| 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 | #include "Ionosphere.hpp" | ||
| 10 | |||
| 11 | #include <vector> | ||
| 12 | #include <array> | ||
| 13 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 14 | #include "util/Logger.hpp" | ||
| 15 | |||
| 16 | #include "Models/Klobuchar.hpp" | ||
| 17 | |||
| 18 | #include "Navigation/GNSS/Functions.hpp" | ||
| 19 | #include "Navigation/Constants.hpp" | ||
| 20 | |||
| 21 | namespace NAV | ||
| 22 | { | ||
| 23 | |||
| 24 | ✗ | const char* to_string(IonosphereModel ionosphereModel) | |
| 25 | { | ||
| 26 | ✗ | switch (ionosphereModel) | |
| 27 | { | ||
| 28 | ✗ | case IonosphereModel::None: | |
| 29 | ✗ | return "None"; | |
| 30 | ✗ | case IonosphereModel::Klobuchar: | |
| 31 | ✗ | return "Klobuchar / Broadcast"; | |
| 32 | ✗ | case IonosphereModel::COUNT: | |
| 33 | ✗ | break; | |
| 34 | } | ||
| 35 | ✗ | return ""; | |
| 36 | } | ||
| 37 | |||
| 38 | ✗ | bool ComboIonosphereModel(const char* label, IonosphereModel& ionosphereModel) | |
| 39 | { | ||
| 40 | ✗ | return gui::widgets::EnumCombo(label, ionosphereModel); | |
| 41 | } | ||
| 42 | |||
| 43 | 41798 | double calcIonosphericDelay(double tow, Frequency freq, int8_t freqNum, | |
| 44 | const Eigen::Vector3d& lla_pos, | ||
| 45 | double elevation, double azimuth, | ||
| 46 | IonosphereModel ionosphereModel, | ||
| 47 | const IonosphericCorrections* corrections) | ||
| 48 | { | ||
| 49 |
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41798 | if (lla_pos(2) < -1000.0 || std::isnan(elevation)) |
| 50 | { | ||
| 51 | LOG_TRACE("Not calculating ionospheric delay, due to altitude being invalid: {}m", lla_pos(2)); | ||
| 52 | 282 | return 0.0; | |
| 53 | } | ||
| 54 | |||
| 55 |
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41516 | switch (ionosphereModel) |
| 56 | { | ||
| 57 | 22237 | case IonosphereModel::Klobuchar: | |
| 58 | { | ||
| 59 |
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22237 | if (corrections) |
| 60 | { | ||
| 61 |
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22237 | const auto* alpha = corrections->get(GPS, IonosphericCorrections::Alpha); |
| 62 |
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22237 | const auto* beta = corrections->get(GPS, IonosphericCorrections::Beta); |
| 63 |
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22237 | if (alpha && beta) |
| 64 | { | ||
| 65 | 22237 | return calcIonosphericTimeDelay_Klobuchar(tow, freq, freqNum, lla_pos(0), lla_pos(1), elevation, azimuth, *alpha, *beta) | |
| 66 | 22237 | * InsConst::C; | |
| 67 | } | ||
| 68 | } | ||
| 69 | |||
| 70 | ✗ | LOG_ERROR("Ionosphere model Klobuchar/Broadcast needs correction parameters. Ionospheric time delay will be 0."); | |
| 71 | ✗ | break; | |
| 72 | } | ||
| 73 | 19279 | case IonosphereModel::None: | |
| 74 | case IonosphereModel::COUNT: | ||
| 75 | 19279 | break; | |
| 76 | } | ||
| 77 | |||
| 78 | 19279 | return 0.0; | |
| 79 | } | ||
| 80 | |||
| 81 | 41798 | double ionoErrorVar(double dpsr_I, Frequency freq, int8_t num) | |
| 82 | { | ||
| 83 | 41798 | constexpr double ERR_BRDCI = 0.5; // Broadcast iono model error factor (See GPS ICD ch. 20.3.3.5.2.5, p. 130: 50% reduction on RMS error) | |
| 84 | |||
| 85 | 41798 | return ratioFreqSquared(freq.getL1(), freq, num, num) | |
| 86 | 41798 | * std::pow(dpsr_I * ERR_BRDCI, 2); | |
| 87 | } | ||
| 88 | |||
| 89 | } // namespace NAV | ||
| 90 |