Class: GPS::PVT_minimal

Inherits:
Object
  • Object
show all
Defined in:
lib/gps_pvt/pvt.rb

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize ⇒ PVT_minimal

Returns a new instance of PVT_minimal.



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# File 'lib/gps_pvt/pvt.rb', line 6

def initialize
  # GLOBAL POSITIONING SYSTEM STANDARD POSITIONING SERVICE
  # PERFORMANCE STANDARD 5th edition (Apr. 2020) 3.8
  @hsigma = 8.0 # 95%
  @vsigma = 13.0 # 95%
  @pdop = 6.0 # 98% global
  @vel_sigma = 0.2 # 85%
  @use_satellites = 0 # unknown
end

Instance Attribute Details

#hsigma ⇒ Object

Returns the value of attribute hsigma.



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# File 'lib/gps_pvt/pvt.rb', line 23

def hsigma
  @hsigma
end

#pdop ⇒ Object

Returns the value of attribute pdop.



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# File 'lib/gps_pvt/pvt.rb', line 23

def pdop
  @pdop
end

#used_satellites ⇒ Object

Returns the value of attribute used_satellites.



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# File 'lib/gps_pvt/pvt.rb', line 23

def used_satellites
  @used_satellites
end

#vel_sigma ⇒ Object

Returns the value of attribute vel_sigma.



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# File 'lib/gps_pvt/pvt.rb', line 23

def vel_sigma
  @vel_sigma
end

#velocity ⇒ Object

Returns the value of attribute velocity.



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# File 'lib/gps_pvt/pvt.rb', line 22

def velocity
  @velocity
end

#vsigma ⇒ Object

Returns the value of attribute vsigma.



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# File 'lib/gps_pvt/pvt.rb', line 23

def vsigma
  @vsigma
end

Class Method Details

.parse_csv(csv_fname, &b) ⇒ Object 



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# File 'lib/gps_pvt/pvt.rb', line 25

def parse_csv(csv_fname, &b)
  require_relative 'util'
  $stderr.puts "Reading CSV file (%s) "%[csv_fname]
  io = open(Util::get_txt(csv_fname), 'r')
  
  header = io.readline.chomp.split(/ *, */)
  idx_table = [
    :week, [:tow, /^i?t(?:ime_)?o(?:f_)?w(?:eek)?/],
    :year, :month, :mday, :hour, :min, [:sec, /^sec/],
    [:lng, /^(?:long(?:itude)?|lng)/], [:lat, /^lat(?:itude)/],
          [:alt, /^(?:alt(?:itude)?|h(?:$|eight|_))/], # assumption: [deg], [deg], [m]
    :x, :y, :z, # ECEF xyz
    :hsigma, :vsigma, :pdop,
    [:vn, /^v(?:el)?_?n(?:orth)?/], [:ve, /^v(?:el)?_?e(?:ast)?/],
        [:vd, /^v(?:el)?_?d(?:own)?/], [:vu, /^v(?:el)?_?u(?:p)?/],
    :vx, :vy, :vz, # ECEF xyz
    [:vel_sigma, /^v(?:el)?_sigma/],
    [:used_satellites, /^(?:used_)?sat(?:ellite)?s/],
  ].collect{|k, re|
    re ||= k.to_s
    idx = header.find_index{|str| re === str}
    idx && [k, idx]
  }.compact
  enum = Enumerator::new{|y|
    io.each_line{|line|
      values = line.chomp.split(/ *, */)
      items = Hash[*(idx_table.collect{|k, idx|
        v = values[idx]
        (v == '') ? nil : [k, (Integer(v) rescue Float(v))]
      }.compact.flatten(1))]
      if items.include?(:week) then
        t = GPS::Time::new(items[:week], items[:tow])
      else
        # UTC assumption, thus leap seconds must be added.
        t = GPS::Time::new([:year, :month, :mday, :hour, :min, :sec].collect{|k| items[k]})
        t += GPS::Time::guess_leap_seconds(t)
      end
      pvt = GPS::PVT_minimal::new
      if items.include?(:lat) then
        pvt.llh = ([:lat, :lng].collect{|k| Math::PI / 180 * items[k]} + [items[:alt]])
      elsif items.include?(:xyz) then
        pvt.xyz = [:x, :y, :z].collect{|k| items[k]}
      end
      if items.include?(:vn) then
        pvt.velocity = ([:vn, :ve].collect{|k| items[k]} + [items[:vu] || -items[:vd]])
      elsif items.include?(:vx) then
        pvt.velocity = Coordinate::ENU::relative_rel(
            Coordinate::XYZ::new(*([:vx, :vy, :vz].collect{|k| items[k]})),
            pvt.llh)
      end
      [:pdop, :hsigma, :vsigma, :vel_sigma, :used_satellites].each{|k| pvt.send("#{k}=", items[k])}
      y.yield(t, pvt)
    }
  }
  b ? enum.each{|*res| b.call(*res)} : enum
end

Instance Method Details

#llh ⇒ Object 



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# File 'lib/gps_pvt/pvt.rb', line 18

def llh; @xyz ? @xyz.llh : @llh; end

#llh=(args) ⇒ Object 



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# File 'lib/gps_pvt/pvt.rb', line 20

def llh=(args); @llh = Coordinate::LLH::new(*args); end

#position_solved? ⇒ Boolean

unknown

Returns:

  • (Boolean) 


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# File 'lib/gps_pvt/pvt.rb', line 15

def position_solved?; @xyz || @llh; end

#velocity_solved? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/gps_pvt/pvt.rb', line 16

def velocity_solved?; @velocity; end

#xyz ⇒ Object 



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# File 'lib/gps_pvt/pvt.rb', line 17

def xyz; @xyz || @llh.xyz; end

#xyz=(args) ⇒ Object 



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# File 'lib/gps_pvt/pvt.rb', line 19

def xyz=(args); @xyz = Coordinate::XYZ::new(*args); end