Refactor GNSS receiver

data/sample/initialize_files/components/gnss_receiver.ini

@@ -6,37 +6,32 @@ antenna_position_b_m(0) =  0.0125
 antenna_position_b_m(1) =  0.0000
 antenna_position_b_m(2) =  0.1815
 
-// Quaternion from body frame to component frame
+// Quaternion from body frame to component frame of the antenna
+// Note: The antenna boresight direction is +Z direction at the component frame
 quaternion_b2c(0) = 0.0
 quaternion_b2c(1) = 0.0
 quaternion_b2c(2) = 0.0
 quaternion_b2c(3) = 1.0
 
 // Antenna model
-// 0... simple model : GNSS sats are visible when antenna directs anti-earth direction
-// 1... cone model : GNSS sats visible when a sat is in a cone
-antenna_model = 0
+// SIMPLE: We assume that GNSS satellites are visible when antenna directs anti-earth direction
+// CONE: We calculate the number of GNSS satellites in the antenna,
+//       and the position is observable when more than 4 satellites are in the antenna.
+//       Note : We need to enable the GNSS satellite calculation when we use this mode.
+//              All satellites managed in the GnssSatellite class are used in this model.
+antenna_model = SIMPLE
 
 // Antenna half width [deg]
 antenna_half_width_deg = 60
 
-// Number of channels
-maximum_channel = 8
+// Random noise for simple position observation
+white_noise_standard_deviation_position_ecef_m(0) = 2000.0
+white_noise_standard_deviation_position_ecef_m(1) = 1000.0
+white_noise_standard_deviation_position_ecef_m(2) = 1500.0
 
-// GNSS ID 
-// G...GPS
-// R...GLONASS
-// E...Galileo
-// C...Beidou
-// J...QZSS
-// if your receiver is compatible with all kind of gnss satellites : GRECJ
-// if your receiver is compatible with GPS and QZSS : GJ
-gnss_id = G
-
-//Random noise [m]
-white_noise_standard_deviation_eci_m(0) = 10000.0
-white_noise_standard_deviation_eci_m(1) = 1000.0
-white_noise_standard_deviation_eci_m(2) = 1000.0
+white_noise_standard_deviation_velocity_ecef_m_s(0) = 1.0
+white_noise_standard_deviation_velocity_ecef_m_s(1) = 1.5
+white_noise_standard_deviation_velocity_ecef_m_s(2) = 2.0
 
 [POWER_PORT]
 minimum_voltage_V = 3.3

data/sample/initialize_files/sample_gnss.ini

@@ -1,67 +1,36 @@
 [GNSS_SATELLITES]
-directory_path = EXT_LIB_DIR_FROM_EXE/sp3/
+directory_path = INI_FILE_DIR_FROM_EXE/gnss/final_products/
 calculation = DISABLE
-
-// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
-true_position_file_sort = IGS
-
-// As small as possible within the range.
-true_position_first = igs21610.sp3
-true_position_last = igs21613.sp3
-
-// Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
-true_position_interpolation_method = 1
-
-// If you chose Trigonometric as interpolation method, you must choose odds number here.
-true_position_interpolation_number = 9
-
-// Choose frome .sp3, .clk_30s or .clk
-true_clock_file_extension = .clk_30s
-
-// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
-// If you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid.
-true_clock_file_sort = IGS
-
-// As small as possible within the range.
-true_clock_first = igs21610.clk_30s
-true_clock_last = igs21613.clk_30s
-// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
-true_clock_interpolation_number = 3
-
-//
-// Estimated value
-//
-// choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-estimate_position_file_sort = madocaRT
-
-// As small as possible within the range.
-estimate_position_first = madoca21610.sp3
-estimate_position_last = madoca21613.sp3
-
-// choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
-estimate_position_interpolation_method = 1
-
-// if you chose Trigonometric as interpolation method, you must choose odds number here.
-estimate_position_interpolation_number = 9
-
-// choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-estimate_clock_file_sort = madocaRT
-
-// choose frome .sp3, .clk_30s or .clk
-estimate_clock_file_extension = .sp3
-
-// As small as possible within the range.
-estimate_clock_first = madoca21610.sp3
-estimate_clock_last = madoca21613.sp3
-
-// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
-estimate_clock_interpolation_number = 3
-
-// when you use Ultra Rapid Product, you can choose "observe" or "predict"
-estimate_ur_observe_or_predict = observe
+logging = DISABLE
+
+// Supporting the following products
+// - IGS precise orbits and clocks final products for GPS and GLONASS
+//   - https://igs.org/products/#orbits_clocks
+// - MGEX precise orbits and clocks final products for all navigation satellite systems
+//   - https://igs.org/mgex/data-products/#orbit_clock
+// We use new long file name.
+// - Orbit file: [file_name_header]_YYYYDDD0000_01D_[orbit_data_period]_ORB.SP3
+// - Clock file: [file_name_header]_YYYYDDD0000_01D_[clock_file_name_hooter]
+//   - Users can also use clock information in the orbit SP3 file 
+
+// Header information of the reference files
+// Choose from ***0OPSFIN or ***0MGXFIN
+// ***: ID of the analysis center or IGS
+file_name_header = IGS0OPSFIN
+
+// Data period in the orbit reference files
+// - bbb: Period of the data in the file (ex. 15M = 15 mins.)
+orbit_data_period = 15M
+
+// Footer information of the clock reference files
+// bbb_ccc.ddd
+// - bbb: Period of the data in the file (ex. 15M = 15 mins.)
+// - ccc.ddd: ORB.SP3 or CLK.CLK
+clock_file_name_footer = 15M_ORB.SP3 // or 30S_CLK.CLK or 05M_CLK.CLK
+
+// Duration of the input product files
+// YYYYDDD
+//   - YYYY: Year
+//   - DDD: Day of year
+start_date = 2023126
+end_date = 2023129

scripts/Plot/plot_gnss_receiver.py

@@ -49,14 +49,14 @@
 # Read S2E CSV
 time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]')
 
-measured_position_eci_m = read_3d_vector_from_csv(read_file_name, 'gnss_receiver1_measured_position_eci', 'm')
-true_position_eci_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_i', 'm')
+measured_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'gnss_receiver1_measured_position_ecef', 'm')
+true_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_ecef', 'm')
 
 number_of_visible_satellites = read_scalar_from_csv(read_file_name, 'gnss_receiver1_number_of_visible_satellites')
 satellite_visible_flag = read_scalar_from_csv(read_file_name, 'gnss_receiver1_satellite_visible_flag')
 
 # Statistics
-error_m = measured_position_eci_m[:, 1:] - true_position_eci_m[:, 1:]
+error_m = measured_position_ecef_m[:, 1:] - true_position_ecef_m[:, 1:]
 average = [0.0, 0.0, 0.0]
 standard_deviation = [0.0, 0.0, 0.0]
 for i in range(3):
@@ -68,20 +68,20 @@
 #
 unit = ' m'
 fig, axis = plt.subplots(5, 1, squeeze = False, tight_layout = True, sharex = True)
-axis[0, 0].plot(time[0], measured_position_eci_m[0], marker=".", c="red",    label="MEASURED-X")
-axis[0, 0].plot(time[0], true_position_eci_m[0], marker=".", c="orange",  label="TRUE-X")
+axis[0, 0].plot(time[0], measured_position_ecef_m[0], marker=".", c="red",    label="MEASURED-X")
+axis[0, 0].plot(time[0], true_position_ecef_m[0], marker=".", c="orange",  label="TRUE-X")
 axis[0, 0].text(0.01, 0.99, "Error average:" + format(average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes)
 axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes)
 axis[0, 0].legend(loc = 'upper right')
 
-axis[1, 0].plot(time[0], measured_position_eci_m[1], marker=".", c="green",  label="MEASURED-Y")
-axis[1, 0].plot(time[0], true_position_eci_m[1], marker=".", c="yellow",  label="TRUE-Y")
+axis[1, 0].plot(time[0], measured_position_ecef_m[1], marker=".", c="green",  label="MEASURED-Y")
+axis[1, 0].plot(time[0], true_position_ecef_m[1], marker=".", c="yellow",  label="TRUE-Y")
 axis[1, 0].text(0.01, 0.99, "Error average:" + format(average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes)
 axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes)
 axis[1, 0].legend(loc = 'upper right')
 
-axis[2, 0].plot(time[0], measured_position_eci_m[2], marker=".", c="blue",   label="MEASURED-Z")
-axis[2, 0].plot(time[0], true_position_eci_m[2], marker=".", c="purple",  label="TRUE-Z")
+axis[2, 0].plot(time[0], measured_position_ecef_m[2], marker=".", c="blue",   label="MEASURED-Z")
+axis[2, 0].plot(time[0], true_position_ecef_m[2], marker=".", c="purple",  label="TRUE-Z")
 axis[2, 0].text(0.01, 0.99, "Error average:" + format(average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes)
 axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes)
 axis[2, 0].legend(loc = 'upper right')
@@ -94,7 +94,7 @@
 axis[4, 0].legend(loc = 'upper right')
 axis[4, 0].set_ylim(0, max(number_of_visible_satellites[0]) + 2)
 
-fig.suptitle("GNSS Receiver Spacecraft position @ ECI")
+fig.suptitle("GNSS Receiver Spacecraft position @ ECEF")
 fig.supylabel("Position [m]")
 fig.supxlabel("Time [s]")
 

scripts/Plot/plot_gnss_satellites.py

@@ -66,12 +66,12 @@
 plt.figure(1)
 for gps_idx in range(32):
   gps_str = 'GPS' + str(gps_idx)
-  clock = read_scalar_from_csv(read_file_name, gps_str + '_clock_offset[m]')
+  clock = read_scalar_from_csv(read_file_name, gps_str + '_clock_offset[s]')
   plt.plot(time[0], clock[0], marker=".", label=gps_str)
 
 plt.title("GPS Clock Offset")
 plt.xlabel("Time [s]")
-plt.ylabel("Clock Offset [m]")
+plt.ylabel("Clock Offset [s]")
 plt.legend(fontsize=7, loc="upper right")
 
 # Data save