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Merge branch 'experimental'

pull/28/head
bert hubert 2019-10-23 10:37:21 +02:00
parent 2cfe6eaaa5 4534472f5e
commit 8241944b7c
6 changed files with 739 additions and 45 deletions
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119
coverage.cc
View File

@ -8,39 +8,77 @@
#include "fmt/printf.h"
#include <fstream>
#include <eigen3/Eigen/Dense>
using Eigen::MatrixXd;
using namespace std;
extern GetterSetter<map<int, GalileoMessage::Almanac>> g_galileoalmakeeper;
extern GetterSetter<svstats_t> g_statskeeper;
xDOP getDOP(Point& us, vector<Point> sats)
{
xDOP ret;
if(sats.size() < 4) {
return ret;
}
MatrixXd G(sats.size(), 4); // 4 columns
covmap_t emitCoverage()
// (x1 - x)/R1 (y1 -y)/R1 (z1 - z)/R1 -1
for(size_t n = 0 ; n < sats.size(); ++n) {
const auto& s = sats[n];
auto R = Vector(us, s).length();
G(n, 0) = (s.x - us.x)/R;
G(n, 1) = (s.y - us.y)/R;
G(n, 2) = (s.z - us.z)/R;
G(n, 3) = -1;
}
// cout<<"Matrix: "<<endl;
// 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(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,g.first,1}].completeIOD() && svstats[{2,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>> 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
@ -51,28 +89,45 @@ covmap_t emitCoverage()
p.z = R * sin(phi);
if(longitude == -180) {
auto longlat = getLongLat(p.x, p.y, p.z);
// auto longlat = getLongLat(p.x, p.y, p.z);
// cout<<fmt::sprintf("%3.0f ", 180.0*longlat.second/M_PI);
}
int numsats5=0, numsats10=0, numsats20=0;
vector<Point> satposs5, satposs10, satposs20;
for(const auto& s : sats) {
// double getElevationDeg(const Point& sat, const Point& our);
double elev = getElevationDeg(s.second, p);
if(elev > 5.0)
double elev = getElevationDeg(s, p);
if(elev > 5.0) {
satposs5.push_back(s);
numsats5++;
if(elev > 10.0)
}
if(elev > 10.0) {
satposs10.push_back(s);
numsats10++;
if(elev > 20.0)
}
if(elev > 20.0) {
satposs20.push_back(s);
numsats20++;
}
}
if(numsats20 < 4)
latvect.push_back(make_tuple(longitude, numsats5, numsats10, numsats20));
latvect.push_back(make_tuple(longitude,
numsats5, numsats10, numsats20,
getDOP(p, satposs5).pdop,
getDOP(p, satposs10).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;
}
if(!latvect.empty())
ret.push_back(make_pair(latitude, latvect));
ret.push_back(make_pair(latitude, latvect));
}
return ret;
}

5
ephemeris.cc
View File

@ -42,7 +42,10 @@ std::pair<double,double> getLongLat(double x, double y, double z)
longitude *= -1;
Vector toUs{core, pos};
double latitude = acos( flat.inner(toUs) / (toUs.length() * flat.length()));
double inp = flat.inner(toUs) / (toUs.length() * flat.length());
if(inp > 1.0 && inp < 1.0000001) // this happens because of rounding errors
inp=1.0;
double latitude = acos( inp);
if(z < 0)
latitude *= -1;

47
html/geo/coverage.html 100644
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@ -0,0 +1,47 @@
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>galmon.eu geo</title>
<link rel="stylesheet" type="text/css" href="geo.css">
<script src="../d3.v4.min.js"></script>
<script src="../ext/topojson.v1.min.js"></script>
<script src="../ext/d3-geo-projection.v2.min.js"></script>
</head>
<body>
<div id="galmongeo">
<h1>galmon.eu geo</h1>
<div id="galmoninfo">
This is a live map from the <a href="/">galmon.eu</a> project. Red blocks indicate no Galileo fix is likely possible,
because less than four satellites have an elevation of &gt; 5 degrees. Orange means less than four above 10 degrees, yellow less than four above 20 degrees.
<b>These calculations are very provisional and might be wrong!</b>
<center>
<p>
<input type="radio" name="kind" id="coverage" onclick="do_timer();" ><label for="coverage">Coverage</label>
<input type="radio" name="kind" id="pdop" onclick="do_timer();" checked><label for="pdop">PDOP &gt; 10 or no fix</label>
<input type="radio" name="kind" id="hdop" onclick="do_timer();" ><label for="hdop">HDOP &gt; 10 or no fix</label>
<input type="radio" name="kind" id="vdop" onclick="do_timer();" ><label for="vdop">VDOP &gt; 10 or no fix</label>
<hr/>
<input type="checkbox" id="GalE1" onclick="do_timer();" checked> <label for="GalE1">Galileo E1</label> &nbsp;&nbsp;
<input type="checkbox" id="GPSL1CA" onclick="do_timer();"> <label for="GPSL1CA">GPS L1C/A</label> &nbsp;&nbsp;
<input type="checkbox" id="Beidou" onclick="do_timer();"> <label for="Beidou">Beidou</label> &nbsp;&nbsp;
</p>
</center>
</div>
<div id="combined">
<svg id="svgworld"></svg>
<svg id="svggraticule"></svg>
<svg id="svgobservers"></svg>
<svg id="svgalmanac"></svg>
</div>
</div>
<script src="coverage.js"></script>
</body>
</html>

483
html/geo/coverage.js 100644
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@ -0,0 +1,483 @@
'use strict';
//
var wantGPS=0, wantGalileo=0, wantBeidou=0;
//
//
var fileWorld = "world.geojson";
var fileAlmanac = "../almanac.json" // "https://galmon.eu/almanac"
var fileObservers = "../observers.json" // "https://galmon.eu/observers"
var projectionChoice = "Fahey";
var projectionChoice = "CylindricalStereographic";
var projectionChoice = "Equirectangular";
//var projectionChoice = "Aitoff";
//
//
//
var svgWorld = d3.select("#svgworld");
var idWorld = document.getElementById("svgworld");
var svgGraticule = d3.select("#svggraticule");
var idGraticule = document.getElementById("svggraticule");
var svgObservers = d3.select("#svgobservers");
var idObservers = document.getElementById("svgobservers");
var svgAlmanac = d3.select("#svgalmanac");
var idAlmanac = document.getElementById("svgalmanac");
var geoPath;
var aProjection;
function draw_world(data_world)
{
// console.log("draw_world() " + data_world.features.length);
svgWorld.selectAll("path")
.data(data_world.features)
.enter()
.append("path")
.attr("class", "countries")
.attr("d", geoPath);
}
function draw_graticule()
{
// Graticule
var graticule = d3.geoGraticule();
// console.log("draw_graticule()");
svgGraticule.selectAll("path")
.data(graticule.lines())
.enter()
.append("path")
.attr("class", "graticule line")
.attr("id", function(d) {
var c = d.coordinates;
if (c[0][0] == c[1][0]) {
return (c[0][0] < 0) ? -c[0][0] + "W" : +c[0][0] + "E";
} else if (c[0][1] == c[1][1]) {
return (c[0][1] < 0) ? -c[0][1] + "S" : c[0][1] + "N";
}
})
.attr("d", geoPath);
svgGraticule.selectAll('text')
.data(graticule.lines())
.enter()
.append("text")
.text(function(d) {
var c = d.coordinates;
if ((c[0][0] == c[1][0]) && (c[0][0] % 30 == 0)) {
return (c[0][0]);
} else if (c[0][1] == c[1][1]) {
return (c[0][1]);
}
})
.attr("class","label")
.attr("style", function(d) {
var c = d.coordinates;
return (c[0][1] == c[1][1]) ? "text-anchor: end" : "text-anchor: middle";
})
.attr("dx", function(d) {
var c = d.coordinates;
return (c[0][1] == c[1][1]) ? -10 : 0;
})
.attr("dy", function(d) {
var c = d.coordinates;
return (c[0][1] == c[1][1]) ? 4 : 10;
})
.attr('transform', function(d) {
var c = d.coordinates;
return ('translate(' + aProjection(c[0]) + ')')
});
svgGraticule.append("path")
.datum(graticule.outline)
.attr("class", "graticule outline")
.attr("d", geoPath);
}
function get_almanac_valid(data_almanac)
{
var a=[];
Object.keys(data_almanac).forEach(function(e) {
var o = data_almanac[e];
o.sv = e;
if (o["eph-latitude"] != null && ((wantGalileo && o["gnssid"]==2) || (wantGPS && o["gnssid"]==0) || (wantBeidou && o["gnssid"]==3) ) ) {
a.push(o);
}
});
return a;
}
function draw_coverage(data_coverage)
{
console.log(data_coverage.length);
let coverage=[];
let mode = d3.select('input[name="kind"]:checked').node().id;
console.log(mode);
var offset=4;
if(mode=="pdop")
offset=4;
else if(mode=="hdop")
offset=7;
else if(mode=="vdop")
offset=10;
// console.log("Offset is "+offset+ " for mode "+mode);
for(var i =0 ; i < data_coverage.length; ++i) {
for(var j = 0 ; j < data_coverage[i][1].length; ++j) {
if(mode == "coverage") {
let numsats = data_coverage[i][1][j][1];
if(numsats < 4)
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "red", opacity: 0.4});
else {
numsats = data_coverage[i][1][j][2];
if(numsats < 4)
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "orange", opacity: null});
else {
numsats = data_coverage[i][1][j][3];
if(numsats < 4)
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], numsats: numsats, color: "yellow", opacity: 0.12});
}
}
}
else if(mode=="pdop" || mode=="hdop" || mode =="vdop") {
let dop = data_coverage[i][1][j][offset];
if(dop > 100 || dop < 0)
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "red", opacity: 0.4});
else {
dop = data_coverage[i][1][j][offset+1];
if(dop > 100 || dop < 0)
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "orange", opacity: null});
else {
dop = data_coverage[i][1][j][offset+2];
if(dop > 100 || dop < 0 )
coverage.push({latitude: data_coverage[i][0], longitude: data_coverage[i][1][j][0], dop: dop, color: "yellow", opacity: 0.12});
}
}
}
}
}
svgAlmanac.selectAll("rect")
.data(coverage)
.enter()
.append("rect")
.attr("class", "sats")
.style("opacity", d => d["opacity"])
.attr("width", 20)
.attr("height", 20)
.attr("x", d => aProjection([d["longitude"],d["latitude"]])[0])
.attr("y", d => aProjection([d["longitude"],d["latitude"]])[1])
.attr("fill", function(d) {
return d["color"];
});
// console.log(coverage);
}
function draw_almanac(data_almanac)
{
var arr = get_almanac_valid(data_almanac);
console.log("draw_almanac() " + arr.length);
svgAlmanac.selectAll("circle")
.data(arr)
.enter()
.append("circle")
.attr("class", "sats")
.attr("r", 3)
.attr("cx", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[0])
.attr("cy", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[1])
.attr("fill", function(d) {
switch (d.gnssid) {
case 0: return "green"; // GPS
case 1: return "gray"; // SBAS - not coded
case 2: return "blue"; // Galileo
case 3: return "red"; // BeiDou
case 4: return "gray"; // IMES - not coded
case 5: return "gray"; // QZSS - not coded
case 6: return "yellow"; // GLONASS
default: return "magenta"; // - should not happen
}
});
svgAlmanac.selectAll("text")
.data(arr)
.enter()
.append("text")
.attr("class", "labels")
.text(d => d.sv)
.attr("dx", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[0])
.attr("dy", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[1])
.attr("fill", function(d) {
if (d.sisa != null && d.sisa == 255)
return "red";
if (d.health != null && d.health != 0) // GPS
return "red";
if (d.observed==true)
return "black";
return "#666666";
})
.attr("font-weight", function(d) {
if (d.observed==true)
return "bold";
return null;
});
}
function draw_observers(data_observers)
{
console.log("draw_observers() " + data_observers.length);
svgObservers.selectAll("rect")
.data(data_observers)
.enter()
.append("rect")
.attr("class", "sats")
.attr("width", 8)
.attr("height", 8)
.attr("x", d => aProjection([d["longitude"],d["latitude"]])[0]-4)
.attr("y", d => aProjection([d["longitude"],d["latitude"]])[1]-4)
.attr("fill", function(d) { return "black"; });
}
function draw_observers_coverage(data_observers)
{
var radius = 55; // XXX fix
var geoCircle = d3.geoCircle();
svgObservers.selectAll("path")
.data(data_observers)
.enter()
.append("path")
.attr("class", "coverage")
.attr("d", function(r) {
// console.log([r["longitude"], r["latitude"]] + " = " + aProjection([r["longitude"], r["latitude"]]));
return geoPath(geoCircle.center([r["longitude"],r["latitude"]]).radius(radius)());
});
}
var display_observers_count = 0;
function do_update_almanac(error, results)
{
var data_almanac = results[0];
var data_observers = results[1];
var data_coverage = results[2];
// console.log("do_update_almanac() " + Object.keys(data_almanac).length + " " + data_observers.length);
if (display_observers_count == 0) {
// does not need that much updating!
svgObservers.html("");
// draw_observers(data_observers);
// draw_observers_coverage(data_observers)
display_observers_count = 10;
}
display_observers_count--;
// We write into the svgalmanac area - so clean it and rewrite it
svgAlmanac.html("");
draw_almanac(data_almanac);
draw_coverage(data_coverage);
}
var repeat;
function do_timer()
{
var seconds = 60;
clearTimeout(repeat);
repeat = setTimeout(do_timer, 1000.0*seconds);
wantGPS = 0;
wantGalileo = 0;
wantBeidou = 0;
if(d3.select("#GPSL1CA").property("checked"))
wantGPS=1;
if(d3.select("#GalE1").property("checked"))
wantGalileo=1;
if(d3.select("#Beidou").property("checked"))
wantBeidou=1;
var galcovurl="../cov.json?gps="+wantGPS+"&galileo="+wantGalileo+"&beidou="+wantBeidou;
d3.queue(1)
.defer(d3.json, fileAlmanac)
.defer(d3.json, fileObservers)
.defer(d3.json, galcovurl)
.awaitAll(do_update_almanac);
}
function set_projection(data_world)
{
// var aProjection = d3.geoMercator().scale(100).translate([250,250]);
// all this complexity is so we can scale to full screen.
// see: https://stackoverflow.com/questions/14492284/center-a-map-in-d3-given-a-geojson-object
var center = [0,0]; // This is very Euro-centric - but that's how these projections works.
var scale = 210; // No idea what this does
var idCombined = document.getElementById("combined");
svgWorld = d3.select("#svgworld");
idWorld = document.getElementById("svgworld");
svgGraticule = d3.select("#svggraticule");
idGraticule = document.getElementById("svggraticule");
switch(projectionChoice) {
default:
console.log(projectionChoice + ": not coded");
// fall thru to Equirectangular
case 'Equirectangular':
aProjection = d3.geoEquirectangular()
.scale(scale)
.translate([idCombined.clientWidth/2,idCombined.clientHeight/2]);
break;
case 'Aitoff':
aProjection = d3.geoAitoff()
.scale(scale)
.translate([idCombined.clientWidth/2,idCombined.clientHeight/2]);
break;
case 'CylindricalStereographic':
aProjection = d3.geoCylindricalStereographic()
.scale(scale)
.translate([idCombined.clientWidth/2,idCombined.clientHeight/2]);
break;
case 'Fahey':
aProjection = d3.geoFahey()
.scale(scale)
.translate([idCombined.clientWidth/2,idCombined.clientHeight/2]);
break;
case 'Gilbert':
aProjection = d3.geoGilbert()
.scale(scale)
.translate([idCombined.clientWidth/2,idCombined.clientHeight/2]);
break;
}
geoPath = d3.geoPath()
.projection(aProjection);
// using the path determine the bounds of the current map and use
// these to determine better values for the scale and translation
var bounds = geoPath.bounds(data_world);;
var hscale = scale*idCombined.clientWidth / (bounds[1][0] - bounds[0][0]);
var vscale = scale*idCombined.clientHeight / (bounds[1][1] - bounds[0][1]);
scale = (hscale < vscale) ? hscale : vscale;
var offset = [
idCombined.clientWidth - (bounds[0][0] + bounds[1][0])/2,
idCombined.clientHeight - (bounds[0][1] + bounds[1][1])/2
];
if (0) {
// new projection
switch(projectionChoice) {
default:
console.log(projectionChoice + ": not coded");
// fall thru to Equirectangular
case 'Equirectangular':
aProjection = d3.geoEquirectangular()
.center(center)
.scale(scale)
.translate(offset);
break;
case 'Aitoff':
aProjection = d3.geoAitoff()
.center(center) .scale(scale)
.translate(offset);
break;
case 'CylindricalStereographic':
aProjection = d3.geoCylindricalStereographic()
.center(center)
.scale(scale)
.translate(offset);
break;
case 'Fahey':
aProjection = d3.geoFahey()
.center(center)
.scale(scale)
.translate(offset);
break;
case 'Gilbert':
aProjection = d3.geoGilbert()
.center(center)
.scale(scale)
.translate(offset);
break;
}
}
console.log("do_draw_world() " + "width=" + idCombined.clientWidth + "," + "height=" + idCombined.clientHeight);
svgWorld.attr("width", idCombined.clientWidth);
svgWorld.attr("height", idCombined.clientHeight);
svgObservers.attr("width", idCombined.clientWidth);
svgObservers.attr("height", idCombined.clientHeight);
svgGraticule.attr("height", idCombined.clientHeight);
svgGraticule.attr("width", idCombined.clientWidth);
svgAlmanac.attr("height", idCombined.clientHeight);
svgAlmanac.attr("width", idCombined.clientWidth);
}
function do_draw_world(data_world)
{
// console.log("do_draw_world()");
set_projection(data_world);
svgWorld.html("");
draw_world(data_world);
svgGraticule.html("");
draw_graticule();
}
function read_world()
{
// console.log("read_world()");
d3.json(fileWorld, function(result) {
var data_world = result;
do_draw_world(data_world);
// after the world is read in and displayed - then start the timers!
// we don't redraw the world!
do_timer();
});
}
function geo_start()
{
// console.log("geo_start()");
read_world();
}
geo_start();
// d3.select("body").onresize = do_timer;

116
navparse.cc
View File

@ -28,6 +28,8 @@
#include "navmon.hh"
#include <Tle.h>
#include "navparse.hh"
#include <fenv.h>
using namespace std;
struct ObserverPosition
@ -512,6 +514,9 @@ std::string humanBhs(int bhs)
int main(int argc, char** argv)
try
{
feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW );
// g_tles.parseFile("active.txt");
g_tles.parseFile("galileo.txt");
@ -1011,8 +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 =
@ -1028,6 +1113,17 @@ try
jsdatum.push_back(get<1>(longpair));
jsdatum.push_back(get<2>(longpair));
jsdatum.push_back(get<3>(longpair));
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);
@ -1066,12 +1162,14 @@ try
item["best-tle-int-desig"] = s.second.tleMatch.internat;
}
Point p;
getCoordinates(s.second.tow, s.second.oldBeidouMessage, &p);
auto beidoualma = g_beidoualmakeeper.get();
if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) {
Point almapos;
getCoordinates(s.second.tow, iter->second.alma, &almapos);
item["alma-dist"] = Vector(almapos, p).length()/1000.0;
if(s.second.oldBeidouMessage.sqrtA != 0) {
getCoordinates(s.second.tow, s.second.oldBeidouMessage, &p);
auto beidoualma = g_beidoualmakeeper.get();
if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) {
Point almapos;
getCoordinates(s.second.tow, iter->second.alma, &almapos);
item["alma-dist"] = Vector(almapos, p).length()/1000.0;
}
}
}
else if(s.first.gnss == 6) { // glonass
@ -1341,7 +1439,7 @@ try
else if(g_svstats[id].completeIOD()) {
getCoordinates(g_svstats[id].tow, g_svstats[id].liveIOD(), &sat);
}
if(sat.x != 0) {
if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) {
idb.addValue(id, nmm.localutcseconds()*1000000000, "recdata",
{
{"db", nmm.rd().db()},

14
navparse.hh
View File

@ -143,7 +143,15 @@ 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> > > > 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{-1};
double vdop{-1};
};
xDOP getDOP(Point& us, vector<Point> sats);