize(); | |
| 69 | |||
| 70 |
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13 | F(bias, bias) = 0; |
| 71 |
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13 | G(bias, bias) = 1; |
| 72 |
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13 | W(bias, bias) = _covarianceInterFrequencyBias; |
| 73 | 13 | } | |
| 74 | |||
| 75 | /// @brief Updates the provided Phi and Q matrix | ||
| 76 | /// @param[in, out] Phi State transition matrix | ||
| 77 | /// @param[in, out] Q System/Process noise covariance matrix | ||
| 78 | /// @param[in] dt Time step size in [s] | ||
| 79 | template<typename Scalar, int Size> | ||
| 80 | ✗ | void updatePhiAndQ(KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& Phi, | |
| 81 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& Q, | ||
| 82 | double dt) | ||
| 83 | { | ||
| 84 | ✗ | for (const auto& key : Phi.rowKeys()) | |
| 85 | { | ||
| 86 | ✗ | if (const auto* bias = std::get_if<Keys::InterFreqBias>(&key)) | |
| 87 | { | ||
| 88 | ✗ | Phi(*bias, *bias) = 1; | |
| 89 | ✗ | Q(*bias, *bias) = _covarianceInterFrequencyBias * dt; | |
| 90 | } | ||
| 91 | } | ||
| 92 | ✗ | } | |
| 93 | |||
| 94 | /// @brief Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐) | ||
| 95 | /// @param[in] dt Time step size in [s] | ||
| 96 | /// @param[in] freq Frequency to use | ||
| 97 | /// @return Phi and Q matrix | ||
| 98 | [[nodiscard]] std::pair<double, double> calcPhiAndQ(double dt, const Frequency& freq) | ||
| 99 | { | ||
| 100 | std::vector<StateKeyType> key = { Keys::InterFreqBias{ freq } }; | ||
| 101 | |||
| 102 | KeyedMatrix<double, StateKeyType, StateKeyType, 1, 1> Phi(Eigen::Matrix<double, 1, 1>::Zero(), key, key); | ||
| 103 | KeyedMatrix<double, StateKeyType, StateKeyType, 1, 1> Q(Eigen::Matrix<double, 1, 1>::Zero(), key, key); | ||
| 104 | updatePhiAndQ(Phi, Q, dt); | ||
| 105 | |||
| 106 | return { Phi(all, all)(0), Q(all, all)(0) }; | ||
| 107 | } | ||
| 108 | |||
| 109 | /// @brief Shows a GUI | ||
| 110 | /// @param[in] itemWidth Width of the space for the config items | ||
| 111 | /// @param[in] unitWidth Width of the units | ||
| 112 | /// @param[in] id Unique id for ImGui | ||
| 113 | /// @return True if something was changed | ||
| 114 | ✗ | bool ShowGui(float itemWidth, float unitWidth, const char* id) | |
| 115 | { | ||
| 116 | ✗ | bool changed = false; | |
| 117 | |||
| 118 | ✗ | if (gui::widgets::InputDoubleWithUnit(fmt::format("{} of the inter-frequency bias (RW)##{}", | |
| 119 | ✗ | _gui_covarianceInterFrequencyBiasUnit == Units::CovarianceClkPhaseDriftUnits::m_sqrts | |
| 120 | ✗ | ? "StdDev" | |
| 121 | : "Variance", | ||
| 122 | id) | ||
| 123 | .c_str(), | ||
| 124 | itemWidth, unitWidth, &_gui_covarianceInterFrequencyBias, | ||
| 125 | ✗ | _gui_covarianceInterFrequencyBiasUnit, | |
| 126 | MakeComboItems<Units::CovarianceClkPhaseDriftUnits>().c_str(), | ||
| 127 | 0.0, 0.0, "%.2e", ImGuiInputTextFlags_CharsScientific)) | ||
| 128 | { | ||
| 129 | ✗ | LOG_DEBUG("{}: _gui_covarianceInterFrequencyBias changed to {}", id, _gui_covarianceInterFrequencyBias); | |
| 130 | ✗ | LOG_DEBUG("{}: _gui_covarianceInterFrequencyBiasUnit changed to {}", id, to_string(_gui_covarianceInterFrequencyBiasUnit)); | |
| 131 | ✗ | changed = true; | |
| 132 | } | ||
| 133 | |||
| 134 | ✗ | return changed; | |
| 135 | } | ||
| 136 | |||
| 137 | private: | ||
| 138 | /// Gui selection for the Unit of the inter-frequency covarianceInterFrequencyBias parameter | ||
| 139 | Units::CovarianceClkPhaseDriftUnits _gui_covarianceInterFrequencyBiasUnit = Units::CovarianceClkPhaseDriftUnits::m2_s; | ||
| 140 | |||
| 141 | /// @brief GUI selection for the Standard deviation of the inter-frequency bias | ||
| 142 | double _gui_covarianceInterFrequencyBias = 1e-6 /* [m²/s] */; | ||
| 143 | /// @brief Covariance of the inter-frequency bias [m²/s] | ||
| 144 | double _covarianceInterFrequencyBias = 1e-6; | ||
| 145 | |||
| 146 | /// @brief Converts the provided data into a json object | ||
| 147 | /// @param[out] j Json object which gets filled with the info | ||
| 148 | /// @param[in] data Data to convert into json | ||
| 149 | ✗ | friend void to_json(json& j, const InterFrequencyBiasModel& data) | |
| 150 | { | ||
| 151 | ✗ | j = { | |
| 152 | ✗ | { "covarianceInterFrequencyBiasUnit", data._gui_covarianceInterFrequencyBiasUnit }, | |
| 153 | ✗ | { "covarianceInterFrequencyBias", data._gui_covarianceInterFrequencyBias }, | |
| 154 | }; | ||
| 155 | ✗ | } | |
| 156 | |||
| 157 | /// @brief Converts the provided json object into the data object | ||
| 158 | /// @param[in] j Json object with the needed values | ||
| 159 | /// @param[out] data Object to fill from the json | ||
| 160 | 1 | friend void from_json(const json& j, InterFrequencyBiasModel& data) | |
| 161 | { | ||
| 162 |
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1 | if (j.contains("covarianceInterFrequencyBiasUnit")) { j.at("covarianceInterFrequencyBiasUnit").get_to(data._gui_covarianceInterFrequencyBiasUnit); } |
| 163 |
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1 | if (j.contains("covarianceInterFrequencyBias")) { j.at("covarianceInterFrequencyBias").get_to(data._gui_covarianceInterFrequencyBias); } |
| 164 | 1 | } | |
| 165 | }; | ||
| 166 | |||
| 167 | } // namespace NAV | ||
| 168 | |||
| 169 | /// @brief Stream insertion operator overload | ||
| 170 | /// @param[in, out] os Output stream object to stream the time into | ||
| 171 | /// @param[in] obj Object to print | ||
| 172 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 173 | std::ostream& operator<<(std::ostream& os, const NAV::Keys::InterFreqBias& obj); | ||
| 174 | |||
| 175 | namespace std | ||
| 176 | { | ||
| 177 | |||
| 178 | /// @brief Hash function (needed for unordered_map) | ||
| 179 | template<> | ||
| 180 | struct hash<NAV::Keys::InterFreqBias> | ||
| 181 | { | ||
| 182 | /// @brief Hash function | ||
| 183 | /// @param[in] interFreqBias Inter-frequency bias | ||
| 184 | 239864 | size_t operator()(const NAV::Keys::InterFreqBias& interFreqBias) const | |
| 185 | { | ||
| 186 | 239864 | return std::hash<NAV::Frequency>()(interFreqBias.freq); | |
| 187 | } | ||
| 188 | }; | ||
| 189 | |||
| 190 | } // namespace std | ||
| 191 | |||
| 192 | #ifndef DOXYGEN_IGNORE | ||
| 193 | |||
| 194 | /// @brief Formatter | ||
| 195 | template<> | ||
| 196 | struct fmt::formatter<NAV::Keys::InterFreqBias> : fmt::formatter<std::string> | ||
| 197 | { | ||
| 198 | /// @brief Defines how to format structs | ||
| 199 | /// @param[in] interFreqBias Struct to format | ||
| 200 | /// @param[in, out] ctx Format context | ||
| 201 | /// @return Output iterator | ||
| 202 | template<typename FormatContext> | ||
| 203 | 48080 | auto format(const NAV::Keys::InterFreqBias& interFreqBias, FormatContext& ctx) const | |
| 204 | { | ||
| 205 |
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48080 | return fmt::formatter<std::string>::format(fmt::format("InterFreqBias({})", interFreqBias.freq), ctx); |
| 206 | } | ||
| 207 | }; | ||
| 208 | |||
| 209 | #endif | ||
| 210 |