swiftnav: dgnss_management.h Source File

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00001 /*
00002  * Copyright (C) 2014 Swift Navigation Inc.
00003  * Contact: Ian Horn <ian@swift-nav.com>
00004  *
00005  * This source is subject to the license found in the file 'LICENSE' which must
00006  * be be distributed together with this source. All other rights reserved.
00007  *
00008  * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
00009  * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
00010  * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
00011  */
00012 
00013 #ifndef LIBSWIFTNAV_DGNSS_MANAGEMENT_H
00014 #define LIBSWIFTNAV_DGNSS_MANAGEMENT_H
00015 
00016 #include "amb_kf.h"
00017 #include "sats_management.h"
00018 
00019 #define DEFAULT_PHASE_VAR_TEST  (9e-4 * 16)
00020 #define DEFAULT_CODE_VAR_TEST   (100 * 400)
00021 #define DEFAULT_PHASE_VAR_KF    (9e-4 * 16)
00022 #define DEFAULT_CODE_VAR_KF     (100 * 400)
00023 #define DEFAULT_AMB_DRIFT_VAR   1e-8
00024 #define DEFAULT_AMB_INIT_VAR    1e8
00025 #define DEFAULT_NEW_INT_VAR     1e10
00026 
00027 typedef struct {
00028   double phase_var_test;
00029   double code_var_test;
00030   double phase_var_kf;
00031   double code_var_kf;
00032   double pos_trans_var;
00033   double vel_trans_var;
00034   double int_trans_var;
00035   double amb_drift_var;
00036   double pos_init_var;
00037   double vel_init_var;
00038   double amb_init_var;
00039   double new_int_var;
00040 } dgnss_settings_t;
00041 
00042 extern dgnss_settings_t dgnss_settings;
00043 
00044 void dgnss_set_settings(double phase_var_test, double code_var_test,
00045                         double phase_var_kf, double code_var_kf,
00046                         double amb_drift_var, double amb_init_var,
00047                         double new_int_var);
00048 void make_measurements(u8 num_diffs, sdiff_t *sdiffs, double *raw_measurements);
00049 void dgnss_init(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3]);
00050 void dgnss_update(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3]);
00051 void dgnss_rebase_ref(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3],
00052                       u8 old_prns[MAX_CHANNELS], sdiff_t *corrected_sdiffs);
00053 nkf_t * get_dgnss_nkf(void);
00054 s32 * get_stupid_filter_ints(void);
00055 sats_management_t * get_sats_management(void);
00056 
00057 s8 dgnss_iar_resolved(void);
00058 u32 dgnss_iar_num_hyps(void);
00059 u32 dgnss_iar_num_sats(void);
00060 s8 dgnss_iar_get_single_hyp(double *hyp);
00061 void dgnss_reset_iar(void);
00062 void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3]);
00063 void dgnss_float_baseline(u8 *num_used, double b[3]);
00064 void dgnss_new_float_baseline(u8 num_sats, sdiff_t *sdiffs, double ref_ecef[3], u8 *num_used, double b[3]);
00065 void dgnss_fixed_baseline(u8 n, sdiff_t *sdiffs, double ref_ecef[3],
00066                           u8 *num_used, double b[3]);
00067 s8 dgnss_fixed_baseline2(u8 num_sdiffs, sdiff_t *sdiffs, double ref_ecef[3],
00068                          u8 *num_used, double b[3]);
00069 s8 dgnss_low_latency_baseline(u8 num_sdiffs, sdiff_t *sdiffs,
00070                                double ref_ecef[3], u8 *num_used, double b[3]);
00071 void measure_amb_kf_b(double reciever_ecef[3],
00072                       u8 num_sdiffs, sdiff_t *sdiffs,
00073                       double *b);
00074 void measure_b_with_external_ambs(double reciever_ecef[3],
00075                                   u8 num_sdiffs, sdiff_t *sdiffs,
00076                                   double *ambs,
00077                                   double *b);
00078 void measure_iar_b_with_external_ambs(double reciever_ecef[3],
00079                                       u8 num_sdiffs, sdiff_t *sdiffs,
00080                                       double *ambs,
00081                                       double *b);
00082 u8 get_amb_kf_de_and_phase(u8 num_sdiffs, sdiff_t *sdiffs,
00083                            double ref_ecef[3],
00084                            double *de, double *phase);
00085 u8 get_iar_de_and_phase(u8 num_sdiffs, sdiff_t *sdiffs,
00086                         double ref_ecef[3],
00087                         double *de, double *phase);
00088 u8 dgnss_iar_pool_contains(double *ambs);
00089 u8 get_amb_kf_mean(double *ambs);
00090 u8 get_amb_kf_cov(double *cov);
00091 u8 get_amb_kf_prns(u8 *prns);
00092 u8 get_amb_test_prns(u8 *prns);
00093 u8 dgnss_iar_MLE_ambs(s32 *ambs);
00094 
00095 
00096 /* Functions for internal use in the file. In here so we can unit test them
00097  * without having to extern them (where they could get out of sync with
00098  * changes in type signature) */
00099 s8 _dgnss_low_latency_float_baseline(u8 num_sdiffs, sdiff_t *sdiffs,
00100                                     double ref_ecef[3], u8 *num_used, double b[3]);
00101 s8 _dgnss_low_latency_IAR_baseline(u8 num_sdiffs, sdiff_t *sdiffs,
00102                                   double ref_ecef[3], u8 *num_used, double b[3]);
00103 
00104 #endif /* LIBSWIFTNAV_DGNSS_MANAGEMENT_H */