Develop (#188)

* plot speed vectors * bump clap to latest * v0.3.0: lsq-spp * run linter --------- Signed-off-by: Guillaume W. Bres <[email protected]>
georust · Nov 30, 2023 · c6f21bd · c6f21bd
1 parent 2be6e55
commit c6f21bd
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diff --git a/crx2rnx/Cargo.toml b/crx2rnx/Cargo.toml
@@ -11,5 +11,5 @@ edition = "2021"
 readme = "README.md"
 
 [dependencies]
-clap = { version = "4.4.8", features = ["derive", "color"] }
+clap = { version = "4.4.10", features = ["derive", "color"] }
 rinex = { path = "../rinex", version = "=0.15.1", features = ["serde"] }
diff --git a/rinex-cli/Cargo.toml b/rinex-cli/Cargo.toml
@@ -28,7 +28,7 @@ map_3d = "0.1.5"
 # ndarray = "0.15"
 colorous = "1.0"
 horrorshow = "0.8"
-clap = { version = "4.4.8", features = ["derive", "color"] }
+clap = { version = "4.4.10", features = ["derive", "color"] }
 hifitime = { version = "3.8.4", features = ["serde", "std"] }
 gnss-rs = { version = "2.1.2" , features = ["serde"] }
 rinex = { path = "../rinex", version = "=0.15.1", features = ["full"] }
@@ -41,6 +41,6 @@ plotly =  "0.8.4"
 # plotly = { git = "https://github.com/gwbres/plotly", branch = "density-mapbox" }
 
 # solver
-gnss-rtk = { version = "0.2.2", features = ["serde"] }
+gnss-rtk = { version = "0.3.0", features = ["serde"] }
 # gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "develop", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
diff --git a/rinex-cli/src/cli.rs b/rinex-cli/src/cli.rs
@@ -1,11 +1,14 @@
 use clap::{Arg, ArgAction, ArgMatches, ColorChoice, Command};
-use gnss_rtk::prelude::Config;
 use log::{error, info};
-use rinex::prelude::*;
-use rinex_qc::QcOpts;
+
 use std::path::Path;
 use std::str::FromStr;
 
+use rinex::prelude::*;
+use rinex_qc::QcOpts;
+
+use gnss_rtk::prelude::{Config, Mode as SolverMode};
+
 pub struct Cli {
     /// Arguments passed by user
     matches: ArgMatches,
@@ -238,13 +241,23 @@ The summary report by default is integrated to the global HTML report."))
                     .arg(Arg::new("spp")
                         .long("spp")
                         .conflicts_with("ppp")
+                        .conflicts_with("lsqspp")
                         .action(ArgAction::SetTrue)
                         .help("Enable Single Point Positioning.
 Use with ${RUST_LOG} env logger for more information.
+Refer to the positioning documentation."))
+                    .arg(Arg::new("lsqspp")
+                        .long("lsqspp")
+                        .conflicts_with("ppp")
+                        .conflicts_with("spp")
+                        .action(ArgAction::SetTrue)
+                        .help("Recursive Weighted Least Square SPP strategy.
+Use with ${RUST_LOG} env logger for more information.
 Refer to the positioning documentation."))
                     .arg(Arg::new("ppp")
                         .long("ppp")
                         .conflicts_with("spp")
+                        .conflicts_with("lsqspp")
                         .action(ArgAction::SetTrue)
                         .help("Enable Precise Point Positioning.
 Use with ${RUST_LOG} env logger for more information.
@@ -440,12 +453,22 @@ Primary RINEX was either loaded with `-f`, or is Observation RINEX loaded with `
     pub fn quiet(&self) -> bool {
         self.matches.get_flag("quiet")
     }
-    /// Returns true if SPP position solver is enabled
-    pub fn spp(&self) -> bool {
-        self.matches.get_flag("spp")
+    /* returns RTK solver mode to implement */
+    pub fn solver_mode(&self) -> Option<SolverMode> {
+        if self.matches.get_flag("spp") {
+            Some(SolverMode::SPP)
+        } else if self.matches.get_flag("lsqspp") {
+            Some(SolverMode::LSQSPP)
+        } else if self.matches.get_flag("ppp") {
+            Some(SolverMode::PPP)
+        } else {
+            None
+        }
     }
-    pub fn ppp(&self) -> bool {
+    pub fn positioning(&self) -> bool {
         self.matches.get_flag("spp")
+            || self.matches.get_flag("lsqspp")
+            || self.matches.get_flag("ppp")
     }
     pub fn positioning_only(&self) -> bool {
         self.matches.get_flag("pos-only")

diff --git a/rinex-cli/src/main.rs b/rinex-cli/src/main.rs
@@ -241,7 +241,7 @@ pub fn main() -> Result<(), Error> {
     let qc = cli.quality_check() || qc_only;
 
     let positioning_only = cli.positioning_only();
-    let positioning = cli.spp() || cli.ppp() || positioning_only;
+    let positioning = cli.positioning() || positioning_only;
 
     if !positioning {
         warn!("position solver currently turned off");

diff --git a/rinex-cli/src/positioning/post_process.rs b/rinex-cli/src/positioning/post_process.rs
@@ -81,7 +81,7 @@ pub fn post_process(
             true, // show legend
             MapboxStyle::OpenStreetMap,
             (lat_ddeg, lon_ddeg), //center
-            15,                   // zoom in!!
+            18,                   // zoom in!!
         );
 
         let ref_scatter = ScatterMapbox::new(vec![lat_ddeg], vec![lon_ddeg])
@@ -128,20 +128,47 @@ pub fn post_process(
         );
         plot_ctx.add_trace(trace);
 
+        plot_ctx.add_cartesian2d_2y_plot("Velocity (X & Y)", "Speed [m/s]", "Speed [m/s]");
+        let trace = build_chart_epoch_axis(
+            "velocity (x)",
+            Mode::Markers,
+            epochs.clone(),
+            results.values().map(|p| p.v.x).collect::<Vec<f64>>(),
+        );
+        plot_ctx.add_trace(trace);
+
+        let trace = build_chart_epoch_axis(
+            "velocity (y)",
+            Mode::Markers,
+            epochs.clone(),
+            results.values().map(|p| p.v.y).collect::<Vec<f64>>(),
+        )
+        .y_axis("y2");
+        plot_ctx.add_trace(trace);
+
+        plot_ctx.add_cartesian2d_plot("Velocity (Z)", "Speed [m/s]");
+        let trace = build_chart_epoch_axis(
+            "velocity (z)",
+            Mode::Markers,
+            epochs.clone(),
+            results.values().map(|p| p.v.z).collect::<Vec<f64>>(),
+        );
+        plot_ctx.add_trace(trace);
+
         plot_ctx.add_cartesian2d_2y_plot("HDOP, VDOP", "HDOP [m]", "VDOP [m]");
         let trace = build_chart_epoch_axis(
             "hdop",
             Mode::Markers,
             epochs.clone(),
-            results.values().map(|e| e.hdop).collect::<Vec<f64>>(),
+            results.values().map(|e| e.hdop()).collect::<Vec<f64>>(),
         );
         plot_ctx.add_trace(trace);
 
         let trace = build_chart_epoch_axis(
             "vdop",
             Mode::Markers,
             epochs.clone(),
-            results.values().map(|e| e.vdop).collect::<Vec<f64>>(),
+            results.values().map(|e| e.vdop()).collect::<Vec<f64>>(),
         )
         .y_axis("y2");
         plot_ctx.add_trace(trace);
@@ -159,7 +186,7 @@ pub fn post_process(
             "tdop",
             Mode::Markers,
             epochs.clone(),
-            results.values().map(|e| e.tdop).collect::<Vec<f64>>(),
+            results.values().map(|e| e.tdop()).collect::<Vec<f64>>(),
         )
         .y_axis("y2");
         plot_ctx.add_trace(trace);
@@ -185,23 +212,26 @@ pub fn post_process(
 
     writeln!(
         fd,
-        "Epoch, dx, dy, dz, x_ecef, y_ecef, z_ecef, hdop, vdop, rcvr_clock_bias, tdop"
+        "Epoch, dx, dy, dz, x_ecef, y_ecef, z_ecef, speed_x, speed_y, speed_z, hdop, vdop, rcvr_clock_bias, tdop"
     )?;
 
     for (epoch, solution) in results {
         let (px, py, pz) = (x + solution.p.x, y + solution.p.y, z + solution.p.z);
         let (lat, lon, alt) = map_3d::ecef2geodetic(px, py, pz, map_3d::Ellipsoid::WGS84);
-        let (hdop, vdop, tdop) = (solution.hdop, solution.vdop, solution.tdop);
+        let (hdop, vdop, tdop) = (solution.hdop(), solution.vdop(), solution.tdop());
         writeln!(
             fd,
-            "{:?}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}",
+            "{:?}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}, {:.6E}",
             epoch,
             solution.p.x,
             solution.p.y,
             solution.p.z,
             px,
             py,
             pz,
+            solution.v.x,
+            solution.v.y,
+            solution.v.z,
             hdop,
             vdop,
             solution.dt,
@@ -240,7 +270,7 @@ pub fn post_process(
                         attrs: HashMap::new(),
                     }))
                 },
-                attrs: [(String::from("TDOP"), format!("{:.6E}", solution.tdop))]
+                attrs: [(String::from("TDOP"), format!("{:.6E}", solution.tdop()))]
                     .into_iter()
                     .collect(),
                 children: vec![],

diff --git a/rinex-cli/src/positioning/solver.rs b/rinex-cli/src/positioning/solver.rs
@@ -143,22 +143,18 @@ fn ng_model(nav: &Rinex, t: Epoch) -> Option<NgModel> {
 
 pub fn solver(ctx: &mut RnxContext, cli: &Cli) -> Result<BTreeMap<Epoch, PVTSolution>, Error> {
     // custom strategy
-    let rtk_mode = match cli.spp() {
-        true => {
-            info!("single point positioning opmode");
-            Mode::SPP
-        },
-        false => {
-            info!("precise point positioning opmode");
-            //TODO: verify feasiblity here, otherwise panic
-            Mode::PPP
-        },
+    let mode = cli.solver_mode().unwrap(); // infaillible
+
+    match mode {
+        Mode::SPP => info!("single point positioning"),
+        Mode::LSQSPP => info!("recursive lsq single point positioning"),
+        Mode::PPP => info!("precise point positioning"),
     };
 
     // parse custom config, if any
     let cfg = match cli.config() {
         Some(cfg) => cfg,
-        None => Config::default(rtk_mode),
+        None => Config::default(mode),
     };
 
     let pos = match cli.manual_position() {
@@ -195,7 +191,7 @@ pub fn solver(ctx: &mut RnxContext, cli: &Cli) -> Result<BTreeMap<Epoch, PVTSolu
     let meteo_data = ctx.meteo_data();
 
     let mut solver = Solver::new(
-        rtk_mode,
+        mode,
         apriori,
         &cfg,
         /* state vector interpolator */

diff --git a/rnx2cggtts/Cargo.toml b/rnx2cggtts/Cargo.toml
@@ -21,7 +21,7 @@ serde_json = "1"
 map_3d = "0.1.5"
 env_logger = "0.10"
 gnss-rs = { version = "2.1.2" , features = ["serde"] }
-clap = { version = "4.4.8", features = ["derive", "color"] }
+clap = { version = "4.4.10", features = ["derive", "color"] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 rinex = { path = "../rinex", version = "=0.15.1", features = ["full"] }
 
@@ -31,6 +31,6 @@ cggtts = { version = "4.0.1", features = ["serde", "scheduler"] }
 # cggtts = { path = "../../cggtts/cggtts", features = ["serde", "scheduler"] }
 
 # solver
-gnss-rtk = { version = "0.2.2", features = ["serde"] }
+gnss-rtk = { version = "0.3.0", features = ["serde"] }
 # gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "develop", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
diff --git a/rnx2cggtts/src/cli.rs b/rnx2cggtts/src/cli.rs
@@ -10,8 +10,8 @@ pub struct Cli {
 }
 
 use cggtts::{prelude::ReferenceTime, track::Scheduler};
+use gnss_rtk::prelude::{Config, Mode as SolverMode};
 use rinex::prelude::*;
-use rtk::prelude::Config;
 
 impl Cli {
     /// Build new command line interface
@@ -108,8 +108,14 @@ This is the delay induced by the cable on the external ref clock. Specify it in
 						.help("Pass Positioning configuration, refer to README."))
                     .arg(Arg::new("spp")
                         .long("spp")
+                        .conflicts_with("ppp")
                         .action(ArgAction::SetTrue)
-                        .help("Force solving strategy to SPP."))
+                        .help("Force solving strategy to SPP (default is LSQSPP)."))
+                    .arg(Arg::new("ppp")
+                        .long("ppp")
+                        .conflicts_with("spp")
+                        .action(ArgAction::SetTrue)
+                        .help("Force solving strategy to PPP (default is LSQSPP)."))
                 .next_help_heading("Preprocessing")
                     .arg(Arg::new("gps-filter")
                         .short('G')
@@ -196,8 +202,20 @@ Refer to rinex-cli Preprocessor documentation for more information"))
     fn get_flag(&self, flag: &str) -> bool {
         self.matches.get_flag(flag)
     }
-    pub fn spp(&self) -> bool {
+    /* returns RTK solver mode to implement */
+    pub fn solver_mode(&self) -> SolverMode {
+        if self.matches.get_flag("spp") {
+            SolverMode::SPP
+        } else if self.matches.get_flag("ppp") {
+            SolverMode::PPP
+        } else {
+            SolverMode::LSQSPP
+        }
+    }
+    pub fn positioning(&self) -> bool {
         self.matches.get_flag("spp")
+            || self.matches.get_flag("lsqspp")
+            || self.matches.get_flag("ppp")
     }
     /// Returns the manualy defined RFDLY (in nanoseconds!)
     pub fn rf_delay(&self) -> Option<HashMap<Observable, f64>> {

diff --git a/rnx2cggtts/src/solver.rs b/rnx2cggtts/src/solver.rs
@@ -186,18 +186,17 @@ pub fn resolve(ctx: &mut RnxContext, cli: &Cli) -> Result<Vec<Track>, Error> {
     info!("tracking duration set to {}", trk_duration);
 
     // custom strategy
-    let rtk_mode = match cli.spp() {
-        true => {
-            info!("spp position solver");
-            Mode::SPP
-        },
-        false => Mode::SPP, //TODO
+    let mode = cli.solver_mode();
+    match mode {
+        Mode::SPP => info!("single point positioning"),
+        Mode::LSQSPP => info!("recursive lsq single point positioning"),
+        Mode::PPP => info!("precise point positioning"),
     };
 
     // parse custom config, if any
     let cfg = match cli.config() {
         Some(cfg) => cfg,
-        None => Config::default(rtk_mode),
+        None => Config::default(mode),
     };
 
     let pos = match cli.manual_apc() {
@@ -238,7 +237,7 @@ pub fn resolve(ctx: &mut RnxContext, cli: &Cli) -> Result<Vec<Track>, Error> {
     let meteo_data = ctx.meteo_data();
 
     let mut solver = Solver::new(
-        rtk_mode,
+        mode,
         apriori,
         &cfg,
         /* state vector interpolator */

diff --git a/rnx2crx/Cargo.toml b/rnx2crx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rnx2crx"
-version = "1.1.1"
+version = "1.1.2"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "RINEX data compressor"
@@ -14,5 +14,5 @@ readme = "README.md"
 [dependencies]
 chrono = "0.4"
 thiserror = "1"
-clap = { version = "4.4.8", features = ["derive", "color"] }
+clap = { version = "4.4.10", features = ["derive", "color"] }
 rinex = { path = "../rinex", version = "=0.15.1", features = ["serde"] }
diff --git a/ublox-rnx/Cargo.toml b/ublox-rnx/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "ublox-rnx"
-version = "0.1.2"
+version = "0.1.3"
 license = "MIT OR Apache-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "Efficient RINEX production from a Ublox GNSS receiver"
@@ -12,7 +12,6 @@ edition = "2021"
 readme = "README.md"
 
 [dependencies]
-clap = "4"
 log = "0.4"
 pretty_env_logger = "0.5"
 chrono = "0.4.30"
@@ -21,5 +20,6 @@ thiserror = "1"
 serde_json = "1.0"
 serialport = "4.2.0"
 ublox = "0.4.4"
+clap = { version = "4.4.10", features = ["derive", "color"] }
 gnss-rs = { version = "2.1.2", features = ["serde"] }
 rinex = { path = "../rinex", version = "=0.15.1", features = ["serde", "nav", "obs"] }