Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fetch frame information from loaded Almanac #18

Merged
merged 2 commits into from
Jul 24, 2024
Merged

Fetch frame information from loaded Almanac #18

merged 2 commits into from
Jul 24, 2024

Conversation

ChristopherRabotin
Copy link
Contributor

This also switched to the embedded Almanac (using PCK11) to prevent the need for internet connection at runtime (still required at build time to download the planetary constants and ephemerides)

This fixes both issues from https://github.com/orgs/nyx-space/discussions/341.

$ RUST_BACKTRACE=1 RUST_LOG=debug cargo run --release --bin rinex-cli --all-features -- -f test_resources/CRNX/V3/MOJN00DNK_R_20201770000_01D_30S_MO.crx.gz -f test_resources/NAV/V3/MOJN00DNK_R_20201770000_01D_MN.rnx.gz -f test_resources/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz -f test_resources/SP3/V3/GRG0MGXFIN_20201770000_01D_15M_ORB.SP3.gz -P GAL -P C1C,C5Q,L1C,L5Q -p

(...)

[2024-07-21T01:00:43Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E27) - InterpolationResult { elevation: -5.741507915391287, azimuth: 259.88067603566765, position: [[23046063.402616415, -18570026.994033705, -66857.83425769513]], velocity: None } rejected : below elevation mask
[2024-07-21T01:00:43Z DEBUG gnss_rtk::candidate] 2020-06-25T23:59:30 GPST (E36) clock correction: 542 μs 181 ns
[2024-07-21T01:00:43Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : signal propagation 90 ms 790 μs 885 ns
[2024-07-21T01:00:43Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : InterpolationResult { elevation: 8.249172508219768, azimuth: 224.11493634059758, position: [[26709802.332730424, -12750284.765831176, 32979.16199262782]], velocity: Some([[38.93977805622141, 81.56819686024849, 2.211835015017858]]) }
[2024-07-21T01:00:43Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E11) : relativistic clock bias: -7 μs 435 ns
[2024-07-21T01:00:43Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : relativistic clock bias: -7 μs 428 ns
[2024-07-21T01:00:43Z WARN  rinex_cli::positioning::ppp] 2020-06-25T23:59:30 GPST : pvt solver error "not enough candidates match pre-fit criteria"
[2024-07-21T01:00:43Z INFO  rinex_cli::positioning::ppp::post_process] "WORKSPACE/MOJN00DNK_R_20201770000_01D_30S_MO/Solutions.html" solutions generated
[2024-07-21T01:00:43Z INFO  rinex_cli::positioning::ppp::post_process] "WORKSPACE/MOJN00DNK_R_20201770000_01D_30S_MO/solutions.csv" generated

And:

$ RUST_BACKTRACE=1 RUST_LOG=debug cargo run --release --bin rinex-cli --all-features -- -f test_resources/CRNX/V3/MOJN00DNK_R_20201770000_01D_30S_MO.crx.gz -f test_resources/NAV/V3/MOJN00DNK_R_20201770000_01D_MN.rnx.gz -f test_resources/CLK/V3/GRG0MGXFIN_20201770000_01D_30S_CLK.CLK.gz -P GAL -P C1C,C5Q,L1C,L5Q -p
(...)
[2024-07-21T01:03:21Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E27) - InterpolationResult { elevation: -5.741507915391287, azimuth: 259.88067603566765, position: [[23046063.402616415, -18570026.994033705, -66857.83425769513]], velocity: None } rejected : below elevation mask
[2024-07-21T01:03:21Z DEBUG gnss_rtk::candidate] 2020-06-25T23:59:30 GPST (E36) clock correction: 542 μs 181 ns
[2024-07-21T01:03:21Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : signal propagation 90 ms 790 μs 885 ns
[2024-07-21T01:03:21Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : InterpolationResult { elevation: 8.249172508219768, azimuth: 224.11493634059758, position: [[26709802.332730424, -12750284.765831176, 32979.16199262782]], velocity: Some([[38.93977805622141, 81.56819686024849, 2.211835015017858]]) }
[2024-07-21T01:03:21Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E11) : relativistic clock bias: -7 μs 435 ns
[2024-07-21T01:03:21Z DEBUG gnss_rtk::solver] 2020-06-25T23:59:30 GPST (E36) : relativistic clock bias: -7 μs 428 ns
[2024-07-21T01:03:21Z WARN  rinex_cli::positioning::ppp] 2020-06-25T23:59:30 GPST : pvt solver error "not enough candidates match pre-fit criteria"
[2024-07-21T01:03:21Z INFO  rinex_cli::positioning::ppp::post_process] "WORKSPACE/MOJN00DNK_R_20201770000_01D_30S_MO/Solutions.html" solutions generated
[2024-07-21T01:03:21Z INFO  rinex_cli::positioning::ppp::post_process] "WORKSPACE/MOJN00DNK_R_20201770000_01D_30S_MO/solutions.csv" generated

@ChristopherRabotin
Fetch frame information from loaded Almanac
56bbdda 
This also switched to the embedded Almanac (using PCK11) to prevent the
need for internet connection at runtime (still required at build time to
download the planetary constants and ephemerides)
@ChristopherRabotin ChristopherRabotin mentioned this pull request Jul 21, 2024
Merged
@gwbres
Use SPEED_OF_LIGHT_M_S
6b7dd89 
Signed-off-by: Guillaume W. Bres <[email protected]>
@gwbres
Copy link
Contributor

gwbres commented Jul 24, 2024 •
edited
Loading

Thank you for helping us in taking the new steps to the latest tools.
We're on the road towards high accuracy, there are so many things we will be able to achieve.

Right now, I will double check how all the toolkit behaves against GEO vehicles.
I need to backport this fix to my current dev branch, hopefull I will be able to merge it soon, I have plenty of rework of the entire analysis capabilities, it should prove convenient to the entire community.

The gnss_rtk CI/CD is an entire topic, which has barely been investigated.
Having a CI/CD would probably not helped much either, because we have so many combination (activate this phenomenon, deactive this pheomenon, and so on..). But at least, I should be able to provide one or two navigation cases to make sure the contribution proposal do not degrade the performances too much (complex task..)

@gwbres gwbres merged commit 6821ba7 into rtk-rs:main Jul 24, 2024
1 check passed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@ChristopherRabotin @gwbres