Documentation
¶
Index ¶
- Constants
- type AmbiguityResolutionProcessor
- type EKFProcessor
- type EKFState
- type ElevationMaskProcessor
- type EphemerisProcessor
- type GeometryFreeProcessor
- type GeometryProcessor
- type IonosphereFreeProcessor
- type MelbourneWubbenaProcessor
- type NarrowLaneProcessor
- type NiellModel
- type PhaseWindupProcessor
- type PositionProcessor
- type PreciseProductProcessor
- type PreciseProductProvider
- type SaastamoinenModel
- type SagnacProcessor
- type StanagModel
- type TroposphereModel
- type TroposphereProcessor
- type WideLaneProcessor
Constants ¶
const (
// AngularVelocity is the angular velocity of the Earth in rad/s
AngularVelocity = 7.2921151467e-5
)
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type AmbiguityResolutionProcessor ¶
type AmbiguityResolutionProcessor struct {
// contains filtered or unexported fields
}
AmbiguityResolutionProcessor handles integer ambiguity resolution for PPP-AR
func NewAmbiguityResolutionProcessor ¶
func NewAmbiguityResolutionProcessor(enabled bool, minRatio float64, minSatellites int, validationMethod string) *AmbiguityResolutionProcessor
NewAmbiguityResolutionProcessor creates a new ambiguity resolution processor
func (*AmbiguityResolutionProcessor) IsEnabled ¶
func (a *AmbiguityResolutionProcessor) IsEnabled() bool
IsEnabled returns whether ambiguity resolution is enabled
func (*AmbiguityResolutionProcessor) Name ¶
func (a *AmbiguityResolutionProcessor) Name() string
Name returns the processor name
func (*AmbiguityResolutionProcessor) Process ¶
func (a *AmbiguityResolutionProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process performs ambiguity resolution on the satellite state
func (*AmbiguityResolutionProcessor) SetEnabled ¶
func (a *AmbiguityResolutionProcessor) SetEnabled(enabled bool)
SetEnabled enables or disables ambiguity resolution
type EKFProcessor ¶
type EKFProcessor struct {
// contains filtered or unexported fields
}
EKFProcessor implements Extended Kalman Filter for PPP-AR positioning
func NewEKFProcessor ¶
func NewEKFProcessor(initialPosition coordinates.Vector3D) *EKFProcessor
NewEKFProcessor creates a new EKF processor
func (*EKFProcessor) GetState ¶
func (e *EKFProcessor) GetState() *EKFState
GetState returns the current EKF state
func (*EKFProcessor) Process ¶
func (e *EKFProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process performs EKF prediction and update steps
func (*EKFProcessor) SetState ¶
func (e *EKFProcessor) SetState(state *EKFState)
SetState sets the EKF state
type EKFState ¶
type EKFState struct {
// Position and velocity states
Position coordinates.Vector3D
Velocity coordinates.Vector3D
// Clock states (per system)
Clocks map[gnss.System]float64
// Troposphere states
TroposphereZWD float64
TroposphereGrad [2]float64 // North, East gradients
// Ambiguity states (per satellite-signal pair)
Ambiguities map[string]float64 // Key: "system_satID_signal"
// Covariance matrix (simplified for now)
Covariance map[string]map[string]float64
}
EKFState represents the state of the Extended Kalman Filter
type ElevationMaskProcessor ¶
type ElevationMaskProcessor struct {
// contains filtered or unexported fields
}
ElevationMaskProcessor checks if satellites are above the elevation mask. Satellites below the mask are marked in the quality indicators.
func NewElevationMaskProcessor ¶
func NewElevationMaskProcessor(masks map[gnss.System]float64) *ElevationMaskProcessor
NewElevationMaskProcessor creates a new elevation mask processor. The masks map specifies the minimum elevation angle for each GNSS system.
func (*ElevationMaskProcessor) Name ¶
func (p *ElevationMaskProcessor) Name() string
Name returns the processor name.
func (*ElevationMaskProcessor) Process ¶
func (p *ElevationMaskProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process checks if the satellite is above the elevation mask for its system.
type EphemerisProcessor ¶
type EphemerisProcessor struct {
// contains filtered or unexported fields
}
EphemerisProcessor attaches ephemeris data to satellite state. It looks up the closest ephemeris message in time from the provided store.
func NewEphemerisProcessor ¶
func NewEphemerisProcessor(store *ephemeris.EphemerisStore) *EphemerisProcessor
NewEphemerisProcessor creates a new ephemeris processor with the given store.
func (*EphemerisProcessor) Name ¶
func (p *EphemerisProcessor) Name() string
Name returns the processor name for logging and error messages.
func (*EphemerisProcessor) Process ¶
func (p *EphemerisProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process looks up and attaches ephemeris to the satellite state.
type GeometryFreeProcessor ¶
type GeometryFreeProcessor struct {
// contains filtered or unexported fields
}
GeometryFreeProcessor calculates the geometry-free linear combination. This combination removes geometric range, leaving only dispersive effects.
func NewGeometryFreeProcessor ¶
func NewGeometryFreeProcessor(enabled bool) *GeometryFreeProcessor
NewGeometryFreeProcessor creates a new geometry-free combination processor.
func (*GeometryFreeProcessor) Name ¶
func (p *GeometryFreeProcessor) Name() string
Name returns the processor name.
func (*GeometryFreeProcessor) Process ¶
func (p *GeometryFreeProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the geometry-free combination.
type GeometryProcessor ¶
type GeometryProcessor struct {
// contains filtered or unexported fields
}
GeometryProcessor calculates azimuth, elevation, and geometric range from receiver to satellite.
func NewGeometryProcessor ¶
func NewGeometryProcessor(receiverPos coordinates.Vector3D) *GeometryProcessor
NewGeometryProcessor creates a new geometry processor. The receiver position should be in ECEF coordinates (meters).
func (*GeometryProcessor) Name ¶
func (p *GeometryProcessor) Name() string
Name returns the processor name.
func (*GeometryProcessor) Process ¶
func (p *GeometryProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the geometric relationship between receiver and satellite.
func (*GeometryProcessor) SetReceiverPosition ¶
func (p *GeometryProcessor) SetReceiverPosition(pos coordinates.Vector3D)
SetReceiverPosition updates the receiver position. This is useful when the receiver position is refined during processing.
type IonosphereFreeProcessor ¶
type IonosphereFreeProcessor struct {
// contains filtered or unexported fields
}
IonosphereFreeProcessor calculates the ionosphere-free linear combination. This requires dual-frequency observations.
func NewIonosphereFreeProcessor ¶
func NewIonosphereFreeProcessor(enabled bool) *IonosphereFreeProcessor
NewIonosphereFreeProcessor creates a new ionosphere-free combination processor.
func (*IonosphereFreeProcessor) Name ¶
func (p *IonosphereFreeProcessor) Name() string
Name returns the processor name.
func (*IonosphereFreeProcessor) Process ¶
func (p *IonosphereFreeProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the ionosphere-free combination.
type MelbourneWubbenaProcessor ¶
type MelbourneWubbenaProcessor struct {
// contains filtered or unexported fields
}
MelbourneWubbenaProcessor calculates the Melbourne-Wübbena combination. This is useful for cycle slip detection.
func NewMelbourneWubbenaProcessor ¶
func NewMelbourneWubbenaProcessor(enabled bool) *MelbourneWubbenaProcessor
NewMelbourneWubbenaProcessor creates a new Melbourne-Wübbena processor.
func (*MelbourneWubbenaProcessor) Name ¶
func (p *MelbourneWubbenaProcessor) Name() string
Name returns the processor name.
func (*MelbourneWubbenaProcessor) Process ¶
func (p *MelbourneWubbenaProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the Melbourne-Wübbena combination.
type NarrowLaneProcessor ¶
type NarrowLaneProcessor struct {
// contains filtered or unexported fields
}
NarrowLaneProcessor calculates the narrow-lane linear combination.
func NewNarrowLaneProcessor ¶
func NewNarrowLaneProcessor(enabled bool) *NarrowLaneProcessor
NewNarrowLaneProcessor creates a new narrow-lane combination processor.
func (*NarrowLaneProcessor) Name ¶
func (p *NarrowLaneProcessor) Name() string
Name returns the processor name.
func (*NarrowLaneProcessor) Process ¶
func (p *NarrowLaneProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the narrow-lane combination.
type NiellModel ¶
type NiellModel struct{}
NiellModel implements the Niell tropospheric model.
func (*NiellModel) Compute ¶
func (m *NiellModel) Compute(elevation, latitude, altitude, doy float64) float64
type PhaseWindupProcessor ¶
type PhaseWindupProcessor struct {
// contains filtered or unexported fields
}
PhaseWindupProcessor calculates carrier phase windup correction. Phase windup occurs due to the relative orientation of satellite and receiver antennas. This is a placeholder implementation - full implementation requires tracking previous state.
func NewPhaseWindupProcessor ¶
func NewPhaseWindupProcessor(enabled bool) *PhaseWindupProcessor
NewPhaseWindupProcessor creates a new phase windup processor.
func (*PhaseWindupProcessor) IsEnabled ¶
func (p *PhaseWindupProcessor) IsEnabled() bool
IsEnabled returns whether the processor is currently enabled.
func (*PhaseWindupProcessor) Name ¶
func (p *PhaseWindupProcessor) Name() string
Name returns the processor name.
func (*PhaseWindupProcessor) Process ¶
func (p *PhaseWindupProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the phase windup correction.
func (*PhaseWindupProcessor) SetEnabled ¶
func (p *PhaseWindupProcessor) SetEnabled(enabled bool)
SetEnabled allows toggling the processor on/off at runtime.
type PositionProcessor ¶
type PositionProcessor struct {
// contains filtered or unexported fields
}
PositionProcessor calculates satellite position and clock from ephemeris. It requires ephemeris to be already attached to the satellite state.
func NewPositionProcessor ¶
func NewPositionProcessor(useTransmissionTime bool) *PositionProcessor
NewPositionProcessor creates a new position processor. If useTransmissionTime is true, it will compute position at signal transmission time. Otherwise, it uses the signal reception time (epoch time).
func (*PositionProcessor) Name ¶
func (p *PositionProcessor) Name() string
Name returns the processor name.
func (*PositionProcessor) Process ¶
func (p *PositionProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process computes the satellite position and clock offset.
type PreciseProductProcessor ¶
type PreciseProductProcessor struct {
// contains filtered or unexported fields
}
PreciseProductProcessor attaches precise orbit and clock corrections to satellite states
func NewPreciseProductProcessor ¶
func NewPreciseProductProcessor(provider PreciseProductProvider) *PreciseProductProcessor
NewPreciseProductProcessor creates a new precise product processor
func (*PreciseProductProcessor) Name ¶
func (p *PreciseProductProcessor) Name() string
Name returns the processor name
func (*PreciseProductProcessor) Process ¶
func (p *PreciseProductProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process attaches precise orbit and clock corrections to the satellite state
type PreciseProductProvider ¶
type PreciseProductProvider interface {
GetOrbitRecord(system gnss.System, satID int, t time.Time) (*precise.OrbitRecord, error)
GetClockRecord(system gnss.System, satID int, t time.Time) (*precise.ClockRecord, error)
GetTimeRange() (time.Time, time.Time)
}
PreciseProductProvider interface for accessing precise products
type SaastamoinenModel ¶
type SaastamoinenModel struct{}
SaastamoinenModel implements the Saastamoinen tropospheric model.
func (*SaastamoinenModel) Compute ¶
func (m *SaastamoinenModel) Compute(elevation, latitude, altitude, doy float64) float64
type SagnacProcessor ¶
type SagnacProcessor struct {
// contains filtered or unexported fields
}
SagnacProcessor calculates the Sagnac effect correction. This accounts for Earth's rotation during signal propagation.
func NewSagnacProcessor ¶
func NewSagnacProcessor(receiverPos coordinates.Vector3D, enabled bool) *SagnacProcessor
NewSagnacProcessor creates a new Sagnac correction processor.
func (*SagnacProcessor) IsEnabled ¶
func (p *SagnacProcessor) IsEnabled() bool
IsEnabled returns whether the processor is currently enabled.
func (*SagnacProcessor) Name ¶
func (p *SagnacProcessor) Name() string
Name returns the processor name.
func (*SagnacProcessor) Process ¶
func (p *SagnacProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the Sagnac correction.
func (*SagnacProcessor) SetEnabled ¶
func (p *SagnacProcessor) SetEnabled(enabled bool)
SetEnabled allows toggling the processor on/off at runtime.
type StanagModel ¶
type StanagModel struct{}
StanagModel implements the STANAG tropospheric model.
func (*StanagModel) Compute ¶
func (m *StanagModel) Compute(elevation, latitude, altitude, doy float64) float64
type TroposphereModel ¶
type TroposphereModel interface {
// Compute calculates the tropospheric delay in meters.
// Parameters: elevation (degrees), latitude (radians), altitude (meters), day of year
Compute(elevation, latitude, altitude, doy float64) float64
}
TroposphereModel defines the interface for tropospheric delay models.
type TroposphereProcessor ¶
type TroposphereProcessor struct {
// contains filtered or unexported fields
}
TroposphereProcessor calculates tropospheric delay correction.
func NewTroposphereProcessor ¶
func NewTroposphereProcessor(modelType string, receiverPos coordinates.Vector3D, enabled bool) *TroposphereProcessor
NewTroposphereProcessor creates a new troposphere correction processor. modelType can be "niell", "sasstamoinen", or "stanag". If enabled is false, the processor will skip computation.
func (*TroposphereProcessor) IsEnabled ¶
func (p *TroposphereProcessor) IsEnabled() bool
IsEnabled returns whether the processor is currently enabled.
func (*TroposphereProcessor) Name ¶
func (p *TroposphereProcessor) Name() string
Name returns the processor name.
func (*TroposphereProcessor) Process ¶
func (p *TroposphereProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the tropospheric delay.
func (*TroposphereProcessor) SetEnabled ¶
func (p *TroposphereProcessor) SetEnabled(enabled bool)
SetEnabled allows toggling the processor on/off at runtime.
type WideLaneProcessor ¶
type WideLaneProcessor struct {
// contains filtered or unexported fields
}
WideLaneProcessor calculates the wide-lane linear combination.
func NewWideLaneProcessor ¶
func NewWideLaneProcessor(enabled bool) *WideLaneProcessor
NewWideLaneProcessor creates a new wide-lane combination processor.
func (*WideLaneProcessor) Name ¶
func (p *WideLaneProcessor) Name() string
Name returns the processor name.
func (*WideLaneProcessor) Process ¶
func (p *WideLaneProcessor) Process(ctx context.Context, state *pipeline.SatelliteState) error
Process calculates the wide-lane combination.
Source Files