swiftnav: stupid_filter.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_STUPID_FILTER_H
00014 #define LIBSWIFTNAV_STUPID_FILTER_H
00015 
00016 #include "common.h"
00017 #include "constants.h"
00018 #include "single_diff.h"
00019 
00020 typedef struct {
00021   s32 N[MAX_CHANNELS];
00022 } stupid_filter_state_t;
00023 
00024 void amb_from_baseline(u8 num_sats, double *DE, double *dd_meas,
00025                        double b[3], s32 *N);
00026 void init_stupid_filter(stupid_filter_state_t *s, u8 num_sats, sdiff_t *sdiffs, double *dd_measurements, double b[3], double ref_ecef[3]);
00027 void rebase_stupid_filter(stupid_filter_state_t *s, u8 num_sats, u8 *old_prns, u8 *new_prns);
00028 void update_sats_stupid_filter(stupid_filter_state_t *s, u8 num_old, u8 *old_prns, u8 num_new, sdiff_t *sdiffs, double *dd_measurements, double ref_ecef[3]);
00029 void update_stupid_filter(stupid_filter_state_t *s, u8 num_sats, sdiff_t *sdiffs,
00030                         double *dd_measurements, double b[3], double ref_ecef[3]);
00031 void lesq_solution(u8 num_dds, double *dd_meas, s32 *N, double *DE, double b[3], double *resid);
00032 
00033 #endif /* LIBSWIFTNAV_STUPID_FILTER_H */
00034