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feat(gps): expose Doppler and signal quality measurements

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onur
2026-07-25 11:30:38 +03:00
parent 64860d1ced
commit b2ca7db633
26 changed files with 2042 additions and 59 deletions
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soc/software/gps_system/header/gps/NavEquations.h
+10 -1
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@@ -9,6 +9,10 @@
typedef struct gps_nav_solution {
double ecef_m[3];
double clock_bias_m;
double velocity_ecef_mps[3];
double clock_drift_mps;
double speed_mps;
double velocity_residual_rms_mps;
double latitude_deg;
double longitude_deg;
double height_m;
@@ -25,6 +29,9 @@
double postfit_residual_m[GPS_TRCK_IP_COUNT];
double elevation_deg[GPS_TRCK_IP_COUNT];
double measurement_sigma_m[GPS_TRCK_IP_COUNT];
double cn0_dbhz[GPS_TRCK_IP_COUNT];
double doppler_hz[GPS_TRCK_IP_COUNT];
double pseudorange_rate_mps[GPS_TRCK_IP_COUNT];
double full_postfit_residual_m[GPS_TRCK_IP_COUNT];
double full_elevation_deg[GPS_TRCK_IP_COUNT];
double full_measurement_sigma_m[GPS_TRCK_IP_COUNT];
@@ -55,10 +62,11 @@
bool chi_square_pass;
bool fde_applied;
bool solution_valid;
bool velocity_valid;
} gps_nav_solution_t;
void satpos(gps_ephemeris_t* eph, double* pos, double* vel, double* clk, double* clockCorr);
void computeRange(double* psTVLTime, unsigned char sat_no, range_t* rho, gps_ephemeris_t* eph, ionoutc_t* ionoutc, double* xyz, t_temp_pos* tempPos, double* clockCorr, mat_type *satellitePositions, mat_type * velocities);
void computeRange(double* psTVLTime, unsigned char sat_no, range_t* rho, gps_ephemeris_t* eph, ionoutc_t* ionoutc, double* xyz, t_temp_pos* tempPos, double* clockCorr, double* clockDrift, mat_type *satellitePositions, mat_type * velocities);
double check_t(long double tkl);
void subVect(double* y, const double* x1, const double* x2);
double normVect(const double* x);
@@ -66,6 +74,7 @@
bool leastSquaresSTD(mat_type* satpos, mat_type* obs, int ActiveSatellitesNumber,
mat_type * az, mat_type * el,
const unsigned char* ura_indices,
const double* cn0_dbhz,
const ionoutc_t* ionoutc, double gps_tow,
gps_nav_solution_t* solution_out);
void rotateSatelliteSTD(double const traveltime, const mat_type* X_sat, mat_type* X_sat_rot);