//@Override
public void update(DMatrixRMaj _z, DMatrixRMaj _R)
{
// a fast way to make the matrices usable by SimpleMatrix
SimpleMatrix <DMatrixRMaj> z = SimpleMatrix <DMatrixRMaj> .wrap(_z);
SimpleMatrix <DMatrixRMaj> R = SimpleMatrix <DMatrixRMaj> .wrap(_R);
// y = z - H x
SimpleMatrix <DMatrixRMaj> y = z.minus(H.mult(x)) as SimpleMatrix <DMatrixRMaj>;
// S = H P H' + R
SimpleMatrix <DMatrixRMaj> S = H.mult(P).mult(H.transpose()).plus(R) as SimpleMatrix <DMatrixRMaj>;
// K = PH'S^(-1)
SimpleMatrix <DMatrixRMaj> K = P.mult(H.transpose().mult(S.invert())) as SimpleMatrix <DMatrixRMaj>;
// x = x + Ky
x = x.plus(K.mult(y)) as SimpleMatrix <DMatrixRMaj>;
// P = (I-kH)P = P - KHP
P = P.minus(K.mult(H).mult(P)) as SimpleMatrix <DMatrixRMaj>;
}
public override Coordinates <Matrix> calculatePose(Constellation constellation)
{
int CONSTELLATION_SIZE = constellation.getUsedConstellationSize();
// Initialize matrices for data storage
SimpleMatrix <Matrix> rxPosSimpleVector = Constellation.getRxPosAsVector(constellation.getRxPos());
SimpleMatrix <Matrix> satPosMat = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 3);
SimpleMatrix <Matrix> tropoCorr = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> svClkBias = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> ionoCorr = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> shapiroCorr = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> sigma2 = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> prVect = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1);
SimpleMatrix <Matrix> vcvMeasurement;
SimpleMatrix <Matrix> PDOP = new SimpleMatrix <Matrix>(1, 1);
double elevation, measVar, measVarC1;
int CN0;
TopocentricCoordinates <Matrix> topo = new TopocentricCoordinates <Matrix>();
Coordinates <Matrix> origin; // = new Coordinates<Matrix>(){};
Coordinates <Matrix> target; // = new Coordinates<Matrix>(){};
///////////////////////////// SV Coordinates<Matrix>/velocities + PR corrections computation ////////////////////////////////////////////////////
try
{
for (int ii = 0; ii < CONSTELLATION_SIZE; ii++)
{
// Set the measurements into a vector
prVect.set(ii, constellation.getSatellite(ii).getPseudorange());
// Compute the satellite Coordinates<Matrix>
svClkBias.set(ii, constellation.getSatellite(ii).getClockBias());
///////////////////////////// PR corrections computations ////////////////////////////////////////////////////
// Assign the computed SV Coordinates<Matrix> into a matrix
satPosMat.set(ii, 0, constellation.getSatellite(ii).getSatellitePosition().getX());
satPosMat.set(ii, 1, constellation.getSatellite(ii).getSatellitePosition().getY());
satPosMat.set(ii, 2, constellation.getSatellite(ii).getSatellitePosition().getZ());
// Compute the elevation and azimuth angles for each satellite
origin = Coordinates <Matrix> .globalXYZInstance(rxPosSimpleVector.get(0), rxPosSimpleVector.get(1), rxPosSimpleVector.get(2));
target = Coordinates <Matrix> .globalXYZInstance(satPosMat.get(ii, 0), satPosMat.get(ii, 1), satPosMat.get(ii, 2));
// origin.setXYZ(rxPosSimpleVector.get(0), rxPosSimpleVector.get(1),rxPosSimpleVector.get(2));
// target.setXYZ(satPosMat.get(ii, 0),satPosMat.get(ii, 1),satPosMat.get(ii, 2) );
topo.computeTopocentric(origin, target);
elevation = topo.getElevation() * (Math.PI / 180.0);
// Set the variance of the measurement for each satellite
measVar = sigma2Meas * Math.Pow(a + b * Math.Exp(-elevation / 10.0), 2);
sigma2.set(ii, measVar);
///////////////////////////// Printing results ////////////////////////////////////////////////////
// Print the computed satellite Coordinates<Matrix> \ velocities
/*
* System.out.println();
* System.out.println();
* System.out.println("The GPS ECEF Coordinates<Matrix> of " + "SV" + constellation.getSatellite(ii).getSatId() + " are:");
* System.out.printf("%.4f", satPosMat.get(ii, 0));
* System.out.println();
* System.out.printf("%.4f", satPosMat.get(ii, 1));
* System.out.println();
* System.out.printf("%.4f", satPosMat.get(ii, 2));
* System.out.println();
* System.out.printf("Tropo corr: %.4f", tropoCorr.get(ii));
* System.out.println();
* System.out.printf("Iono corr: %.4f", ionoCorr.get(ii));
* System.out.println();
*/
//System.out.printf("Shapiro corr: %.4f", shapiroCorr.get(ii));
}
}
catch (Exception e)
{
//e.printStackTrace();
//if (e.getClass() == IndexOutOfBoundsException.class){
// Log.e(TAG, "calculatePose: Satellites cleared before calculating result!");
//}
constellation.setRxPos(ZERO_POSE); // Right at the edge of the plot
rxPosSimpleVector = Constellation.getRxPosAsVector(constellation.getRxPos());
return(Coordinates <Matrix> .globalXYZInstance(rxPosSimpleVector.get(0), rxPosSimpleVector.get(1), rxPosSimpleVector.get(2)));
}
/*
* [WEIGHTED LEAST SQUARES] Determination of the position + clock bias
*/
try
{
// VCV matrix of the pseudorange measurements
vcvMeasurement = ((SimpleBase <SimpleMatrix <Matrix>, Matrix>)sigma2).diag();
SimpleMatrix <Matrix> W = vcvMeasurement.invert();
// Initialization of the required matrices and vectors
SimpleMatrix <Matrix> xHat = new SimpleMatrix <Matrix>(4, 1); // vector holding the WLS estimates
SimpleMatrix <Matrix> z = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1); // observation vector
SimpleMatrix <Matrix> H = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 4); // observation matrix
SimpleMatrix <Matrix> distPred = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1); // predicted distances
SimpleMatrix <Matrix> measPred = new SimpleMatrix <Matrix>(CONSTELLATION_SIZE, 1); // predicted measurements
// Start the estimation (10 loops)
for (int iter = 0; iter < NUMBER_OF_ITERATIONS; iter++)
{
// Calculation of the components within the observation matrix (H)
for (int k = 0; k < CONSTELLATION_SIZE; k++)
{
// Computation of the geometric distance
distPred.set(k, Math.Sqrt(
Math.Pow(satPosMat.get(k, 0) - rxPosSimpleVector.get(0), 2)
+ Math.Pow(satPosMat.get(k, 1) - rxPosSimpleVector.get(1), 2)
+ Math.Pow(satPosMat.get(k, 2) - rxPosSimpleVector.get(2), 2)
));
// Measurement prediction
measPred.set(k, distPred.get(k)
+ constellation.getSatellite(k).getAccumulatedCorrection() - svClkBias.get(k));
// Compute the observation matrix (H)
H.set(k, 0, (constellation.getRxPos().getX() - satPosMat.get(k, 0)) / distPred.get(k));
H.set(k, 1, (constellation.getRxPos().getY() - satPosMat.get(k, 1)) / distPred.get(k));
H.set(k, 2, (constellation.getRxPos().getZ() - satPosMat.get(k, 2)) / distPred.get(k));
H.set(k, 3, 1.0);
}
// Compute the prefit vector (z)
z.set(prVect.minus(measPred));
// Estimate the unknowns (dxHat)
SimpleMatrix <Matrix> Cov = H.transpose().mult(W).mult(H);
SimpleMatrix <Matrix> CovDOP = H.transpose().mult(H);
SimpleMatrix <Matrix> dopMatrix = CovDOP.invert();
xHat.set(Cov.invert().mult(H.transpose()).mult(W).mult(z));
PDOP.set(Math.Sqrt(dopMatrix.get(0, 0) + dopMatrix.get(1, 1)));
// Update the receiver position
// rxPosSimpleVector.set(rxPosSimpleVector.plus(xHat));
rxPosSimpleVector.set(0, rxPosSimpleVector.get(0) + xHat.get(0));
rxPosSimpleVector.set(1, rxPosSimpleVector.get(1) + xHat.get(1));
rxPosSimpleVector.set(2, rxPosSimpleVector.get(2) + xHat.get(2));
rxPosSimpleVector.set(3, xHat.get(3));
}
clockBias = rxPosSimpleVector.get(3);
}
catch (Exception e)
{
//if (e.getClass() == IndexOutOfBoundsException.class){
// Log.e(TAG, "calculatePose: Satellites cleared before calculating result!");
//} else if (e.getClass() == SingularMatrixException.class) {
// Log.e(TAG, "calculatePose: SingularMatrixException caught!");
//}
constellation.setRxPos(ZERO_POSE); // Right at the edge of the plot
rxPosSimpleVector = Constellation.getRxPosAsVector(constellation.getRxPos());
//e.printStackTrace();
}
//System.out.println();
// Print the estimated receiver position
// rxPosSimpleVector.print();
Log.Debug(TAG, "calculatePose: rxPosSimpleVector (ECEF): " + rxPosSimpleVector.get(0) + ", " + rxPosSimpleVector.get(1) + ", " + rxPosSimpleVector.get(2) + ";");
Coordinates <Matrix> pose = Coordinates <Matrix> .globalXYZInstance(rxPosSimpleVector.get(0), rxPosSimpleVector.get(1), rxPosSimpleVector.get(2));
Log.Debug(TAG, "calculatePose: pose (ECEF): " + pose.getX() + ", " + pose.getY() + ", " + pose.getZ() + ";");
Log.Debug(TAG, "calculatePose: pose (lat-lon): " + pose.getGeodeticLatitude() + ", " + pose.getGeodeticLongitude() + ", " + pose.getGeodeticHeight() + ";");
Log.Debug(TAG, "calculated PDOP:" + PDOP.get(0) + ";");
return(pose);
}