| 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 "Troposphere.hpp" | ||
| 10 | |||
| 11 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 12 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 13 | #include "util/Logger.hpp" | ||
| 14 | |||
| 15 | #include "Models/Saastamoinen.hpp" | ||
| 16 | #include "Models/GPT.hpp" | ||
| 17 | |||
| 18 | #include "MappingFunctions/Cosecant.hpp" | ||
| 19 | #include "MappingFunctions/GMF.hpp" | ||
| 20 | #include "MappingFunctions/NiellMappingFunction.hpp" | ||
| 21 | #include "Navigation/Transformations/Units.hpp" | ||
| 22 | |||
| 23 | namespace NAV | ||
| 24 | { | ||
| 25 | |||
| 26 | ✗ | const char* to_string(TroposphereModel troposphereZhdModel) | |
| 27 | { | ||
| 28 | ✗ | switch (troposphereZhdModel) | |
| 29 | { | ||
| 30 | ✗ | case TroposphereModel::None: | |
| 31 | ✗ | return "None"; | |
| 32 | ✗ | case TroposphereModel::Saastamoinen: | |
| 33 | ✗ | return "Saastamoinen"; | |
| 34 | ✗ | case TroposphereModel::GPT2: | |
| 35 | ✗ | return "GPT2"; | |
| 36 | ✗ | case TroposphereModel::GPT3: | |
| 37 | ✗ | return "GPT3"; | |
| 38 | ✗ | case TroposphereModel::COUNT: | |
| 39 | ✗ | break; | |
| 40 | } | ||
| 41 | ✗ | return ""; | |
| 42 | } | ||
| 43 | |||
| 44 | ✗ | const char* to_string(MappingFunction mappingFunction) | |
| 45 | { | ||
| 46 | ✗ | switch (mappingFunction) | |
| 47 | { | ||
| 48 | ✗ | case MappingFunction::None: | |
| 49 | ✗ | return "None"; | |
| 50 | ✗ | case MappingFunction::Cosecant: | |
| 51 | ✗ | return "Cosecant(elevation)"; | |
| 52 | ✗ | case MappingFunction::GMF: | |
| 53 | ✗ | return "GMF"; | |
| 54 | ✗ | case MappingFunction::NMF: | |
| 55 | ✗ | return "NMF"; | |
| 56 | ✗ | case MappingFunction::VMF_GPT2: | |
| 57 | ✗ | return "VMF(GPT2)"; | |
| 58 | ✗ | case MappingFunction::VMF_GPT3: | |
| 59 | ✗ | return "VMF(GPT3)"; | |
| 60 | ✗ | case MappingFunction::COUNT: | |
| 61 | ✗ | break; | |
| 62 | } | ||
| 63 | ✗ | return ""; | |
| 64 | } | ||
| 65 | |||
| 66 | namespace | ||
| 67 | { | ||
| 68 | |||
| 69 | ✗ | AtmosphereModels MappingFunctionDefaults(MappingFunction mappingFunction) | |
| 70 | { | ||
| 71 | ✗ | switch (mappingFunction) | |
| 72 | { | ||
| 73 | ✗ | case MappingFunction::Cosecant: | |
| 74 | return { .pressureModel = PressureModel::ISA, | ||
| 75 | .temperatureModel = TemperatureModel::ISA, | ||
| 76 | ✗ | .waterVaporModel = WaterVaporModel::ISA }; | |
| 77 | ✗ | case MappingFunction::GMF: | |
| 78 | return { .pressureModel = PressureModel::ISA, | ||
| 79 | .temperatureModel = TemperatureModel::ISA, | ||
| 80 | ✗ | .waterVaporModel = WaterVaporModel::ISA }; | |
| 81 | ✗ | case MappingFunction::NMF: | |
| 82 | return { .pressureModel = PressureModel::ISA, | ||
| 83 | .temperatureModel = TemperatureModel::ISA, | ||
| 84 | ✗ | .waterVaporModel = WaterVaporModel::ISA }; | |
| 85 | ✗ | case MappingFunction::VMF_GPT2: | |
| 86 | return { .pressureModel = PressureModel::GPT2, | ||
| 87 | .temperatureModel = TemperatureModel::GPT2, | ||
| 88 | ✗ | .waterVaporModel = WaterVaporModel::GPT2 }; | |
| 89 | ✗ | case MappingFunction::VMF_GPT3: | |
| 90 | return { .pressureModel = PressureModel::GPT3, | ||
| 91 | .temperatureModel = TemperatureModel::GPT3, | ||
| 92 | ✗ | .waterVaporModel = WaterVaporModel::GPT3 }; | |
| 93 | ✗ | case MappingFunction::None: | |
| 94 | case MappingFunction::COUNT: | ||
| 95 | ✗ | break; | |
| 96 | } | ||
| 97 | return { .pressureModel = PressureModel::None, | ||
| 98 | .temperatureModel = TemperatureModel::None, | ||
| 99 | ✗ | .waterVaporModel = WaterVaporModel::None }; | |
| 100 | } | ||
| 101 | |||
| 102 | /// @brief Returns the default atmosphere model, mapping function and mapping function atmosphere model for the given troposphere model | ||
| 103 | /// @param troposphereModel Troposphere model to give the defaults for | ||
| 104 | /// @return Tuple of <atmosphere model, mapping function, mapping function atmosphere model> | ||
| 105 | ✗ | std::tuple<AtmosphereModels, MappingFunction, AtmosphereModels> ModelDefaults(TroposphereModel troposphereModel) | |
| 106 | { | ||
| 107 | ✗ | switch (troposphereModel) | |
| 108 | { | ||
| 109 | ✗ | case TroposphereModel::Saastamoinen: | |
| 110 | ✗ | return { AtmosphereModels{ .pressureModel = PressureModel::ISA, | |
| 111 | .temperatureModel = TemperatureModel::ISA, | ||
| 112 | .waterVaporModel = WaterVaporModel::ISA }, | ||
| 113 | ✗ | MappingFunction::GMF, | |
| 114 | ✗ | MappingFunctionDefaults(MappingFunction::GMF) }; | |
| 115 | ✗ | case TroposphereModel::GPT2: | |
| 116 | ✗ | return { AtmosphereModels{ .pressureModel = PressureModel::GPT2, | |
| 117 | .temperatureModel = TemperatureModel::GPT2, | ||
| 118 | .waterVaporModel = WaterVaporModel::GPT2 }, | ||
| 119 | ✗ | MappingFunction::VMF_GPT2, | |
| 120 | ✗ | MappingFunctionDefaults(MappingFunction::VMF_GPT2) }; | |
| 121 | ✗ | case TroposphereModel::GPT3: | |
| 122 | ✗ | return { AtmosphereModels{ .pressureModel = PressureModel::GPT3, | |
| 123 | .temperatureModel = TemperatureModel::GPT3, | ||
| 124 | .waterVaporModel = WaterVaporModel::GPT3 }, | ||
| 125 | ✗ | MappingFunction::VMF_GPT3, | |
| 126 | ✗ | MappingFunctionDefaults(MappingFunction::VMF_GPT3) }; | |
| 127 | ✗ | case TroposphereModel::None: | |
| 128 | case TroposphereModel::COUNT: | ||
| 129 | ✗ | break; | |
| 130 | } | ||
| 131 | |||
| 132 | ✗ | return { AtmosphereModels{ .pressureModel = PressureModel::None, | |
| 133 | .temperatureModel = TemperatureModel::None, | ||
| 134 | .waterVaporModel = WaterVaporModel::None }, | ||
| 135 | ✗ | MappingFunction::None, | |
| 136 | ✗ | MappingFunctionDefaults(MappingFunction::None) }; | |
| 137 | } | ||
| 138 | |||
| 139 | } // namespace | ||
| 140 | |||
| 141 | ✗ | bool ComboTroposphereModel(const char* label, TroposphereModelSelection& troposphereModelSelection, float width) | |
| 142 | { | ||
| 143 | ✗ | bool changed = false; | |
| 144 | |||
| 145 | ✗ | const float BUTTON_WIDTH = 25.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 146 | |||
| 147 | ✗ | std::string mapFuncPreview; | |
| 148 | ✗ | if (troposphereModelSelection.zwdMappingFunction.first != std::get<1>(ModelDefaults(troposphereModelSelection.zwdModel.first)) | |
| 149 | ✗ | || troposphereModelSelection.zhdMappingFunction.first != std::get<1>(ModelDefaults(troposphereModelSelection.zhdModel.first))) | |
| 150 | { | ||
| 151 | ✗ | mapFuncPreview = fmt::format(" + {}", troposphereModelSelection.zhdMappingFunction.first); | |
| 152 | |||
| 153 | ✗ | if (troposphereModelSelection.zhdMappingFunction.first != troposphereModelSelection.zwdMappingFunction.first) | |
| 154 | { | ||
| 155 | ✗ | mapFuncPreview += fmt::format(" | {}", troposphereModelSelection.zwdMappingFunction.first); | |
| 156 | } | ||
| 157 | } | ||
| 158 | |||
| 159 | ✗ | ImGui::SetNextItemWidth(width - BUTTON_WIDTH - 2 * ImGui::GetStyle().ItemInnerSpacing.x); | |
| 160 | ✗ | if (gui::widgets::EnumCombo(fmt::format("##{}", label).c_str(), | |
| 161 | ✗ | troposphereModelSelection.zhdModel.first, | |
| 162 | ✗ | troposphereModelSelection.zwdModel.first, | |
| 163 | mapFuncPreview.c_str())) | ||
| 164 | { | ||
| 165 | ✗ | std::tie(troposphereModelSelection.zhdModel.second, | |
| 166 | ✗ | troposphereModelSelection.zhdMappingFunction.first, | |
| 167 | ✗ | troposphereModelSelection.zhdMappingFunction.second) = ModelDefaults(troposphereModelSelection.zhdModel.first); | |
| 168 | ✗ | std::tie(troposphereModelSelection.zwdModel.second, | |
| 169 | ✗ | troposphereModelSelection.zwdMappingFunction.first, | |
| 170 | ✗ | troposphereModelSelection.zwdMappingFunction.second) = ModelDefaults(troposphereModelSelection.zwdModel.first); | |
| 171 | ✗ | changed = true; | |
| 172 | } | ||
| 173 | ✗ | ImGui::SameLine(); | |
| 174 | ✗ | if (ImGui::Button(fmt::format("...##{}", label).c_str(), ImVec2(BUTTON_WIDTH, 0))) | |
| 175 | { | ||
| 176 | ✗ | ImGui::OpenPopup(fmt::format("{} Popup", label).c_str()); | |
| 177 | } | ||
| 178 | ✗ | if (ImGui::BeginPopup(fmt::format("{} Popup", label).c_str())) | |
| 179 | { | ||
| 180 | ✗ | const float ATMOSPHERE_COMBO_WIDTH = 95.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 181 | ✗ | if (ImGui::BeginTable(fmt::format("{} Table", label).c_str(), 5)) | |
| 182 | { | ||
| 183 | ✗ | ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed); | |
| 184 | ✗ | ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed); | |
| 185 | ✗ | ImGui::TableSetupColumn("Pressure", ImGuiTableColumnFlags_WidthFixed); | |
| 186 | ✗ | ImGui::TableSetupColumn("Temperature", ImGuiTableColumnFlags_WidthFixed); | |
| 187 | ✗ | ImGui::TableSetupColumn("Water vapor", ImGuiTableColumnFlags_WidthFixed); | |
| 188 | ✗ | ImGui::TableHeadersRow(); | |
| 189 | |||
| 190 | ✗ | ImGui::TableNextColumn(); | |
| 191 | ✗ | ImGui::TextUnformatted("ZHD model"); | |
| 192 | ✗ | ImGui::TableNextColumn(); | |
| 193 | ✗ | ImGui::SetNextItemWidth(width); | |
| 194 | ✗ | if (gui::widgets::EnumCombo(fmt::format("##{} ZHD - Combo", label).c_str(), troposphereModelSelection.zhdModel.first)) | |
| 195 | { | ||
| 196 | ✗ | std::tie(troposphereModelSelection.zhdModel.second, | |
| 197 | ✗ | troposphereModelSelection.zhdMappingFunction.first, | |
| 198 | ✗ | troposphereModelSelection.zhdMappingFunction.second) = ModelDefaults(troposphereModelSelection.zhdModel.first); | |
| 199 | ✗ | changed = true; | |
| 200 | } | ||
| 201 | ✗ | if (troposphereModelSelection.zhdModel.first == TroposphereModel::None) { ImGui::BeginDisabled(); } | |
| 202 | ✗ | ImGui::TableNextColumn(); | |
| 203 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 204 | ✗ | changed |= ComboPressureModel(fmt::format("##{} ZHD - Pressure", label).c_str(), troposphereModelSelection.zhdModel.second.pressureModel); | |
| 205 | ✗ | ImGui::TableNextColumn(); | |
| 206 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 207 | ✗ | changed |= ComboTemperatureModel(fmt::format("##{} ZHD - Temperature", label).c_str(), troposphereModelSelection.zhdModel.second.temperatureModel); | |
| 208 | ✗ | ImGui::TableNextColumn(); | |
| 209 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 210 | ✗ | changed |= ComboWaterVaporModel(fmt::format("##{} ZHD - Water vapor", label).c_str(), troposphereModelSelection.zhdModel.second.waterVaporModel); | |
| 211 | ✗ | if (troposphereModelSelection.zhdModel.first == TroposphereModel::None) { ImGui::EndDisabled(); } | |
| 212 | |||
| 213 | ✗ | ImGui::TableNextColumn(); | |
| 214 | ✗ | ImGui::TextUnformatted("ZWD model"); | |
| 215 | ✗ | ImGui::TableNextColumn(); | |
| 216 | ✗ | ImGui::SetNextItemWidth(width); | |
| 217 | ✗ | if (gui::widgets::EnumCombo(fmt::format("##{} ZWD - Combo", label).c_str(), troposphereModelSelection.zwdModel.first)) | |
| 218 | { | ||
| 219 | ✗ | std::tie(troposphereModelSelection.zwdModel.second, | |
| 220 | ✗ | troposphereModelSelection.zwdMappingFunction.first, | |
| 221 | ✗ | troposphereModelSelection.zwdMappingFunction.second) = ModelDefaults(troposphereModelSelection.zwdModel.first); | |
| 222 | ✗ | changed = true; | |
| 223 | } | ||
| 224 | ✗ | if (troposphereModelSelection.zwdModel.first == TroposphereModel::None) { ImGui::BeginDisabled(); } | |
| 225 | ✗ | ImGui::TableNextColumn(); | |
| 226 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 227 | ✗ | changed |= ComboPressureModel(fmt::format("##{} ZWD - Pressure", label).c_str(), troposphereModelSelection.zwdModel.second.pressureModel); | |
| 228 | ✗ | ImGui::TableNextColumn(); | |
| 229 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 230 | ✗ | changed |= ComboTemperatureModel(fmt::format("##{} ZWD - Temperature", label).c_str(), troposphereModelSelection.zwdModel.second.temperatureModel); | |
| 231 | ✗ | ImGui::TableNextColumn(); | |
| 232 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 233 | ✗ | changed |= ComboWaterVaporModel(fmt::format("##{} ZWD - Water vapor", label).c_str(), troposphereModelSelection.zwdModel.second.waterVaporModel); | |
| 234 | ✗ | if (troposphereModelSelection.zwdModel.first == TroposphereModel::None) { ImGui::EndDisabled(); } | |
| 235 | |||
| 236 | ✗ | if (troposphereModelSelection.zhdModel.first == TroposphereModel::None) { ImGui::BeginDisabled(); } | |
| 237 | ✗ | ImGui::TableNextColumn(); | |
| 238 | ✗ | ImGui::TextUnformatted("Mapping function ZHD"); | |
| 239 | ✗ | ImGui::TableNextColumn(); | |
| 240 | ✗ | ImGui::SetNextItemWidth(width); | |
| 241 | ✗ | if (gui::widgets::EnumCombo(fmt::format("##{} MapZHD - Combo", label).c_str(), troposphereModelSelection.zhdMappingFunction.first)) | |
| 242 | { | ||
| 243 | ✗ | troposphereModelSelection.zhdMappingFunction.second = MappingFunctionDefaults(troposphereModelSelection.zhdMappingFunction.first); | |
| 244 | ✗ | changed = true; | |
| 245 | } | ||
| 246 | ✗ | if (troposphereModelSelection.zhdModel.first != TroposphereModel::None | |
| 247 | ✗ | && troposphereModelSelection.zhdMappingFunction.first == MappingFunction::None) { ImGui::BeginDisabled(); } | |
| 248 | ✗ | ImGui::TableNextColumn(); | |
| 249 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 250 | ✗ | changed |= ComboPressureModel(fmt::format("##{} MapZHD - Pressure", label).c_str(), troposphereModelSelection.zhdMappingFunction.second.pressureModel); | |
| 251 | ✗ | ImGui::TableNextColumn(); | |
| 252 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 253 | ✗ | changed |= ComboTemperatureModel(fmt::format("##{} MapZHD - Temperature", label).c_str(), troposphereModelSelection.zhdMappingFunction.second.temperatureModel); | |
| 254 | ✗ | ImGui::TableNextColumn(); | |
| 255 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 256 | ✗ | changed |= ComboWaterVaporModel(fmt::format("##{} MapZHD - Water vapor", label).c_str(), troposphereModelSelection.zhdMappingFunction.second.waterVaporModel); | |
| 257 | ✗ | if (troposphereModelSelection.zhdModel.first == TroposphereModel::None | |
| 258 | ✗ | || troposphereModelSelection.zhdMappingFunction.first == MappingFunction::None) { ImGui::EndDisabled(); } | |
| 259 | |||
| 260 | ✗ | if (troposphereModelSelection.zwdModel.first == TroposphereModel::None) { ImGui::BeginDisabled(); } | |
| 261 | ✗ | ImGui::TableNextColumn(); | |
| 262 | ✗ | ImGui::TextUnformatted("Mapping function ZWD"); | |
| 263 | ✗ | ImGui::TableNextColumn(); | |
| 264 | ✗ | ImGui::SetNextItemWidth(width); | |
| 265 | ✗ | if (gui::widgets::EnumCombo(fmt::format("##{} MapZWD - Combo", label).c_str(), troposphereModelSelection.zwdMappingFunction.first)) | |
| 266 | { | ||
| 267 | ✗ | troposphereModelSelection.zwdMappingFunction.second = MappingFunctionDefaults(troposphereModelSelection.zwdMappingFunction.first); | |
| 268 | ✗ | changed = true; | |
| 269 | } | ||
| 270 | ✗ | if (troposphereModelSelection.zwdModel.first != TroposphereModel::None | |
| 271 | ✗ | && troposphereModelSelection.zwdMappingFunction.first == MappingFunction::None) { ImGui::BeginDisabled(); } | |
| 272 | ✗ | ImGui::TableNextColumn(); | |
| 273 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 274 | ✗ | changed |= ComboPressureModel(fmt::format("##{} MapZWD - Pressure", label).c_str(), troposphereModelSelection.zwdMappingFunction.second.pressureModel); | |
| 275 | ✗ | ImGui::TableNextColumn(); | |
| 276 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 277 | ✗ | changed |= ComboTemperatureModel(fmt::format("##{} MapZWD - Temperature", label).c_str(), troposphereModelSelection.zwdMappingFunction.second.temperatureModel); | |
| 278 | ✗ | ImGui::TableNextColumn(); | |
| 279 | ✗ | ImGui::SetNextItemWidth(ATMOSPHERE_COMBO_WIDTH); | |
| 280 | ✗ | changed |= ComboWaterVaporModel(fmt::format("##{} MapZWD - Water vapor", label).c_str(), troposphereModelSelection.zwdMappingFunction.second.waterVaporModel); | |
| 281 | ✗ | if (troposphereModelSelection.zwdModel.first == TroposphereModel::None | |
| 282 | ✗ | || troposphereModelSelection.zwdMappingFunction.first == MappingFunction::None) { ImGui::EndDisabled(); } | |
| 283 | |||
| 284 | ✗ | ImGui::EndTable(); | |
| 285 | } | ||
| 286 | |||
| 287 | ✗ | ImGui::EndPopup(); | |
| 288 | } | ||
| 289 | |||
| 290 | ✗ | ImGui::SameLine(0.0F, ImGui::GetStyle().ItemInnerSpacing.x); | |
| 291 | ✗ | std::string labelStr = label; | |
| 292 | ✗ | ImGui::TextUnformatted(labelStr.substr(0, labelStr.find('#')).c_str()); | |
| 293 | |||
| 294 | ✗ | return changed; | |
| 295 | ✗ | } | |
| 296 | |||
| 297 | 41798 | ZenithDelay calcTroposphericDelayAndMapping(const InsTime& insTime, const Eigen::Vector3d& lla_pos, double elevation, double /* azimuth */, | |
| 298 | const TroposphereModelSelection& troposphereModels, [[maybe_unused]] const std::string& nameId) | ||
| 299 | { | ||
| 300 |
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41798 | if (troposphereModels.zhdModel.first == TroposphereModel::None |
| 301 |
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19413 | && troposphereModels.zwdModel.first == TroposphereModel::None) { return {}; } |
| 302 | |||
| 303 |
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22385 | if (lla_pos(2) < -1000 || lla_pos(2) > 1e4 || std::isnan(elevation)) |
| 304 | { | ||
| 305 | LOG_TRACE("{}: Not calculating tropospheric delay, due to altitude being invalid: {}m", nameId, lla_pos(2)); | ||
| 306 | 444 | return {}; | |
| 307 | } | ||
| 308 | |||
| 309 | enum : uint8_t | ||
| 310 | { | ||
| 311 | ZHD, | ||
| 312 | ZWD, | ||
| 313 | ZHDMapFunc, | ||
| 314 | ZWDMapFunc, | ||
| 315 | COUNT, | ||
| 316 | }; | ||
| 317 | |||
| 318 | const std::array<std::reference_wrapper<const AtmosphereModels>, COUNT> atmosphereModels = { | ||
| 319 | 21941 | troposphereModels.zhdModel.second, | |
| 320 | 21941 | troposphereModels.zwdModel.second, | |
| 321 | 21941 | troposphereModels.zhdMappingFunction.second, | |
| 322 | 21941 | troposphereModels.zwdMappingFunction.second, | |
| 323 | 21941 | }; | |
| 324 | 21941 | std::array<double, COUNT> pressure{}; // Total barometric pressure in [millibar] | |
| 325 | 21941 | std::array<double, COUNT> temperature{}; // Absolute temperature in [K] | |
| 326 | 21941 | std::array<double, COUNT> waterVapor{}; // Partial pressure of water vapour in [hPa] | |
| 327 | |||
| 328 | 21941 | GPT2output gpt2outputs; | |
| 329 | 21941 | GPT3output gpt3outputs; | |
| 330 | // UTC->GPST | ||
| 331 |
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21941 | auto epoch_temp = InsTime(insTime) + std::chrono::duration<long double>(insTime.leapGps2UTC()); |
| 332 |
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21941 | double mjd = static_cast<double>(epoch_temp.toMJD().mjd_day) + static_cast<double>(epoch_temp.toMJD().mjd_frac); |
| 333 | |||
| 334 | 43882 | if (troposphereModels.zhdModel.first == TroposphereModel::GPT2 | |
| 335 |
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21941 | || troposphereModels.zwdModel.first == TroposphereModel::GPT2 |
| 336 |
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21941 | || troposphereModels.zhdMappingFunction.first == MappingFunction::VMF_GPT2 |
| 337 |
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21941 | || troposphereModels.zwdMappingFunction.first == MappingFunction::VMF_GPT2 |
| 338 |
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43882 | || std::ranges::any_of(atmosphereModels, |
| 339 | 87764 | [](const auto& model) { return model.get().pressureModel == PressureModel::GPT2 | |
| 340 |
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175528 | || model.get().temperatureModel == TemperatureModel::GPT2 |
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175528 | || model.get().waterVaporModel == WaterVaporModel::GPT2; })) |
| 342 | { | ||
| 343 | LOG_DATA("{}: Calculating GPT2 parameters", nameId); | ||
| 344 | ✗ | gpt2outputs = GPT2_param(mjd, lla_pos); | |
| 345 | } | ||
| 346 | |||
| 347 | 43882 | if (troposphereModels.zhdModel.first == TroposphereModel::GPT3 | |
| 348 |
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21941 | || troposphereModels.zwdModel.first == TroposphereModel::GPT3 |
| 349 |
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21941 | || troposphereModels.zhdMappingFunction.first == MappingFunction::VMF_GPT3 |
| 350 |
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21941 | || troposphereModels.zwdMappingFunction.first == MappingFunction::VMF_GPT3 |
| 351 |
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43882 | || std::ranges::any_of(atmosphereModels, |
| 352 | 87764 | [](const auto& model) { return model.get().pressureModel == PressureModel::GPT3 | |
| 353 |
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175528 | || model.get().temperatureModel == TemperatureModel::GPT3 |
| 354 |
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175528 | || model.get().waterVaporModel == WaterVaporModel::GPT3; })) |
| 355 | { | ||
| 356 | LOG_DATA("{}: Calculating GPT3 parameters", nameId); | ||
| 357 | ✗ | gpt3outputs = GPT3_param(mjd, lla_pos); | |
| 358 | } | ||
| 359 | |||
| 360 | LOG_DATA("{}: Calculating Atmosphere parameters ZHD=({},{}) ZWD=({},{}) [el={}°, pos={} {} {}]", nameId, | ||
| 361 | troposphereModels.zhdModel.first, troposphereModels.zhdMappingFunction.first, | ||
| 362 | troposphereModels.zwdModel.first, troposphereModels.zwdMappingFunction.first, | ||
| 363 | rad2deg(elevation), rad2deg(lla_pos(0)), rad2deg(lla_pos(1)), lla_pos(2)); | ||
| 364 |
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109705 | for (size_t i = 0; i < COUNT; i++) |
| 365 | { | ||
| 366 | 87764 | bool alreadyCalculated = false; | |
| 367 |
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87764 | for (size_t j = 0; j < i; j++) |
| 368 | { | ||
| 369 |
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65823 | if (atmosphereModels.at(i).get().pressureModel == atmosphereModels.at(j).get().pressureModel) |
| 370 | { | ||
| 371 |
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65823 | pressure.at(i) = pressure.at(j); |
| 372 | 65823 | alreadyCalculated = true; | |
| 373 | 65823 | break; | |
| 374 | } | ||
| 375 | } | ||
| 376 | |||
| 377 |
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87764 | if (!alreadyCalculated) |
| 378 | { | ||
| 379 |
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21941 | if (atmosphereModels.at(i).get().pressureModel == PressureModel::GPT2) |
| 380 | { | ||
| 381 | ✗ | pressure.at(i) = gpt2outputs.p; | |
| 382 | } | ||
| 383 |
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21941 | else if (atmosphereModels.at(i).get().pressureModel == PressureModel::GPT3) |
| 384 | { | ||
| 385 | ✗ | pressure.at(i) = gpt3outputs.p; | |
| 386 | } | ||
| 387 | else | ||
| 388 | { | ||
| 389 |
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21941 | pressure.at(i) = calcTotalPressure(lla_pos(2), atmosphereModels.at(i).get().pressureModel); |
| 390 | } | ||
| 391 | } | ||
| 392 | LOG_DATA("{}: [{}]: {} - p {} [millibar] (Total barometric pressure) - value {}", nameId, i, atmosphereModels.at(i).get().pressureModel, | ||
| 393 | pressure.at(i), alreadyCalculated ? "reused" : "calculated"); | ||
| 394 | |||
| 395 | 87764 | alreadyCalculated = false; | |
| 396 |
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87764 | for (size_t j = 0; j < i; j++) |
| 397 | { | ||
| 398 |
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65823 | if (atmosphereModels.at(i).get().temperatureModel == atmosphereModels.at(j).get().temperatureModel) |
| 399 | { | ||
| 400 |
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65823 | temperature.at(i) = temperature.at(j); |
| 401 | 65823 | alreadyCalculated = true; | |
| 402 | 65823 | break; | |
| 403 | } | ||
| 404 | } | ||
| 405 | |||
| 406 |
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87764 | if (!alreadyCalculated) |
| 407 | { | ||
| 408 |
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21941 | if (atmosphereModels.at(i).get().temperatureModel == TemperatureModel::GPT2) |
| 409 | { | ||
| 410 | ✗ | temperature.at(i) = gpt2outputs.T; | |
| 411 | } | ||
| 412 |
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21941 | else if (atmosphereModels.at(i).get().temperatureModel == TemperatureModel::GPT3) |
| 413 | { | ||
| 414 | ✗ | temperature.at(i) = gpt3outputs.T; | |
| 415 | } | ||
| 416 | else | ||
| 417 | { | ||
| 418 |
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21941 | temperature.at(i) = atmosphereModels.at(i).get().temperatureModel.calcAbsoluteTemperature(lla_pos(2)); |
| 419 | } | ||
| 420 | } | ||
| 421 | LOG_DATA("{}: [{}]: {} - T {} [K] (Absolute temperature) - value {}", nameId, i, atmosphereModels.at(i).get().temperatureModel, | ||
| 422 | temperature.at(i), alreadyCalculated ? "reused" : "calculated"); | ||
| 423 | |||
| 424 | 87764 | alreadyCalculated = false; | |
| 425 |
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87764 | for (size_t j = 0; j < i; j++) |
| 426 | { | ||
| 427 |
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65823 | if (atmosphereModels.at(i).get().waterVaporModel == atmosphereModels.at(j).get().waterVaporModel) |
| 428 | { | ||
| 429 |
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65823 | waterVapor.at(i) = waterVapor.at(j); |
| 430 | 65823 | alreadyCalculated = true; | |
| 431 | 65823 | break; | |
| 432 | } | ||
| 433 | } | ||
| 434 | |||
| 435 | // Partial pressure of water vapour in [millibar] - RTKLIB ch. E.5, p. 149 specifies 70% | ||
| 436 |
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87764 | if (!alreadyCalculated) |
| 437 | { | ||
| 438 |
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21941 | if (atmosphereModels.at(i).get().waterVaporModel == WaterVaporModel::GPT2) |
| 439 | { | ||
| 440 | ✗ | waterVapor.at(i) = gpt2outputs.e; | |
| 441 | } | ||
| 442 |
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21941 | else if (atmosphereModels.at(i).get().waterVaporModel == WaterVaporModel::GPT3) |
| 443 | { | ||
| 444 | ✗ | waterVapor.at(i) = gpt3outputs.e; | |
| 445 | } | ||
| 446 | else | ||
| 447 | { | ||
| 448 |
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21941 | waterVapor.at(i) = calcWaterVaporPartialPressure(temperature.at(i), 0.7, atmosphereModels.at(i).get().waterVaporModel); |
| 449 | } | ||
| 450 | } | ||
| 451 | LOG_DATA("{}: [{}]: {} - e {} [millibar] (Partial pressure of water vapour) - value {}", nameId, i, | ||
| 452 | atmosphereModels.at(i).get().waterVaporModel, waterVapor.at(i), alreadyCalculated ? "reused" : "calculated"); | ||
| 453 | } | ||
| 454 | |||
| 455 | 21941 | double zhd = 0.0; | |
| 456 |
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21941 | switch (troposphereModels.zhdModel.first) |
| 457 | { | ||
| 458 | 21941 | case TroposphereModel::Saastamoinen: | |
| 459 | case TroposphereModel::GPT2: | ||
| 460 | case TroposphereModel::GPT3: | ||
| 461 |
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21941 | zhd = calcZHD_Saastamoinen(lla_pos, pressure[ZHD]); |
| 462 | 21941 | break; | |
| 463 | ✗ | case TroposphereModel::None: | |
| 464 | case TroposphereModel::COUNT: | ||
| 465 | ✗ | break; | |
| 466 | } | ||
| 467 | |||
| 468 | 21941 | double zwd = 0.0; | |
| 469 |
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21941 | switch (troposphereModels.zwdModel.first) |
| 470 | { | ||
| 471 | 21941 | case TroposphereModel::Saastamoinen: | |
| 472 |
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21941 | zwd = calcZWD_Saastamoinen(temperature[ZWD], waterVapor[ZWD]); |
| 473 | 21941 | break; | |
| 474 | ✗ | case TroposphereModel::GPT2: | |
| 475 | ✗ | zwd = asknewet(waterVapor[ZWD], gpt2outputs.Tm, gpt2outputs.la); | |
| 476 | ✗ | break; | |
| 477 | ✗ | case TroposphereModel::GPT3: | |
| 478 | ✗ | zwd = asknewet(waterVapor[ZWD], gpt3outputs.Tm, gpt3outputs.la); | |
| 479 | ✗ | break; | |
| 480 | ✗ | case TroposphereModel::None: | |
| 481 | case TroposphereModel::COUNT: | ||
| 482 | ✗ | break; | |
| 483 | } | ||
| 484 | |||
| 485 | 21941 | double zhdMappingFactor = 1.0; | |
| 486 |
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21941 | switch (troposphereModels.zhdMappingFunction.first) |
| 487 | { | ||
| 488 | 15556 | case MappingFunction::Cosecant: | |
| 489 |
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15556 | zhdMappingFactor = calcTropoMapFunc_cosecant(elevation); |
| 490 | 15556 | break; | |
| 491 | 6385 | case MappingFunction::GMF: | |
| 492 |
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6385 | zhdMappingFactor = calcTropoMapFunc_GMFH(mjd, lla_pos, elevation); |
| 493 | 6385 | break; | |
| 494 | ✗ | case MappingFunction::NMF: | |
| 495 | ✗ | zhdMappingFactor = calcTropoMapFunc_NMFH(insTime, lla_pos, elevation); | |
| 496 | ✗ | break; | |
| 497 | ✗ | case MappingFunction::VMF_GPT2: | |
| 498 | ✗ | zhdMappingFactor = vmf1h(gpt2outputs.ah, mjd, lla_pos(0), lla_pos(2), M_PI / 2.0 - elevation); | |
| 499 | ✗ | break; | |
| 500 | ✗ | case MappingFunction::VMF_GPT3: | |
| 501 | ✗ | zhdMappingFactor = vmf1h(gpt3outputs.ah, mjd, lla_pos(0), lla_pos(2), M_PI / 2.0 - elevation); | |
| 502 | ✗ | break; | |
| 503 | ✗ | case MappingFunction::None: | |
| 504 | case MappingFunction::COUNT: | ||
| 505 | ✗ | break; | |
| 506 | } | ||
| 507 | |||
| 508 | 21941 | double zwdMappingFactor = 1.0; | |
| 509 |
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21941 | switch (troposphereModels.zwdMappingFunction.first) |
| 510 | { | ||
| 511 | 15556 | case MappingFunction::Cosecant: | |
| 512 |
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15556 | zwdMappingFactor = calcTropoMapFunc_cosecant(elevation); |
| 513 | 15556 | break; | |
| 514 | 6385 | case MappingFunction::GMF: | |
| 515 |
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6385 | zwdMappingFactor = calcTropoMapFunc_GMFW(mjd, lla_pos, elevation); |
| 516 | 6385 | break; | |
| 517 | ✗ | case MappingFunction::NMF: | |
| 518 | ✗ | zwdMappingFactor = calcTropoMapFunc_NMFW(lla_pos, elevation); | |
| 519 | ✗ | break; | |
| 520 | ✗ | case MappingFunction::VMF_GPT2: | |
| 521 | ✗ | zwdMappingFactor = vmf1w(gpt2outputs.aw, M_PI / 2.0 - elevation); | |
| 522 | ✗ | break; | |
| 523 | ✗ | case MappingFunction::VMF_GPT3: | |
| 524 | ✗ | zwdMappingFactor = vmf1w(gpt3outputs.aw, M_PI / 2.0 - elevation); | |
| 525 | ✗ | break; | |
| 526 | ✗ | case MappingFunction::None: | |
| 527 | case MappingFunction::COUNT: | ||
| 528 | ✗ | break; | |
| 529 | } | ||
| 530 | LOG_DATA("{}: el = {}, ZHD = {}, ZWD = {}, ZHDMF = {}, ZWDMF = {}", nameId, elevation, zhd, zwd, zhdMappingFactor, zwdMappingFactor); | ||
| 531 | |||
| 532 | return { .ZHD = zhd, | ||
| 533 | .ZWD = zwd, | ||
| 534 | .zhdMappingFactor = zhdMappingFactor, | ||
| 535 | 21941 | .zwdMappingFactor = zwdMappingFactor }; | |
| 536 | } | ||
| 537 | |||
| 538 | 41798 | double tropoErrorVar(double dpsr_T, double elevation) | |
| 539 | { | ||
| 540 | 41798 | constexpr double ERR_SAAS = 0.3; // Saastamoinen model error std [m] (maximum zenith wet delay - formulas with worst possible values) | |
| 541 | |||
| 542 |
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41798 | return dpsr_T == 0.0 ? 0.0 : std::pow(ERR_SAAS / (std::sin(elevation) + 0.1), 2); |
| 543 | } | ||
| 544 | |||
| 545 | ✗ | void to_json(json& j, const AtmosphereModels& obj) | |
| 546 | { | ||
| 547 | ✗ | j = json{ | |
| 548 | ✗ | { "pressureModel", obj.pressureModel }, | |
| 549 | ✗ | { "temperatureModel", obj.temperatureModel }, | |
| 550 | ✗ | { "waterVaporModel", obj.waterVaporModel }, | |
| 551 | ✗ | }; | |
| 552 | ✗ | } | |
| 553 | |||
| 554 | 32 | void from_json(const json& j, AtmosphereModels& obj) | |
| 555 | { | ||
| 556 |
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32 | if (j.contains("pressureModel")) { j.at("pressureModel").get_to(obj.pressureModel); } |
| 557 |
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32 | if (j.contains("temperatureModel") && !j.at("temperatureModel").is_number()) { j.at("temperatureModel").get_to(obj.temperatureModel); } |
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32 | if (j.contains("waterVaporModel")) { j.at("waterVaporModel").get_to(obj.waterVaporModel); } |
| 559 | 32 | } | |
| 560 | |||
| 561 | ✗ | void to_json(json& j, const TroposphereModelSelection& obj) | |
| 562 | { | ||
| 563 | ✗ | j = json{ | |
| 564 | ✗ | { "zhdModel", obj.zhdModel }, | |
| 565 | ✗ | { "zwdModel", obj.zwdModel }, | |
| 566 | ✗ | { "zhdMappingFunction", obj.zhdMappingFunction }, | |
| 567 | ✗ | { "zwdMappingFunction", obj.zwdMappingFunction }, | |
| 568 | ✗ | }; | |
| 569 | ✗ | } | |
| 570 | |||
| 571 | 8 | void from_json(const json& j, TroposphereModelSelection& obj) | |
| 572 | { | ||
| 573 |
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8 | if (j.contains("zhdModel")) { j.at("zhdModel").get_to(obj.zhdModel); } |
| 574 |
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8 | if (j.contains("zwdModel")) { j.at("zwdModel").get_to(obj.zwdModel); } |
| 575 |
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8 | if (j.contains("zhdMappingFunction")) { j.at("zhdMappingFunction").get_to(obj.zhdMappingFunction); } |
| 576 |
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8 | if (j.contains("zwdMappingFunction")) { j.at("zwdMappingFunction").get_to(obj.zwdMappingFunction); } |
| 577 | 8 | } | |
| 578 | |||
| 579 | } // namespace NAV | ||
| 580 |