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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 SppSolution.hpp | ||
| 10 | /// @brief SPP Algorithm output | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2022-05-28 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cstddef> | ||
| 17 | #include <vector> | ||
| 18 | #include <optional> | ||
| 19 | #include <algorithm> | ||
| 20 | |||
| 21 | #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp" | ||
| 22 | #include "Navigation/GNSS/Core/Code.hpp" | ||
| 23 | #include "Navigation/GNSS/Core/SatelliteSystem.hpp" | ||
| 24 | #include "Navigation/GNSS/Positioning/ReceiverClock.hpp" | ||
| 25 | #include "Navigation/GNSS/Positioning/SPP/Keys.hpp" | ||
| 26 | |||
| 27 | #include "NodeData/State/PosVel.hpp" | ||
| 28 | |||
| 29 | #include "util/Assert.h" | ||
| 30 | #include "util/Container/KeyedMatrix.hpp" | ||
| 31 | #include "util/Container/UncertainValue.hpp" | ||
| 32 | |||
| 33 | namespace NAV | ||
| 34 | { | ||
| 35 | /// SPP Algorithm output | ||
| 36 | class SppSolution : public PosVel | ||
| 37 | { | ||
| 38 | public: | ||
| 39 | /// @brief Returns the type of the data class | ||
| 40 | /// @return The data type | ||
| 41 | 856 | [[nodiscard]] static std::string type() | |
| 42 | { | ||
| 43 |
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1712 | return "SppSolution"; |
| 44 | } | ||
| 45 | |||
| 46 | /// @brief Returns the type of the data class | ||
| 47 | /// @return The data type | ||
| 48 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 49 | |||
| 50 | /// @brief Returns the parent types of the data class | ||
| 51 | /// @return The parent data types | ||
| 52 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 53 | { | ||
| 54 | 112 | auto parent = PosVel::parentTypes(); | |
| 55 |
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112 | parent.push_back(PosVel::type()); |
| 56 | 112 | return parent; | |
| 57 | ✗ | } | |
| 58 | |||
| 59 | /// @brief Returns a vector of data descriptors | ||
| 60 | 1 | [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors() | |
| 61 | { | ||
| 62 | 1 | auto desc = PosVel::GetStaticDataDescriptors(); | |
| 63 |
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1 | desc.reserve(GetStaticDescriptorCount()); |
| 64 |
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1 | desc.emplace_back("Number satellites"); |
| 65 |
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1 | desc.emplace_back("Receiver clock bias GPS [s]"); |
| 66 |
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1 | desc.emplace_back("Receiver clock drift GPS [s/s]"); |
| 67 |
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1 | desc.emplace_back("Receiver clock bias StDev GPS [s]"); |
| 68 |
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1 | desc.emplace_back("Receiver clock drift StDev GPS [s/s]"); |
| 69 |
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1 | desc.emplace_back("Receiver clock bias GAL [s]"); |
| 70 |
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1 | desc.emplace_back("Receiver clock drift GAL [s/s]"); |
| 71 |
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1 | desc.emplace_back("Receiver clock bias StDev GAL [s]"); |
| 72 |
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1 | desc.emplace_back("Receiver clock drift StDev GAL [s/s]"); |
| 73 |
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1 | desc.emplace_back("Receiver clock bias GLO [s]"); |
| 74 |
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1 | desc.emplace_back("Receiver clock drift GLO [s/s]"); |
| 75 |
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1 | desc.emplace_back("Receiver clock bias StDev GLO [s]"); |
| 76 |
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1 | desc.emplace_back("Receiver clock drift StDev GLO [s/s]"); |
| 77 |
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1 | desc.emplace_back("Receiver clock bias BDS [s]"); |
| 78 |
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1 | desc.emplace_back("Receiver clock drift BDS [s/s]"); |
| 79 |
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1 | desc.emplace_back("Receiver clock bias StDev BDS [s]"); |
| 80 |
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1 | desc.emplace_back("Receiver clock drift StDev BDS [s/s]"); |
| 81 |
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1 | desc.emplace_back("Receiver clock bias QZSS [s]"); |
| 82 |
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1 | desc.emplace_back("Receiver clock drift QZSS [s/s]"); |
| 83 |
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1 | desc.emplace_back("Receiver clock bias StDev QZSS [s]"); |
| 84 |
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1 | desc.emplace_back("Receiver clock drift StDev QZSS [s/s]"); |
| 85 |
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1 | desc.emplace_back("Receiver clock bias IRNSS [s]"); |
| 86 |
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1 | desc.emplace_back("Receiver clock drift IRNSS [s/s]"); |
| 87 |
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1 | desc.emplace_back("Receiver clock bias StDev IRNSS [s]"); |
| 88 |
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1 | desc.emplace_back("Receiver clock drift StDev IRNSS [s/s]"); |
| 89 |
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1 | desc.emplace_back("Receiver clock bias SBAS [s]"); |
| 90 |
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1 | desc.emplace_back("Receiver clock drift SBAS [s/s]"); |
| 91 |
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1 | desc.emplace_back("Receiver clock bias StDev SBAS [s]"); |
| 92 |
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1 | desc.emplace_back("Receiver clock drift StDev SBAS [s/s]"); |
| 93 |
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1 | desc.emplace_back("HDOP"); |
| 94 |
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1 | desc.emplace_back("VDOP"); |
| 95 |
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1 | desc.emplace_back("PDOP"); |
| 96 | |||
| 97 | 1 | return desc; | |
| 98 | ✗ | } | |
| 99 | |||
| 100 | /// @brief Get the amount of descriptors | ||
| 101 | 1 | [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return PosVel::GetStaticDescriptorCount() + 32; } | |
| 102 | |||
| 103 | /// @brief Returns a vector of data descriptors | ||
| 104 | ✗ | [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); } | |
| 105 | |||
| 106 | /// @brief Get the amount of descriptors | ||
| 107 | ✗ | [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); } | |
| 108 | |||
| 109 | /// @brief Get the value at the index | ||
| 110 | /// @param idx Index corresponding to data descriptor order | ||
| 111 | /// @return Value if in the observation | ||
| 112 | ✗ | [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override | |
| 113 | { | ||
| 114 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 115 | ✗ | if (idx < PosVel::GetStaticDescriptorCount()) { return PosVel::getValueAt(idx); } | |
| 116 | ✗ | switch (idx) | |
| 117 | { | ||
| 118 | ✗ | case PosVel::GetStaticDescriptorCount() + 0: // Number satellites | |
| 119 | ✗ | return static_cast<double>(nSatellites); | |
| 120 | |||
| 121 | ✗ | case PosVel::GetStaticDescriptorCount() + 1: // Receiver clock bias GPS [s] | |
| 122 | ✗ | if (const double* v = recvClk.biasFor(GPS)) { return *v; } | |
| 123 | ✗ | break; | |
| 124 | ✗ | case PosVel::GetStaticDescriptorCount() + 2: // Receiver clock drift GPS [s/s] | |
| 125 | ✗ | if (const double* v = recvClk.driftFor(GPS)) { return *v; } | |
| 126 | ✗ | break; | |
| 127 | ✗ | case PosVel::GetStaticDescriptorCount() + 3: // Receiver clock bias StDev GPS [s] | |
| 128 | ✗ | if (const double* v = recvClk.biasStdDevFor(GPS)) { return *v; } | |
| 129 | ✗ | break; | |
| 130 | ✗ | case PosVel::GetStaticDescriptorCount() + 4: // Receiver clock drift StDev GPS [s/s] | |
| 131 | ✗ | if (const double* v = recvClk.driftStdDevFor(GPS)) { return *v; } | |
| 132 | ✗ | break; | |
| 133 | |||
| 134 | ✗ | case PosVel::GetStaticDescriptorCount() + 5: // Receiver clock bias GAL [s] | |
| 135 | ✗ | if (const double* v = recvClk.biasFor(GAL)) { return *v; } | |
| 136 | ✗ | break; | |
| 137 | ✗ | case PosVel::GetStaticDescriptorCount() + 6: // Receiver clock drift GAL [s/s] | |
| 138 | ✗ | if (const double* v = recvClk.driftFor(GAL)) { return *v; } | |
| 139 | ✗ | break; | |
| 140 | ✗ | case PosVel::GetStaticDescriptorCount() + 7: // Receiver clock bias StDev GAL [s] | |
| 141 | ✗ | if (const double* v = recvClk.biasStdDevFor(GAL)) { return *v; } | |
| 142 | ✗ | break; | |
| 143 | ✗ | case PosVel::GetStaticDescriptorCount() + 8: // Receiver clock drift StDev GAL [s/s] | |
| 144 | ✗ | if (const double* v = recvClk.driftStdDevFor(GAL)) { return *v; } | |
| 145 | ✗ | break; | |
| 146 | |||
| 147 | ✗ | case PosVel::GetStaticDescriptorCount() + 9: // Receiver clock bias GLO [s] | |
| 148 | ✗ | if (const double* v = recvClk.biasFor(GLO)) { return *v; } | |
| 149 | ✗ | break; | |
| 150 | ✗ | case PosVel::GetStaticDescriptorCount() + 10: // Receiver clock drift GLO [s/s] | |
| 151 | ✗ | if (const double* v = recvClk.driftFor(GLO)) { return *v; } | |
| 152 | ✗ | break; | |
| 153 | ✗ | case PosVel::GetStaticDescriptorCount() + 11: // Receiver clock bias StDev GLO [s] | |
| 154 | ✗ | if (const double* v = recvClk.biasStdDevFor(GLO)) { return *v; } | |
| 155 | ✗ | break; | |
| 156 | ✗ | case PosVel::GetStaticDescriptorCount() + 12: // Receiver clock drift StDev GLO [s/s] | |
| 157 | ✗ | if (const double* v = recvClk.driftStdDevFor(GLO)) { return *v; } | |
| 158 | ✗ | break; | |
| 159 | |||
| 160 | ✗ | case PosVel::GetStaticDescriptorCount() + 13: // Receiver clock bias BDS [s] | |
| 161 | ✗ | if (const double* v = recvClk.biasFor(BDS)) { return *v; } | |
| 162 | ✗ | break; | |
| 163 | ✗ | case PosVel::GetStaticDescriptorCount() + 14: // Receiver clock drift BDS [s/s] | |
| 164 | ✗ | if (const double* v = recvClk.driftFor(BDS)) { return *v; } | |
| 165 | ✗ | break; | |
| 166 | ✗ | case PosVel::GetStaticDescriptorCount() + 15: // Receiver clock bias StDev BDS [s] | |
| 167 | ✗ | if (const double* v = recvClk.biasStdDevFor(BDS)) { return *v; } | |
| 168 | ✗ | break; | |
| 169 | ✗ | case PosVel::GetStaticDescriptorCount() + 16: // Receiver clock drift StDev BDS [s/s] | |
| 170 | ✗ | if (const double* v = recvClk.driftStdDevFor(BDS)) { return *v; } | |
| 171 | ✗ | break; | |
| 172 | |||
| 173 | ✗ | case PosVel::GetStaticDescriptorCount() + 17: // Receiver clock bias QZSS [s] | |
| 174 | ✗ | if (const double* v = recvClk.biasFor(QZSS)) { return *v; } | |
| 175 | ✗ | break; | |
| 176 | ✗ | case PosVel::GetStaticDescriptorCount() + 18: // Receiver clock drift QZSS [s/s] | |
| 177 | ✗ | if (const double* v = recvClk.driftFor(QZSS)) { return *v; } | |
| 178 | ✗ | break; | |
| 179 | ✗ | case PosVel::GetStaticDescriptorCount() + 19: // Receiver clock bias StDev QZSS [s] | |
| 180 | ✗ | if (const double* v = recvClk.biasStdDevFor(QZSS)) { return *v; } | |
| 181 | ✗ | break; | |
| 182 | ✗ | case PosVel::GetStaticDescriptorCount() + 20: // Receiver clock drift StDev QZSS [s/s] | |
| 183 | ✗ | if (const double* v = recvClk.driftStdDevFor(QZSS)) { return *v; } | |
| 184 | ✗ | break; | |
| 185 | |||
| 186 | ✗ | case PosVel::GetStaticDescriptorCount() + 21: // Receiver clock bias IRNSS [s] | |
| 187 | ✗ | if (const double* v = recvClk.biasFor(IRNSS)) { return *v; } | |
| 188 | ✗ | break; | |
| 189 | ✗ | case PosVel::GetStaticDescriptorCount() + 22: // Receiver clock drift IRNSS [s/s] | |
| 190 | ✗ | if (const double* v = recvClk.driftFor(IRNSS)) { return *v; } | |
| 191 | ✗ | break; | |
| 192 | ✗ | case PosVel::GetStaticDescriptorCount() + 23: // Receiver clock bias StDev IRNSS [s] | |
| 193 | ✗ | if (const double* v = recvClk.biasStdDevFor(IRNSS)) { return *v; } | |
| 194 | ✗ | break; | |
| 195 | ✗ | case PosVel::GetStaticDescriptorCount() + 24: // Receiver clock drift StDev IRNSS [s/s] | |
| 196 | ✗ | if (const double* v = recvClk.driftStdDevFor(IRNSS)) { return *v; } | |
| 197 | ✗ | break; | |
| 198 | |||
| 199 | ✗ | case PosVel::GetStaticDescriptorCount() + 25: // Receiver clock bias SBAS [s] | |
| 200 | ✗ | if (const double* v = recvClk.biasFor(SBAS)) { return *v; } | |
| 201 | ✗ | break; | |
| 202 | ✗ | case PosVel::GetStaticDescriptorCount() + 26: // Receiver clock drift SBAS [s/s] | |
| 203 | ✗ | if (const double* v = recvClk.driftFor(SBAS)) { return *v; } | |
| 204 | ✗ | break; | |
| 205 | ✗ | case PosVel::GetStaticDescriptorCount() + 27: // Receiver clock bias StDev SBAS [s] | |
| 206 | ✗ | if (const double* v = recvClk.biasStdDevFor(SBAS)) { return *v; } | |
| 207 | ✗ | break; | |
| 208 | ✗ | case PosVel::GetStaticDescriptorCount() + 28: // Receiver clock drift StDev SBAS [s/s] | |
| 209 | ✗ | if (const double* v = recvClk.driftStdDevFor(SBAS)) { return *v; } | |
| 210 | ✗ | break; | |
| 211 | ✗ | case PosVel::GetStaticDescriptorCount() + 29: // HDOP | |
| 212 | ✗ | return HDOP; | |
| 213 | ✗ | case PosVel::GetStaticDescriptorCount() + 30: // VDOP | |
| 214 | ✗ | return VDOP; | |
| 215 | ✗ | case PosVel::GetStaticDescriptorCount() + 31: // PDOP | |
| 216 | ✗ | return PDOP; | |
| 217 | ✗ | default: | |
| 218 | ✗ | return std::nullopt; | |
| 219 | } | ||
| 220 | ✗ | return std::nullopt; | |
| 221 | } | ||
| 222 | |||
| 223 | /// @brief Returns a vector of data descriptors for the dynamic data | ||
| 224 | ✗ | [[nodiscard]] std::vector<std::string> dynamicDataDescriptors() const override | |
| 225 | { | ||
| 226 | ✗ | std::vector<std::string> descriptors; | |
| 227 | ✗ | descriptors.reserve(interFrequencyBias.size() * 2 + satData.size() * 2); | |
| 228 | |||
| 229 | ✗ | for (const auto& bias : interFrequencyBias) | |
| 230 | { | ||
| 231 | ✗ | descriptors.push_back(fmt::format("{} Inter-freq bias [s]", bias.first)); | |
| 232 | ✗ | descriptors.push_back(fmt::format("{} Inter-freq bias StDev [s]", bias.first)); | |
| 233 | } | ||
| 234 | ✗ | for (const auto& [satId, satData] : satData) | |
| 235 | { | ||
| 236 | ✗ | descriptors.push_back(fmt::format("{} Elevation [deg]", satId)); | |
| 237 | ✗ | descriptors.push_back(fmt::format("{} Azimuth [deg]", satId)); | |
| 238 | // descriptors.push_back(fmt::format("{} Satellite clock bias [s]", satData.first)); | ||
| 239 | // descriptors.push_back(fmt::format("{} Satellite clock drift [s/s]", satData.first)); | ||
| 240 | // descriptors.push_back(fmt::format("{} SatPos ECEF X [m]", satData.first)); | ||
| 241 | // descriptors.push_back(fmt::format("{} SatPos ECEF Y [m]", satData.first)); | ||
| 242 | // descriptors.push_back(fmt::format("{} SatPos ECEF Z [m]", satData.first)); | ||
| 243 | // descriptors.push_back(fmt::format("{} SatPos Latitude [deg]", satData.first)); | ||
| 244 | // descriptors.push_back(fmt::format("{} SatPos Longitude [deg]", satData.first)); | ||
| 245 | // descriptors.push_back(fmt::format("{} SatPos Altitude [m]", satData.first)); | ||
| 246 | // descriptors.push_back(fmt::format("{} SatVel ECEF X [m/s]", satData.first)); | ||
| 247 | // descriptors.push_back(fmt::format("{} SatVel ECEF Y [m/s]", satData.first)); | ||
| 248 | // descriptors.push_back(fmt::format("{} SatVel ECEF Z [m/s]", satData.first)); | ||
| 249 | } | ||
| 250 | ✗ | if (_e_sppCovarianceMatrix) | |
| 251 | { | ||
| 252 | ✗ | for (size_t r = 0; r < static_cast<size_t>(_e_sppCovarianceMatrix->rows()); r++) | |
| 253 | { | ||
| 254 | ✗ | for (size_t c = r; c < static_cast<size_t>(_e_sppCovarianceMatrix->cols()); c++) | |
| 255 | { | ||
| 256 | ✗ | descriptors.push_back(fmt::format("Cov({},{})", _e_sppCovarianceMatrix->rowKeys().at(r), _e_sppCovarianceMatrix->colKeys().at(c))); | |
| 257 | } | ||
| 258 | } | ||
| 259 | } | ||
| 260 | |||
| 261 | ✗ | return descriptors; | |
| 262 | ✗ | } | |
| 263 | |||
| 264 | /// @brief Get the value for the descriptor | ||
| 265 | /// @return Value if in the observation | ||
| 266 | ✗ | [[nodiscard]] std::optional<double> getDynamicDataAt(const std::string& descriptor) const override | |
| 267 | { | ||
| 268 | ✗ | for (const auto& bias : interFrequencyBias) | |
| 269 | { | ||
| 270 | ✗ | if (descriptor == fmt::format("{} Inter-freq bias [s]", bias.first)) { return bias.second.value; } | |
| 271 | ✗ | if (descriptor == fmt::format("{} Inter-freq bias StDev [s]", bias.first)) { return bias.second.stdDev; } | |
| 272 | } | ||
| 273 | ✗ | for (const auto& [satId, satData] : satData) | |
| 274 | { | ||
| 275 | ✗ | if (descriptor == fmt::format("{} Elevation [deg]", satId)) { return rad2deg(satData.satElevation); } | |
| 276 | ✗ | if (descriptor == fmt::format("{} Azimuth [deg]", satId)) { return rad2deg(satData.satAzimuth); } | |
| 277 | // if (descriptor == fmt::format("{} Satellite clock bias [s]", satData.first)) { return satData.second.satClock.bias; } | ||
| 278 | // if (descriptor == fmt::format("{} Satellite clock drift [s/s]", satData.first)) { return satData.second.satClock.drift; } | ||
| 279 | // if (descriptor == fmt::format("{} SatPos ECEF X [m]", satData.first)) { return satData.second.e_satPos.x(); } | ||
| 280 | // if (descriptor == fmt::format("{} SatPos ECEF Y [m]", satData.first)) { return satData.second.e_satPos.y(); } | ||
| 281 | // if (descriptor == fmt::format("{} SatPos ECEF Z [m]", satData.first)) { return satData.second.e_satPos.z(); } | ||
| 282 | // if (descriptor == fmt::format("{} SatPos Latitude [deg]", satData.first)) { return rad2deg(satData.second.lla_satPos.x()); } | ||
| 283 | // if (descriptor == fmt::format("{} SatPos Longitude [deg]", satData.first)) { return rad2deg(satData.second.lla_satPos.y()); } | ||
| 284 | // if (descriptor == fmt::format("{} SatPos Altitude [m]", satData.first)) { return satData.second.lla_satPos.z(); } | ||
| 285 | // if (descriptor == fmt::format("{} SatVel ECEF X [m/s]", satData.first)) { return satData.second.e_satVel.x(); } | ||
| 286 | // if (descriptor == fmt::format("{} SatVel ECEF Y [m/s]", satData.first)) { return satData.second.e_satVel.y(); } | ||
| 287 | // if (descriptor == fmt::format("{} SatVel ECEF Z [m/s]", satData.first)) { return satData.second.e_satVel.z(); } | ||
| 288 | } | ||
| 289 | ✗ | if (_e_sppCovarianceMatrix) | |
| 290 | { | ||
| 291 | ✗ | for (size_t r = 0; r < static_cast<size_t>(_e_sppCovarianceMatrix->rows()); r++) | |
| 292 | { | ||
| 293 | ✗ | for (size_t c = r; c < static_cast<size_t>(_e_sppCovarianceMatrix->cols()); c++) | |
| 294 | { | ||
| 295 | ✗ | if (descriptor == fmt::format("Cov({},{})", _e_sppCovarianceMatrix->rowKeys().at(r), _e_sppCovarianceMatrix->colKeys().at(c))) | |
| 296 | { | ||
| 297 | ✗ | return (*_e_sppCovarianceMatrix)(all, all)(static_cast<int>(r), static_cast<int>(c)); | |
| 298 | } | ||
| 299 | } | ||
| 300 | } | ||
| 301 | } | ||
| 302 | ✗ | return std::nullopt; | |
| 303 | } | ||
| 304 | |||
| 305 | /// @brief Returns a vector of data descriptors and values for the dynamic data | ||
| 306 | ✗ | [[nodiscard]] std::vector<std::pair<std::string, double>> getDynamicData() const override | |
| 307 | { | ||
| 308 | ✗ | std::vector<std::pair<std::string, double>> dynData; | |
| 309 | ✗ | dynData.reserve(interFrequencyBias.size() * 2 + satData.size() * 2); | |
| 310 | |||
| 311 | ✗ | for (const auto& bias : interFrequencyBias) | |
| 312 | { | ||
| 313 | ✗ | dynData.emplace_back(fmt::format("{} Inter-freq bias [s]", bias.first), bias.second.value); | |
| 314 | ✗ | dynData.emplace_back(fmt::format("{} Inter-freq bias StDev [s]", bias.first), bias.second.stdDev); | |
| 315 | } | ||
| 316 | ✗ | for (const auto& [satId, satData] : satData) | |
| 317 | { | ||
| 318 | ✗ | dynData.emplace_back(fmt::format("{} Elevation [deg]", satId), rad2deg(satData.satElevation)); | |
| 319 | ✗ | dynData.emplace_back(fmt::format("{} Azimuth [deg]", satId), rad2deg(satData.satAzimuth)); | |
| 320 | // dynData.emplace_back(fmt::format("{} Satellite clock bias [s]", satData.first), satData.second.satClock.bias); | ||
| 321 | // dynData.emplace_back(fmt::format("{} Satellite clock drift [s/s]", satData.first), satData.second.satClock.drift); | ||
| 322 | // dynData.emplace_back(fmt::format("{} SatPos ECEF X [m]", satData.first), satData.second.e_satPos.x()); | ||
| 323 | // dynData.emplace_back(fmt::format("{} SatPos ECEF Y [m]", satData.first), satData.second.e_satPos.y()); | ||
| 324 | // dynData.emplace_back(fmt::format("{} SatPos ECEF Z [m]", satData.first), satData.second.e_satPos.z()); | ||
| 325 | // dynData.emplace_back(fmt::format("{} SatPos Latitude [deg]", satData.first), rad2deg(satData.second.lla_satPos.x())); | ||
| 326 | // dynData.emplace_back(fmt::format("{} SatPos Longitude [deg]", satData.first), rad2deg(satData.second.lla_satPos.y())); | ||
| 327 | // dynData.emplace_back(fmt::format("{} SatPos Altitude [m]", satData.first), satData.second.lla_satPos.z()); | ||
| 328 | // dynData.emplace_back(fmt::format("{} SatVel ECEF X [m/s]", satData.first), satData.second.e_satVel.x()); | ||
| 329 | // dynData.emplace_back(fmt::format("{} SatVel ECEF Y [m/s]", satData.first), satData.second.e_satVel.y()); | ||
| 330 | // dynData.emplace_back(fmt::format("{} SatVel ECEF Z [m/s]", satData.first), satData.second.e_satVel.z()); | ||
| 331 | } | ||
| 332 | ✗ | if (_e_sppCovarianceMatrix) | |
| 333 | { | ||
| 334 | ✗ | for (size_t r = 0; r < static_cast<size_t>(_e_sppCovarianceMatrix->rows()); r++) | |
| 335 | { | ||
| 336 | ✗ | for (size_t c = r; c < static_cast<size_t>(_e_sppCovarianceMatrix->cols()); c++) | |
| 337 | { | ||
| 338 | ✗ | dynData.emplace_back(fmt::format("Cov({},{})", _e_sppCovarianceMatrix->rowKeys().at(r), _e_sppCovarianceMatrix->colKeys().at(c)), | |
| 339 | ✗ | (*_e_sppCovarianceMatrix)(all, all)(static_cast<int>(r), static_cast<int>(c))); | |
| 340 | } | ||
| 341 | } | ||
| 342 | } | ||
| 343 | ✗ | return dynData; | |
| 344 | ✗ | } | |
| 345 | |||
| 346 | // --------------------------------------------------------- Public Members ------------------------------------------------------------ | ||
| 347 | |||
| 348 | /// Amount of satellites used for the calculation | ||
| 349 | size_t nSatellites = 0; | ||
| 350 | /// Amount of pseudorange measurements used to calculate the position solution | ||
| 351 | size_t nMeasPsr = 0; | ||
| 352 | /// Amount of doppler measurements used to calculate the velocity solution | ||
| 353 | size_t nMeasDopp = 0; | ||
| 354 | /// Amount of Parameters estimated in this epoch | ||
| 355 | size_t nParam = 0; | ||
| 356 | |||
| 357 | /// HDOP value | ||
| 358 | double HDOP = std::nan(""); | ||
| 359 | /// VDOP value | ||
| 360 | double VDOP = std::nan(""); | ||
| 361 | /// PDOP value | ||
| 362 | double PDOP = std::nan(""); | ||
| 363 | |||
| 364 | /// Estimated receiver clock parameter | ||
| 365 | ReceiverClock recvClk{ {} }; | ||
| 366 | |||
| 367 | /// Inter-frequency biases | ||
| 368 | std::unordered_map<Frequency, UncertainValue<double>> interFrequencyBias; | ||
| 369 | |||
| 370 | /// Satellite specific data | ||
| 371 | struct SatData | ||
| 372 | { | ||
| 373 | double satElevation = 0.0; ///< Satellite Elevation [rad] | ||
| 374 | double satAzimuth = 0.0; ///< Satellite Azimuth [rad] | ||
| 375 | }; | ||
| 376 | |||
| 377 | /// Extended data for each satellite | ||
| 378 | std::vector<std::pair<SatId, SatData>> satData; | ||
| 379 | |||
| 380 | /// Covariance matrix in ECEF coordinates | ||
| 381 | std::optional<KeyedMatrixXd<SPP::States::StateKeyType, SPP::States::StateKeyType>> _e_sppCovarianceMatrix; | ||
| 382 | }; | ||
| 383 | |||
| 384 | } // namespace NAV | ||
| 385 |