Package com.irurueta.navigation.gnss

Class GNSSBiasesGenerator

java.lang.Object

com.irurueta.navigation.gnss.GNSSBiasesGenerator

public class GNSSBiasesGenerator
extends Object

Generates the GNSS range errors due to signal in space, ionosphere and troposphere errors based on the elevation angles. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Initialize_GNSS_biases.m

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	IONO_FACTOR	Ionosphere factor.
private static final double	TROPO_FACTOR	Troposphere factor.

Constructor Summary

Constructors

Modifier	Constructor	Description
private	GNSSBiasesGenerator()	Constructor.

Method Summary

Modifier and Type	Method	Description
private static double	generate(ECEFPosition satellitePosition, ECEFPosition userPosition, GNSSConfig config, com.irurueta.algebra.Matrix cen, Random random)	Generates bias.
private static void	generate(List<ECEFPosition> satellitePositions, ECEFPosition userPosition, double userLatitude, double userLongitude, GNSSConfig config, Random random, List<Double> result)	Generates biases.
static double	generateBias(ECEFPosition satellitePosition, ECEFPosition userPosition, GNSSConfig config, Random random)	Generates biases.
static List<Double>	generateBiases(List<ECEFPosition> satellitePositions, ECEFPosition userPosition, GNSSConfig config, Random random)	Generates biases.
static void	generateBiases(List<ECEFPosition> satellitePositions, ECEFPosition userPosition, GNSSConfig config, Random random, List<Double> result)	Generates biases.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

IONO_FACTOR

private static final double IONO_FACTOR

Ionosphere factor.

See Also:

• Constant Field Values

TROPO_FACTOR

private static final double TROPO_FACTOR

Troposphere factor.

See Also:

• Constant Field Values

Constructor Details

GNSSBiasesGenerator

private GNSSBiasesGenerator()

Constructor. Prevents instantiation of utility class.

Method Details

generateBiases

public static List<Double> generateBiases(List<ECEFPosition> satellitePositions,
 ECEFPosition userPosition,
 GNSSConfig config,
 Random random)

Generates biases.

Parameters:

satellitePositions - ECEF satellite positions expressed in meters (m).

userPosition - ECEF user position expressed in meters (m).

config - GNSS configuration.

random - random number generator.

Returns:

list of generated biases for each provided satellite position.

generateBiases

public static void generateBiases(List<ECEFPosition> satellitePositions,
 ECEFPosition userPosition,
 GNSSConfig config,
 Random random,
 List<Double> result)

Generates biases.

Parameters:

satellitePositions - ECEF satellite positions expressed in meters (m).

userPosition - ECEF user position expressed in meters (m).

config - GNSS configuration.

random - random number generator.

result - instance where generated biases for each provided satellite position will be stored.

generateBias

public static double generateBias(ECEFPosition satellitePosition,
 ECEFPosition userPosition,
 GNSSConfig config,
 Random random)

Generates biases.

Parameters:

satellitePosition - ECEF satellite positions expressed in meters (m).

userPosition - ECEF user position expressed in meters (m).

config - GNSS configuration.

random - random number generator.

Returns:

generated bias for provided satellite position.

generate

private static void generate(List<ECEFPosition> satellitePositions,
 ECEFPosition userPosition,
 double userLatitude,
 double userLongitude,
 GNSSConfig config,
 Random random,
 List<Double> result)

Generates biases.

Parameters:

satellitePositions - ECEF satellite positions expressed in meters (m).

userPosition - ECEF user position expressed in meters (m).

userLatitude - user latitude expressed in radians (rad).

userLongitude - user longitude expressed in radians (rad).

config - GNSS configuration.

random - random number generator.

result - instance where generated biases for each provided satellite position will be stored.

generate

private static double generate(ECEFPosition satellitePosition,
 ECEFPosition userPosition,
 GNSSConfig config,
 com.irurueta.algebra.Matrix cen,
 Random random)

Generates bias.

Parameters:

satellitePosition - ECEF satellite position expressed in meters (m).

userPosition - ECEF user position expressed in meters (m).

config - GNSS configuration.

cen - ECEF to NED coordinate transformation matrix.

random - random number generator.

Returns:

generated bias provided satellite position.