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* Rinex.navigation() should be available by default * Remove deprecated method. User is expected to use Rinex.snr() iterator. * Remove deprecated comments. User is expected to user the preprocessing toolkit. * improve and fix Merge operation fn merge_mut() was moved into a dedicated trait. Improved and fixed is_merged() * Observation SNR/lli - add possibility to compare SNR to value expressed in dB - add documentation * improving ionex definitions * ionex plotting * improving sbas support * sbas vehicles identification * improving the test infra * rtk opmode * rtk solver now works in mixed GPS, GAL, BDS --------- Signed-off-by: Guillaume W. Bres <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| GNSS-RTK | ||
| ======== | ||
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| Precise position solver. | ||
| [](https://crates.io/crates/gnss-rtk) | ||
| [](https://img.shields.io/badge/rustc-1.64%2B-blue.svg) | ||
| [](https://docs.rs/gnss-rtk/badge.svg) | ||
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| RTK precise position and timing solver, in rust. | ||
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| The Solver can work from a RINEX context blob, defined in this crate toolsuite, but is not exclusively tied to RINEX. | ||
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| The solver implements precise positioning algorithms, which are based on raw GNSS signals. | ||
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| Performances | ||
| ============ | ||
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| I'm able to resolve every single Epoch in a modern 24h data context, in about 1 second, on my 8 core CPU. | ||
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| Solving method | ||
| ============== | ||
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| Only a straightforward Matrix based resolution method is implemented. | ||
| Other solutions, like Kalman filter, exist and could potentially improve performances | ||
| at the expense of more complexity and possibly | ||
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| The matrix resolution technique gives the best result for every single epoch | ||
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| - there are no initialization iterations | ||
| - there is no iteration or recursive behavior | ||
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| Behavior and Output | ||
| =================== | ||
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| The solver will try to resolve a position for every single existing Epoch. | ||
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| When working with RINEX, preprocessing operations may apply. | ||
| If you're working with the attached "cli" application, this is done with `-P`. | ||
| For example, if the input context is huge, a smoothing or decimation | ||
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| The solver will output a SolverEstimate object on each resolved Epoch. | ||
| Refer to this structure's documentation for more information. | ||
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| Timing DOP and Position DOP are estimated and attached to every single result. | ||
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| SPP | ||
| === | ||
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| The solver supports the spp strategy. This strategy is the only strategy we can deploy | ||
| on single carrier context. It is most likely the unique strategy you can deploy if you're working | ||
| with old RINEX (like GPS only V2), or single frequency RINEX data. | ||
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| When using SPP : | ||
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| - you can only hope for residual errors of a few meters | ||
| - an interpolation order above 9 makes no sense | ||
| - Ionospheric delay must be considered and modeled. Refer to the related section. | ||
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| If you're operating this library from the "cli" application integrated to this toolsuite, | ||
| a forced `--spp` mode exists. It is a convenient way to restrict this library to SPP solving | ||
| and compare it to PPP. | ||
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| PPP | ||
| === | ||
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| The solver will adapt to PPP strategy if the context is sufficient (more than one carrier). | ||
| PPP simplifies the solving process greatly, ionospheric delay is cancelled and does not have to be taken into account. | ||
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| PPP is deployed if you're typically working with modern RINEX data. | ||
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| We allow the possibility to deploy a PPP strategy without SP3 data. This is not a typical use case. | ||
| Other tools like glab or rtklib probably do not allow this. | ||
| You need to understand that in this case, you want good navigation data quality in order to reduce | ||
| the error their interpolation will introduce. | ||
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| When working with PPP, we recommend the interpolation order to be set to 11 (or above). | ||
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| Ionospheric Delay | ||
| ================= | ||
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| TODO | ||
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| SP3 and Broadcast Ephemeris | ||
| =========================== | ||
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| The solver will always prefer SP3 over Broadcast ephemeris. | ||
| That stands whatever the solving method and strategy might be. | ||
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| RTK from RINEX | ||
| ============== | ||
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| The solver can be initialized from a RINEX context, defined as `QcContext` in the RINEX library suite. | ||
| This structure is adaptable and quite efficient. For example it allows the combination of both | ||
| SP3 and Broadcast Ephemeris. | ||
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| When initialized from RINEX, we can determine whether PPP is feasible or not | ||
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| RTK Configuration | ||
| ================= | ||
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| The RTKConfiguration structure, describes all configuration and customization | ||
| the solver supports. | ||
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| It is important to understand how, when and what to customize depending on your goals. | ||
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| When working with the "cli" application, you can provide an RTKConfiguration | ||
| in the form of JSON, with `--rtk-cfg`. |
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| use crate::model::Modeling; | ||
| use crate::SolverType; | ||
| use hifitime::prelude::TimeScale; | ||
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| use std::str::FromStr; | ||
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| #[cfg(feature = "serde")] | ||
| use serde::Deserialize; | ||
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| use rinex::prelude::GroundPosition; | ||
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| use rinex::observation::Snr; | ||
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| fn default_timescale() -> TimeScale { | ||
| TimeScale::GPST | ||
| } | ||
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| fn default_interp() -> usize { | ||
| 7 | ||
| } | ||
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| fn default_max_sv() -> usize { | ||
| 10 | ||
| } | ||
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| fn default_smoothing() -> bool { | ||
| false | ||
| } | ||
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| fn default_iono() -> bool { | ||
| false | ||
| } | ||
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| fn default_tropo() -> bool { | ||
| false | ||
| } | ||
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| #[derive(Default, Debug, Clone, PartialEq)] | ||
| #[cfg_attr(feature = "serde", derive(Deserialize))] | ||
| pub struct RTKConfig { | ||
| /// Time scale | ||
| #[cfg_attr(feature = "serde", serde(default = "default_timescale"))] | ||
| pub timescale: TimeScale, | ||
| /// positioning mode | ||
| #[cfg_attr(feature = "serde", serde(default))] | ||
| pub mode: SolverMode, | ||
| /// (Position) interpolation filter order. | ||
| /// A minimal order must be respected for correct results. | ||
| /// - 7 when working with broadcast ephemeris | ||
| /// - 11 when working with SP3 | ||
| #[cfg_attr(feature = "serde", serde(default = "default_interp"))] | ||
| pub interp_order: usize, | ||
| /// Whether the solver is working in fixed altitude mode or not | ||
| #[cfg_attr(feature = "serde", serde(default))] | ||
| pub fixed_altitude: Option<f64>, | ||
| /// Position receveir position, if known before hand | ||
| pub rcvr_position: Option<GroundPosition>, | ||
| /// PR code smoothing filter before moving forward | ||
| #[cfg_attr(feature = "serde", serde(default = "default_smoothing"))] | ||
| pub code_smoothing: bool, | ||
| /// true if we're using troposphere modeling | ||
| #[cfg_attr(feature = "serde", serde(default = "default_tropo"))] | ||
| pub tropo: bool, | ||
| /// true if we're using ionosphere modeling | ||
| #[cfg_attr(feature = "serde", serde(default = "default_iono"))] | ||
| pub iono: bool, | ||
| /// Minimal percentage ]0; 1[ of Sun light to be received by an SV | ||
| /// for not to be considered in Eclipse. | ||
| /// A value closer to 0 means we tolerate fast Eclipse exit. | ||
| /// A value closer to 1 is a stringent criteria: eclipse must be totally exited. | ||
| #[cfg_attr(feature = "serde", serde(default))] | ||
| pub min_sv_sunlight_rate: Option<f64>, | ||
| /// Minimal elevation angle. SV below that angle will not be considered. | ||
| pub min_sv_elev: Option<f64>, | ||
| /// Minimal SNR for an SV to be considered. | ||
| pub min_sv_snr: Option<Snr>, | ||
| /// modeling | ||
| #[cfg_attr(feature = "serde", serde(default))] | ||
| pub modeling: Modeling, | ||
| /// Max. number of vehicules to consider. | ||
| /// The more the merrier, but it also means heavier computations | ||
| #[cfg_attr(feature = "serde", serde(default = "default_max_sv"))] | ||
| pub max_sv: usize, | ||
| } | ||
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| impl RTKConfig { | ||
| pub fn default(solver: SolverType) -> Self { | ||
| match solver { | ||
| SolverType::SPP => Self { | ||
| timescale: default_timescale(), | ||
| mode: SolverMode::default(), | ||
| fixed_altitude: None, | ||
| rcvr_position: None, | ||
| interp_order: default_interp(), | ||
| code_smoothing: default_smoothing(), | ||
| tropo: default_tropo(), | ||
| iono: default_iono(), | ||
| min_sv_sunlight_rate: None, | ||
| min_sv_elev: Some(10.0), | ||
| min_sv_snr: Some(Snr::from_str("weak").unwrap()), | ||
| modeling: Modeling::default(), | ||
| max_sv: default_max_sv(), | ||
| }, | ||
| SolverType::PPP => Self { | ||
| timescale: default_timescale(), | ||
| mode: SolverMode::default(), | ||
| fixed_altitude: None, | ||
| rcvr_position: None, | ||
| interp_order: 11, | ||
| code_smoothing: default_smoothing(), | ||
| tropo: default_tropo(), | ||
| iono: default_iono(), | ||
| min_sv_sunlight_rate: Some(0.75), | ||
| min_sv_elev: Some(25.0), | ||
| min_sv_snr: Some(Snr::from_str("strong").unwrap()), | ||
| modeling: Modeling::default(), | ||
| max_sv: default_max_sv(), | ||
| }, | ||
| } | ||
| } | ||
| } | ||
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| #[derive(Default, Debug, Clone, Copy, PartialEq)] | ||
| #[cfg_attr(feature = "serde", derive(Deserialize))] | ||
| pub enum SolverMode { | ||
| /// Receiver is kept at fixed location | ||
| #[default] | ||
| Static, | ||
| /// Receiver is not static | ||
| Kinematic, | ||
| } |
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