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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 ReceiverClockModel.hpp | ||
| 10 | /// @brief Receiver Clock System Model | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2024-08-20 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <set> | ||
| 17 | #include <vector> | ||
| 18 | |||
| 19 | #include "Units.hpp" | ||
| 20 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 21 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 22 | #include "util/Assert.h" | ||
| 23 | #include "util/Container/KeyedMatrix.hpp" | ||
| 24 | #include "Navigation/GNSS/SystemModel/SystemModel.hpp" | ||
| 25 | #include "Navigation/GNSS/SystemModel/Units.hpp" | ||
| 26 | #include "Navigation/Math/KalmanFilter.hpp" | ||
| 27 | #include "Navigation/Math/VanLoan.hpp" | ||
| 28 | #include "internal/gui/widgets/InputWithUnit.hpp" | ||
| 29 | |||
| 30 | namespace NAV | ||
| 31 | { | ||
| 32 | namespace Keys | ||
| 33 | { | ||
| 34 | |||
| 35 | /// @brief Receiver clock error [m] | ||
| 36 | struct RecvClkBias | ||
| 37 | { | ||
| 38 | /// @brief Equal comparison operator | ||
| 39 | /// @param rhs Right-hand side | ||
| 40 | 37104 | bool operator==(const RecvClkBias& rhs) const { return satSys == rhs.satSys; } | |
| 41 | /// @brief Satellite system | ||
| 42 | SatelliteSystem satSys; | ||
| 43 | }; | ||
| 44 | /// @brief Receiver clock drift [m/s] | ||
| 45 | struct RecvClkDrift | ||
| 46 | { | ||
| 47 | /// @brief Equal comparison operator | ||
| 48 | /// @param rhs Right-hand side | ||
| 49 | 36235 | bool operator==(const RecvClkDrift& rhs) const { return satSys == rhs.satSys; } | |
| 50 | /// @brief Satellite system | ||
| 51 | SatelliteSystem satSys; | ||
| 52 | }; | ||
| 53 | |||
| 54 | } // namespace Keys | ||
| 55 | |||
| 56 | /// Receiver Clock System Model | ||
| 57 | template<typename StateKeyType> | ||
| 58 | class ReceiverClockModel | ||
| 59 | { | ||
| 60 | public: | ||
| 61 | /// @brief Initializes the receiver clock model | ||
| 62 | /// @param[in, out] F System model matrix | ||
| 63 | /// @param[in, out] G Noise input matrix | ||
| 64 | /// @param[in, out] W Noise scale matrix | ||
| 65 | template<typename Scalar, int Size> | ||
| 66 | 24 | void initialize(KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& F, | |
| 67 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& G, | ||
| 68 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& W) | ||
| 69 | { | ||
| 70 | // Covariance of the clock phase drift [m²/s] | ||
| 71 | 24 | _covarianceClkPhaseDrift = convertUnit(_gui_covarianceClkPhaseDrift, _gui_covarianceClkPhaseDriftUnit); | |
| 72 | // Covariance of the frequency phase drift [m²/s³] | ||
| 73 | 24 | _covarianceClkFrequencyDrift = convertUnit(_gui_covarianceClkFrequencyDrift, _gui_covarianceClkFrequencyDriftUnit); | |
| 74 | |||
| 75 |
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222 | for (const auto& key : F.rowKeys()) |
| 76 | { | ||
| 77 |
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198 | if (const auto* biasKey = std::get_if<Keys::RecvClkBias>(&key)) |
| 78 | { | ||
| 79 | 27 | auto driftKey = Keys::RecvClkDrift{ biasKey->satSys }; | |
| 80 |
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27 | INS_ASSERT_USER_ERROR(F.hasRow(driftKey), "The model should have bias and drift"); |
| 81 | |||
| 82 |
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27 | F(*biasKey, driftKey) = 1; |
| 83 |
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27 | G(*biasKey, *biasKey) = 1; |
| 84 |
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27 | G(driftKey, driftKey) = 1; |
| 85 |
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27 | W(*biasKey, *biasKey) = _covarianceClkPhaseDrift; |
| 86 |
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27 | W(driftKey, driftKey) = _covarianceClkFrequencyDrift; |
| 87 | } | ||
| 88 | } | ||
| 89 | 24 | } | |
| 90 | |||
| 91 | /// @brief Updates the provided Phi and Q matrix | ||
| 92 | /// @param[in, out] Phi State transition matrix | ||
| 93 | /// @param[in, out] Q System/Process noise covariance matrix | ||
| 94 | /// @param[in] F System model matrix | ||
| 95 | /// @param[in] G Noise input matrix | ||
| 96 | /// @param[in] W Noise scale matrix | ||
| 97 | /// @param[in] dt Time step size in [s] | ||
| 98 | /// @param[in] algorithm Algorithm to use for the calculation | ||
| 99 | template<typename Scalar, int Size> | ||
| 100 | ✗ | void updatePhiAndQ(KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& Phi, | |
| 101 | KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& Q, | ||
| 102 | const KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& F, | ||
| 103 | const KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& G, | ||
| 104 | const KeyedMatrix<Scalar, StateKeyType, StateKeyType, Size, Size>& W, | ||
| 105 | double dt, | ||
| 106 | SystemModelCalcAlgorithm algorithm) const | ||
| 107 | { | ||
| 108 | ✗ | for (const auto& key : Phi.rowKeys()) | |
| 109 | { | ||
| 110 | ✗ | if (const auto* bias = std::get_if<Keys::RecvClkBias>(&key)) | |
| 111 | { | ||
| 112 | ✗ | auto drift = Keys::RecvClkDrift{ bias->satSys }; | |
| 113 | ✗ | if (Phi.hasRow(drift)) | |
| 114 | { | ||
| 115 | ✗ | std::vector<StateKeyType> keys = { *bias, drift }; | |
| 116 | ✗ | if (algorithm == SystemModelCalcAlgorithm::VanLoan) | |
| 117 | { | ||
| 118 | ✗ | auto [PhiMot, QMot] = NAV::calcPhiAndQWithVanLoanMethod( | |
| 119 | ✗ | F.template block<2>(keys, keys), | |
| 120 | ✗ | G.template block<2>(keys, keys), | |
| 121 | ✗ | W.template block<2>(keys, keys), | |
| 122 | dt); | ||
| 123 | ✗ | Phi.template block<2>(keys, keys) = PhiMot; | |
| 124 | ✗ | Q.template block<2>(keys, keys) = QMot; | |
| 125 | } | ||
| 126 | else // QCalculationAlgorithm::Taylor1 | ||
| 127 | { | ||
| 128 | ✗ | Phi.template block<2>(keys, keys) = transitionMatrix_Phi_Taylor(F.template block<2>(keys, keys), dt, 1); | |
| 129 | ✗ | Q.template block<2>(keys, keys) = calcProcessNoiseMatrixTaylor(dt, bias->satSys, keys)(all, all); | |
| 130 | } | ||
| 131 | ✗ | } | |
| 132 | else | ||
| 133 | { | ||
| 134 | ✗ | Phi(*bias, *bias) = 1; | |
| 135 | ✗ | Q(*bias, *bias) = _covarianceClkPhaseDrift * dt; | |
| 136 | } | ||
| 137 | } | ||
| 138 | } | ||
| 139 | ✗ | } | |
| 140 | |||
| 141 | /// @brief Calculates the state transition matrix (𝚽) and the process noise covariance matrix (𝐐) | ||
| 142 | /// @param[in] dt Time step size in [s] | ||
| 143 | /// @param[in] satSys Satellite systems to use as keys | ||
| 144 | /// @param[in] algorithm Algorithm to use for the calculation | ||
| 145 | /// @return Phi and Q matrix | ||
| 146 | [[nodiscard]] std::pair<KeyedMatrix2d<StateKeyType>, KeyedMatrix2d<StateKeyType>> | ||
| 147 | calcPhiAndQ(double dt, SatelliteSystem satSys, SystemModelCalcAlgorithm algorithm) | ||
| 148 | { | ||
| 149 | std::vector<StateKeyType> keys = { | ||
| 150 | Keys::RecvClkBias{ satSys }, | ||
| 151 | Keys::RecvClkDrift{ satSys }, | ||
| 152 | }; | ||
| 153 | |||
| 154 | KeyedMatrix2d<StateKeyType> F(Eigen::Matrix2d::Zero(), keys, keys); | ||
| 155 | KeyedMatrix2d<StateKeyType> G(Eigen::Matrix2d::Zero(), keys, keys); | ||
| 156 | KeyedMatrix2d<StateKeyType> W(Eigen::Matrix2d::Zero(), keys, keys); | ||
| 157 | initialize(F, G, W); | ||
| 158 | |||
| 159 | KeyedMatrix2d<StateKeyType> Phi(Eigen::Matrix2d::Zero(), keys, keys); | ||
| 160 | KeyedMatrix2d<StateKeyType> Q(Eigen::Matrix2d::Zero(), keys, keys); | ||
| 161 | updatePhiAndQ(Phi, Q, F, G, W, dt, algorithm); | ||
| 162 | |||
| 163 | return { Phi, Q }; | ||
| 164 | } | ||
| 165 | |||
| 166 | /// @brief Shows a GUI | ||
| 167 | /// @param[in] itemWidth Width of the space for the config items | ||
| 168 | /// @param[in] unitWidth Width of the units | ||
| 169 | /// @param[in] id Unique id for ImGui | ||
| 170 | /// @return True if something was changed | ||
| 171 | ✗ | bool ShowGui(float itemWidth, float unitWidth, const char* id) | |
| 172 | { | ||
| 173 | ✗ | bool changed = false; | |
| 174 | |||
| 175 | ✗ | if (gui::widgets::InputDoubleWithUnit(fmt::format("{} of the receiver clock phase drift (RW)##{}", | |
| 176 | ✗ | _gui_covarianceClkPhaseDriftUnit == Units::CovarianceClkPhaseDriftUnits::m_sqrts | |
| 177 | ✗ | ? "StdDev" | |
| 178 | : "Variance", | ||
| 179 | id) | ||
| 180 | .c_str(), | ||
| 181 | itemWidth, unitWidth, &_gui_covarianceClkPhaseDrift, | ||
| 182 | ✗ | _gui_covarianceClkPhaseDriftUnit, | |
| 183 | MakeComboItems<Units::CovarianceClkPhaseDriftUnits>().c_str(), | ||
| 184 | 0.0, 0.0, "%.2e", ImGuiInputTextFlags_CharsScientific)) | ||
| 185 | { | ||
| 186 | ✗ | LOG_DEBUG("{}: _gui_covarianceClkPhaseDrift changed to {}", id, _gui_covarianceClkPhaseDrift); | |
| 187 | ✗ | LOG_DEBUG("{}: _gui_covarianceClkPhaseDriftUnit changed to {}", id, to_string(_gui_covarianceClkPhaseDriftUnit)); | |
| 188 | ✗ | changed = true; | |
| 189 | } | ||
| 190 | ✗ | ImGui::SameLine(); | |
| 191 | ✗ | gui::widgets::HelpMarker(fmt::format("Typical values for a TCXO are {} {}", | |
| 192 | ✗ | _gui_covarianceClkPhaseDriftUnit == Units::CovarianceClkPhaseDriftUnits::m_sqrts ? 0.1 : 0.01, | |
| 193 | to_string(_gui_covarianceClkPhaseDriftUnit)) | ||
| 194 | .c_str()); | ||
| 195 | |||
| 196 | ✗ | if (gui::widgets::InputDoubleWithUnit(fmt::format("{} of the receiver clock frequency drift (IRW)##{}", | |
| 197 | ✗ | _gui_covarianceClkFrequencyDriftUnit == Units::CovarianceClkFrequencyDriftUnits::m_sqrts3 | |
| 198 | ✗ | ? "StdDev" | |
| 199 | : "Variance", | ||
| 200 | id) | ||
| 201 | .c_str(), | ||
| 202 | itemWidth, unitWidth, &_gui_covarianceClkFrequencyDrift, | ||
| 203 | ✗ | _gui_covarianceClkFrequencyDriftUnit, | |
| 204 | MakeComboItems<Units::CovarianceClkFrequencyDriftUnits>().c_str(), | ||
| 205 | 0.0, 0.0, "%.2e", ImGuiInputTextFlags_CharsScientific)) | ||
| 206 | { | ||
| 207 | ✗ | LOG_DEBUG("{}: _gui_covarianceClkFrequencyDrift changed to {}", id, _gui_covarianceClkFrequencyDrift); | |
| 208 | ✗ | LOG_DEBUG("{}: _gui_covarianceClkFrequencyDriftUnit changed to {}", id, to_string(_gui_covarianceClkFrequencyDriftUnit)); | |
| 209 | ✗ | changed = true; | |
| 210 | } | ||
| 211 | ✗ | ImGui::SameLine(); | |
| 212 | ✗ | gui::widgets::HelpMarker(fmt::format("Typical values for a TCXO are {} {}", | |
| 213 | ✗ | _gui_covarianceClkFrequencyDriftUnit == Units::CovarianceClkFrequencyDriftUnits::m_sqrts3 ? 0.2 : 0.04, | |
| 214 | to_string(_gui_covarianceClkFrequencyDriftUnit)) | ||
| 215 | .c_str()); | ||
| 216 | |||
| 217 | ✗ | return changed; | |
| 218 | } | ||
| 219 | |||
| 220 | private: | ||
| 221 | /// @brief Calculates the process noise covariance matrix with Taylor first order | ||
| 222 | /// @param[in] dt Time step size in [s] | ||
| 223 | /// @param[in] satSys Satellite system to update the keys for | ||
| 224 | /// @param[in] keys List of keys (bias, drift) | ||
| 225 | [[nodiscard]] KeyedMatrix<double, StateKeyType, StateKeyType, 2, 2> | ||
| 226 | ✗ | calcProcessNoiseMatrixTaylor(double dt, const SatelliteSystem& satSys, const std::vector<StateKeyType>& keys) const | |
| 227 | { | ||
| 228 | ✗ | double dt2 = std::pow(dt, 2); | |
| 229 | ✗ | double dt3 = dt2 * dt; | |
| 230 | |||
| 231 | ✗ | KeyedMatrix<double, StateKeyType, StateKeyType, 2, 2> Q(Eigen::Matrix<double, 2, 2>::Zero(), keys, keys); | |
| 232 | |||
| 233 | ✗ | auto bias = Keys::RecvClkBias{ satSys }; | |
| 234 | ✗ | auto drift = Keys::RecvClkDrift{ satSys }; | |
| 235 | ✗ | Q(bias, bias) = _covarianceClkPhaseDrift * dt + _covarianceClkFrequencyDrift * dt3 / 3.0; | |
| 236 | ✗ | Q(bias, drift) = _covarianceClkFrequencyDrift * dt2 / 2.0; | |
| 237 | ✗ | Q(drift, bias) = Q(bias, drift); | |
| 238 | ✗ | Q(drift, drift) = _covarianceClkFrequencyDrift * dt; | |
| 239 | |||
| 240 | ✗ | return Q; | |
| 241 | ✗ | } | |
| 242 | /// Gui selection for the Unit of the input covarianceClkPhaseDrift parameter | ||
| 243 | Units::CovarianceClkPhaseDriftUnits _gui_covarianceClkPhaseDriftUnit = Units::CovarianceClkPhaseDriftUnits::m2_s; | ||
| 244 | /// @brief GUI selection for the Standard deviation of the clock phase drift | ||
| 245 | double _gui_covarianceClkPhaseDrift = 0.01 /*[ m^2 / s ] */; | ||
| 246 | |||
| 247 | /// @brief Covariance of the clock phase drift [m²/s] | ||
| 248 | double _covarianceClkPhaseDrift = 0.01; | ||
| 249 | |||
| 250 | /// Gui selection for the Unit of the input covarianceClkFrequencyDrift parameter | ||
| 251 | Units::CovarianceClkFrequencyDriftUnits _gui_covarianceClkFrequencyDriftUnit = Units::CovarianceClkFrequencyDriftUnits::m2_s3; | ||
| 252 | /// @brief GUI selection for the Standard deviation of the clock frequency drift | ||
| 253 | double _gui_covarianceClkFrequencyDrift = 0.04 /* [ m^2 / s^3 ] */; | ||
| 254 | |||
| 255 | /// @brief Covariance of the clock frequency drift [m²/s³] | ||
| 256 | double _covarianceClkFrequencyDrift = 0.04; | ||
| 257 | |||
| 258 | /// @brief Converts the provided data into a json object | ||
| 259 | /// @param[out] j Json object which gets filled with the info | ||
| 260 | /// @param[in] data Data to convert into json | ||
| 261 | ✗ | friend void to_json(json& j, const ReceiverClockModel& data) | |
| 262 | { | ||
| 263 | ✗ | j = { | |
| 264 | ✗ | { "covarianceClkPhaseDriftUnit", data._gui_covarianceClkPhaseDriftUnit }, | |
| 265 | ✗ | { "covarianceClkPhaseDrift", data._gui_covarianceClkPhaseDrift }, | |
| 266 | ✗ | { "covarianceClkFrequencyDriftUnit", data._gui_covarianceClkFrequencyDriftUnit }, | |
| 267 | ✗ | { "covarianceClkFrequencyDrift", data._gui_covarianceClkFrequencyDrift }, | |
| 268 | }; | ||
| 269 | ✗ | } | |
| 270 | |||
| 271 | /// @brief Converts the provided json object into the data object | ||
| 272 | /// @param[in] j Json object with the needed values | ||
| 273 | /// @param[out] data Object to fill from the json | ||
| 274 | 1 | friend void from_json(const json& j, ReceiverClockModel& data) | |
| 275 | { | ||
| 276 |
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1 | if (j.contains("covarianceClkPhaseDriftUnit")) { j.at("covarianceClkPhaseDriftUnit").get_to(data._gui_covarianceClkPhaseDriftUnit); } |
| 277 |
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1 | if (j.contains("covarianceClkPhaseDrift")) { j.at("covarianceClkPhaseDrift").get_to(data._gui_covarianceClkPhaseDrift); } |
| 278 |
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1 | if (j.contains("covarianceClkFrequencyDriftUnit")) { j.at("covarianceClkFrequencyDriftUnit").get_to(data._gui_covarianceClkFrequencyDriftUnit); } |
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1 | if (j.contains("covarianceClkFrequencyDrift")) { j.at("covarianceClkFrequencyDrift").get_to(data._gui_covarianceClkFrequencyDrift); } |
| 280 | 1 | } | |
| 281 | }; | ||
| 282 | |||
| 283 | } // namespace NAV | ||
| 284 | |||
| 285 | /// @brief Stream insertion operator overload | ||
| 286 | /// @param[in, out] os Output stream object to stream the time into | ||
| 287 | /// @param[in] obj Object to print | ||
| 288 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 289 | std::ostream& operator<<(std::ostream& os, const NAV::Keys::RecvClkBias& obj); | ||
| 290 | |||
| 291 | /// @brief Stream insertion operator overload | ||
| 292 | /// @param[in, out] os Output stream object to stream the time into | ||
| 293 | /// @param[in] obj Object to print | ||
| 294 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 295 | std::ostream& operator<<(std::ostream& os, const NAV::Keys::RecvClkDrift& obj); | ||
| 296 | |||
| 297 | namespace std | ||
| 298 | { | ||
| 299 | |||
| 300 | /// @brief Hash function (needed for unordered_map) | ||
| 301 | template<> | ||
| 302 | struct hash<NAV::Keys::RecvClkBias> | ||
| 303 | { | ||
| 304 | /// @brief Hash function | ||
| 305 | /// @param[in] recvClkErr Receiver clock errors | ||
| 306 | 57201 | size_t operator()(const NAV::Keys::RecvClkBias& recvClkErr) const | |
| 307 | { | ||
| 308 | 57201 | return std::hash<NAV::SatelliteSystem>()(recvClkErr.satSys); | |
| 309 | } | ||
| 310 | }; | ||
| 311 | /// @brief Hash function (needed for unordered_map) | ||
| 312 | template<> | ||
| 313 | struct hash<NAV::Keys::RecvClkDrift> | ||
| 314 | { | ||
| 315 | /// @brief Hash function | ||
| 316 | /// @param[in] recvClkDrift Receiver clock drifts | ||
| 317 | 49816 | size_t operator()(const NAV::Keys::RecvClkDrift& recvClkDrift) const | |
| 318 | { | ||
| 319 | 49816 | return std::hash<NAV::SatelliteSystem>()(recvClkDrift.satSys); | |
| 320 | } | ||
| 321 | }; | ||
| 322 | |||
| 323 | } // namespace std | ||
| 324 | |||
| 325 | #ifndef DOXYGEN_IGNORE | ||
| 326 | |||
| 327 | /// @brief Formatter | ||
| 328 | template<> | ||
| 329 | struct fmt::formatter<NAV::Keys::RecvClkBias> : fmt::formatter<std::string> | ||
| 330 | { | ||
| 331 | /// @brief Defines how to format structs | ||
| 332 | /// @param[in] recvClkBias Struct to format | ||
| 333 | /// @param[in, out] ctx Format context | ||
| 334 | /// @return Output iterator | ||
| 335 | template<typename FormatContext> | ||
| 336 | ✗ | auto format(const NAV::Keys::RecvClkBias& recvClkBias, FormatContext& ctx) const | |
| 337 | { | ||
| 338 | ✗ | return fmt::formatter<std::string>::format(fmt::format("RecvClkBias({})", recvClkBias.satSys), ctx); | |
| 339 | } | ||
| 340 | }; | ||
| 341 | |||
| 342 | /// @brief Formatter | ||
| 343 | template<> | ||
| 344 | struct fmt::formatter<NAV::Keys::RecvClkDrift> : fmt::formatter<std::string> | ||
| 345 | { | ||
| 346 | /// @brief Defines how to format structs | ||
| 347 | /// @param[in] recvClkDrift Struct to format | ||
| 348 | /// @param[in, out] ctx Format context | ||
| 349 | /// @return Output iterator | ||
| 350 | template<typename FormatContext> | ||
| 351 | ✗ | auto format(const NAV::Keys::RecvClkDrift& recvClkDrift, FormatContext& ctx) const | |
| 352 | { | ||
| 353 | ✗ | return fmt::formatter<std::string>::format(fmt::format("RecvClkDrift({})", recvClkDrift.satSys), ctx); | |
| 354 | } | ||
| 355 | }; | ||
| 356 | |||
| 357 | #endif | ||
| 358 |