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Commitcf35b42

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Implement geoid offset computation.
1 parent0b72fac commitcf35b42

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7 files changed

+9598
-0
lines changed

7 files changed

+9598
-0
lines changed

‎CMakeLists.txt‎

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@@ -46,6 +46,7 @@ set(HDRS
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include/swiftnav/edc.h
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include/swiftnav/ephemeris.h
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include/swiftnav/fifo_byte.h
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include/swiftnav/geoid_model.h
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include/swiftnav/glo_map.h
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include/swiftnav/glonass_phase_biases.h
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include/swiftnav/gnss_time.h
@@ -72,6 +73,7 @@ set(SRCS
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src/edc.c
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src/ephemeris.c
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src/fifo_byte.c
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src/geoid_model.c
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src/glo_map.c
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src/glonass_phase_biases.c
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src/gnss_time.c

‎include/swiftnav/geoid_model.h‎

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/*------------------------------------------------------------------------------
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* Reproduced from https://github.com/swift-nav/RTKLIB/blob/master/src/geoid.c
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* according to the RTKLib licence
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*
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* Copyright (C) 2007-2013 by T.TAKASU, All rights reserved.
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*-----------------------------------------------------------------------------*/
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#ifndefGEOID_MODEL_H
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#defineGEOID_MODEL_H
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#include<stdint.h>
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#ifdef__cplusplus
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extern"C" {
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#endif/* __cplusplus */
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#defineMIN_LON 0
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#defineMAX_LON 360
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#defineMIN_LAT (-90)
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#defineMAX_LAT 90
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#defineLAT_GRID_SPACING_DEG 1
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#defineLON_GRID_SPACING_DEG 1
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externconstfloatGEOID[(MAX_LON-MIN_LON) /LON_GRID_SPACING_DEG+1]
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[(MAX_LAT-MIN_LAT) /LAT_GRID_SPACING_DEG+1];
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floatget_geoid_offset(doublelat_rad,doublelon_rad);
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#ifdef__cplusplus
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}
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#endif/* __cplusplus */
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#endif/* GEOID_MODEL_H */

‎src/geoid_model.c‎

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‎tests/CMakeLists.txt‎

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@@ -12,6 +12,7 @@ if(libswiftnav_BUILD_TESTS)
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check_decode_glo.c
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check_edc.c
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check_ephemeris.c
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check_geoid_model.c
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check_glo_map.c
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check_gnss_time.c
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check_gnss_time_cpp.cc

‎tests/check_geoid_model.c‎

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/*------------------------------------------------------------------------------
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* Reproduced from https://github.com/swift-nav/RTKLIB/blob/master/src/geoid.c
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*according to the RTKLib licence
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*
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* Copyright (C) 2007-2013 by T.TAKASU, All rights reserved.
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*-----------------------------------------------------------------------------*/
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#include<check.h>
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#include<swiftnav/constants.h>
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#include<swiftnav/geoid_model.h>
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#include"check_suites.h"
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staticconstdoublerange[4];/* embedded geoid area range {W,E,S,N} (deg) */
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staticconstdoublerange[]= {0.00,360.00,-90.00,90.00};
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/* bilinear interpolation ----------------------------------------------------*/
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staticdoubleinterpb(constdouble*y,doublea,doubleb) {
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returny[0]* (1.0-a)* (1.0-b)+y[1]*a* (1.0-b)+
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y[2]* (1.0-a)*b+y[3]*a*b;
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}
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/* embedded geoid model ------------------------------------------------------*/
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staticdoublegeoidh_emb(constdouble*pos) {
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constdoubledlon=1.0,dlat=1.0;
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doublea,b,y[4];
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inti1,i2,j1,j2;
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if (pos[1]<range[0]||range[1]<pos[1]||pos[0]<range[2]||
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range[3]<pos[0]) {
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return0.0;
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}
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a= (pos[1]-range[0]) /dlon;
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b= (pos[0]-range[2]) /dlat;
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i1= (int)a;
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a-=i1;
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i2=i1<360 ?i1+1 :i1;
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j1= (int)b;
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b-=j1;
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j2=j1<180 ?j1+1 :j1;
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y[0]=GEOID[i1][j1];
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y[1]=GEOID[i2][j1];
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y[2]=GEOID[i1][j2];
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y[3]=GEOID[i2][j2];
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returninterpb(y,a,b);
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}
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START_TEST(test_geoid_model) {
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for (intlat=0;lat<314;++lat) {
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for (intlon=0;lon<628;++lon) {
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doublertk_lib_pos[2]= {R2D* (lat /100-M_PI /2),
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R2D* (float)(lon /100)};
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doublertk_lib=geoidh_emb(rtk_lib_pos);
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doublepos[2]= {lat /100-M_PI /2,lon /100-M_PI};
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floatgeoid_offset=get_geoid_offset(pos[0],pos[1]);
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fail_unless(fabs(geoid_offset-rtk_lib)<1e-4,
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"Sanity test fail at lat, lon %0.5f, %0.5f. : difference "
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"was %.5f\n",
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pos[0],
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pos[1],
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fabs(geoid_offset-rtk_lib));
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}
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}
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}
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END_TEST
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Suite*geoid_model_suite_suite(void) {
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Suite*s=suite_create("Geoid_model");
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TCase*tc_core=tcase_create("Core");
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tcase_add_test(tc_core,test_geoid_model);
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suite_add_tcase(s,tc_core);
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returns;
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}

‎tests/check_main.c‎

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@@ -22,6 +22,7 @@ int main(void) {
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srunner_add_suite(sr,decode_glo_suite());
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srunner_add_suite(sr,set_suite());
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srunner_add_suite(sr,signal_test_suite());
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srunner_add_suite(sr,geoid_model_suite_suite());
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srunner_add_suite(sr,glo_map_test_suite());
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srunner_add_suite(sr,shm_suite());
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srunner_add_suite(sr,pvt_test_suite());

‎tests/check_suites.h‎

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@@ -17,6 +17,7 @@ Suite* set_suite(void);
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Suite*gnss_time_test_suite(void);
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Suite*gnss_time_cpp_test_suite(void);
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Suite*signal_test_suite(void);
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Suite*geoid_model_suite_suite(void);
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Suite*glo_map_test_suite(void);
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Suite*shm_suite(void);
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Suite*troposphere_suite(void);

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