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add coverage map with hdop/pdop/vdop

experimental
bert hubert 2019-10-23 10:33:13 +02:00
parent 003164e516
commit 4534472f5e
3 changed files with 136 additions and 33 deletions
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66
coverage.cc
View File

@ -40,40 +40,47 @@ xDOP getDOP(Point& us, vector<Point> sats)
// cout<<G<<endl;
MatrixXd Q = (G.transpose() * G).inverse();
auto [lambda, phi] = getLongLat(us.x, us.y, us.z);
// https://gssc.esa.int/navipedia/index.php/Positioning_Error
Eigen::Matrix3d Renu;
Renu <<
(-sin(lambda)) , (-sin(phi)*cos(lambda)) , (cos(phi)*cos(lambda)),
(cos(lambda)) , (-sin(phi)*sin(lambda)) , (cos(phi)*sin(lambda)),
(0.0) , (cos(phi)) , (sin(phi));
Eigen::Matrix3d Qxyz;
for(int x=0; x<3; ++x) // feels like there should be a better way for this, but not sure
for(int y=0; y<3; ++y)
Qxyz(x,y) = Q(x,y);
Eigen::Matrix3d Qenu = Renu.transpose()*Qxyz*Renu;
// if(Qenu(0,0) < 0 || Qenu(1,1) < 0 || Qenu(2,2) < 0)
// cout << "Original: \n"<<Qxyz<<"\nRotated: \n"<<Qenu<<endl;
ret.pdop = sqrt(Q(0,0) + Q(1,1) + Q(2,2)); // already squared
// ret.pdop = sqrt(Qenu(0,0) + Qenu(1,1) + Qenu(2,2)); // already squared
ret.tdop = sqrt(Q(3,3));
ret.gdop = sqrt(ret.pdop*ret.pdop + ret.tdop*ret.tdop);
if(Qenu(0,0) >=0 && Qenu(1,1) >=0)
ret.hdop = sqrt(Qenu(0,0) + Qenu(1,1));
if(Qenu(2,2)>=0)
ret.vdop = sqrt(Qenu(2,2));
return ret;
};
covmap_t emitCoverage()
covmap_t emitCoverage(const vector<Point>& sats)
{
covmap_t ret;
ofstream cmap("covmap.csv");
cmap<<"latitude longitude count5 count10 count20"<<endl;
map<int, Point> sats;
auto galileoalma = g_galileoalmakeeper.get();
auto svstats = g_statskeeper.get();
auto pseudoTow = (time(0) - 820368000) % (7*86400);
// cout<<"pseudoTow "<<pseudoTow<<endl;
for(const auto &g : galileoalma) {
Point sat;
getCoordinates(pseudoTow, g.second, &sat);
if(g.first < 0)
continue;
if(svstats[{2,(uint32_t)g.first,1}].completeIOD() && svstats[{2,(uint32_t)g.first,1}].liveIOD().sisa == 255) {
// cout<<g.first<<" NAPA!"<<endl;
continue;
}
sats[g.first]=sat;
}
double R = 6371000;
for(double latitude = 90 ; latitude > -90; latitude-=0.5) { // north-south
for(double latitude = 90 ; latitude > -90; latitude-=2) { // north-south
double phi = M_PI* latitude / 180;
double longsteps = 1 + 360.0 * cos(phi);
double step = 180.0 / longsteps;
vector<tuple<double, int, int, int, double, double, double>> latvect;
double step = 4*180.0 / longsteps;
vector<tuple<double, int, int, int, double, double, double, double, double, double,double, double, double>> latvect;
for(double longitude = -180; longitude < 180; longitude += step) { // east - west
Point p;
// phi = latitude, lambda = longitude
@ -93,17 +100,17 @@ covmap_t emitCoverage()
vector<Point> satposs5, satposs10, satposs20;
for(const auto& s : sats) {
// double getElevationDeg(const Point& sat, const Point& our);
double elev = getElevationDeg(s.second, p);
double elev = getElevationDeg(s, p);
if(elev > 5.0) {
satposs5.push_back(s.second);
satposs5.push_back(s);
numsats5++;
}
if(elev > 10.0) {
satposs10.push_back(s.second);
satposs10.push_back(s);
numsats10++;
}
if(elev > 20.0) {
satposs20.push_back(s.second);
satposs20.push_back(s);
numsats20++;
}
}
@ -111,7 +118,14 @@ covmap_t emitCoverage()
numsats5, numsats10, numsats20,
getDOP(p, satposs5).pdop,
getDOP(p, satposs10).pdop,
getDOP(p, satposs20).pdop
getDOP(p, satposs20).pdop,
getDOP(p, satposs5).hdop,
getDOP(p, satposs10).hdop,
getDOP(p, satposs20).hdop,
getDOP(p, satposs5).vdop,
getDOP(p, satposs10).vdop,
getDOP(p, satposs20).vdop
));
// cmap << longitude <<" " <<latitude <<" " << numsats5 << " " <<numsats10<<" "<<numsats20<<endl;
}

94
navparse.cc
View File

@ -1016,8 +1016,88 @@ try
}
);
h2s.addHandler("/galcov.json", [](auto handler, auto req) {
auto cov = emitCoverage();
h2s.addHandler("/cov.json", [](auto handler, auto req) {
vector<Point> sats;
auto galileoalma = g_galileoalmakeeper.get();
auto gpsalma = g_gpsalmakeeper.get();
auto beidoualma = g_beidoualmakeeper.get();
auto svstats = g_statskeeper.get();
// cout<<"pseudoTow "<<pseudoTow<<endl;
string_view path = convert(req->path);
bool doGalileo{true}, doGPS{false}, doBeidou{false};
auto pos = path.find("gps=");
if(pos != string::npos) {
doGPS = (path[pos+4]=='1');
}
pos = path.find("galileo=");
if(pos != string::npos) {
doGalileo = (path[pos+8]=='1');
}
pos = path.find("beidou=");
if(pos != string::npos) {
doBeidou = (path[pos+7]=='1');
}
if(doGalileo)
for(const auto &g : galileoalma) {
Point sat;
getCoordinates(latestTow(2, svstats), g.second, &sat);
if(g.first < 0)
continue;
SatID id{2,(uint32_t)g.first,1};
if(svstats[id].completeIOD() && svstats[id].liveIOD().sisa == 255) {
continue;
}
if(svstats[id].e1bhs || svstats[id].e1bdvs)
continue;
sats.push_back(sat);
}
if(doGPS)
for(const auto &g : gpsalma) {
Point sat;
getCoordinates(latestTow(0, svstats), g.second, &sat);
if(g.first < 0)
continue;
SatID id{0,(uint32_t)g.first,0};
if(svstats[id].completeIOD() && svstats[id].ura == 16) {
// cout<<"Skipping G"<<id.sv<<" because of URA"<<endl;
continue;
}
if(svstats[id].gpshealth) {
// cout<<"Skipping G"<<id.sv<<" because of health"<<endl;
continue;
}
sats.push_back(sat);
}
if(doBeidou)
for(const auto &g : beidoualma) {
Point sat;
getCoordinates(latestTow(3, svstats), g.second.alma, &sat);
if(g.first < 0)
continue;
SatID id{3,(uint32_t)g.first,0};
/*
if(svstats[id].completeIOD() && svstats[id].ura == 16) {
cout<<"Skipping G"<<id.sv<<" because of URA"<<endl;
continue;
}
*/
if(svstats[id].gpshealth) {
// cout<<"Skipping C"<<id.sv<<" because of health"<<endl;
continue;
}
sats.push_back(sat);
}
auto cov = emitCoverage(sats);
auto ret = nlohmann::json::array();
// ret =
@ -1037,6 +1117,16 @@ try
jsdatum.push_back((int)(10*get<4>(longpair)));
jsdatum.push_back((int)(10*get<5>(longpair)));
jsdatum.push_back((int)(10*get<6>(longpair)));
jsdatum.push_back((int)(10*get<7>(longpair)));
jsdatum.push_back((int)(10*get<8>(longpair)));
jsdatum.push_back((int)(10*get<9>(longpair)));
jsdatum.push_back((int)(10*get<10>(longpair)));
jsdatum.push_back((int)(10*get<11>(longpair)));
jsdatum.push_back((int)(10*get<12>(longpair)));
jslongvect.push_back(jsdatum);
}
jslatvect.push_back(latvect.first);

9
navparse.hh
View File

@ -143,17 +143,16 @@ struct SVStat
typedef std::map<SatID, SVStat> svstats_t;
// a vector of pairs of latidude,vector<longitude,numsats>
typedef vector<pair<double,vector<tuple<double, int, int, int, double, double, double> > > > covmap_t;
covmap_t emitCoverage();
typedef vector<pair<double,vector<tuple<double, int, int, int, double, double, double, double, double, double, double, double, double> > > > covmap_t;
covmap_t emitCoverage(const vector<Point>& sats);
struct xDOP
{
double gdop{-1};
double pdop{-1};
double tdop{-1};
// double hdop;
// double vdop;
double hdop{-1};
double vdop{-1};
};
xDOP getDOP(Point& us, vector<Point> sats);