From 3203504a28c72cf9823f1864b46b8692cf7979ec Mon Sep 17 00:00:00 2001 From: Hoss Zhou Date: Tue, 27 Nov 2018 15:00:57 +0800 Subject: [PATCH] PZ90 datum support add a configuration DATUM_TYPE in gps.conf to configure datum type. Default datum type is WGS84. Change-Id: Ia8404aa5cf6d49741b9f487f8b086abd095f21ea CRs-fixed: 2338883 --- etc/gps.conf | 7 + utils/loc_cfg.cpp | 25 ++++ utils/loc_cfg.h | 2 +- utils/loc_nmea.cpp | 311 +++++++++++++++++++++++++++++++++++++++++++-- utils/loc_nmea.h | 37 ++++++ 5 files changed, 368 insertions(+), 14 deletions(-) diff --git a/etc/gps.conf b/etc/gps.conf index 2f2e5ca6..e5be3858 100644 --- a/etc/gps.conf +++ b/etc/gps.conf @@ -95,6 +95,13 @@ CAPABILITIES=0x37 # 3: Enable both LPP_User_Plane and LPP_Control_Plane LPP_PROFILE = 2 +#################################### +#Datum Type +#################################### +# 0: WGS-84 +# 1: PZ-90 +DATUM_TYPE = 0 + ################################ # EXTRA SETTINGS ################################ diff --git a/utils/loc_cfg.cpp b/utils/loc_cfg.cpp index 71dfc665..3676bd58 100644 --- a/utils/loc_cfg.cpp +++ b/utils/loc_cfg.cpp @@ -57,12 +57,14 @@ /* Parameter data */ static uint32_t DEBUG_LEVEL = 0xff; static uint32_t TIMESTAMP = 0; +static uint32_t DATUM_TYPE = 0; /* Parameter spec table */ static const loc_param_s_type loc_param_table[] = { {"DEBUG_LEVEL", &DEBUG_LEVEL, NULL, 'n'}, {"TIMESTAMP", &TIMESTAMP, NULL, 'n'}, + {"DATUM_TYPE", &DATUM_TYPE, NULL, 'n'}, }; static const int loc_param_num = sizeof(loc_param_table) / sizeof(loc_param_s_type); @@ -85,6 +87,29 @@ const char LOC_PATH_APDR_CONF[] = LOC_PATH_APDR_CONF_STR; const char LOC_PATH_XTWIFI_CONF[] = LOC_PATH_XTWIFI_CONF_STR; const char LOC_PATH_QUIPC_CONF[] = LOC_PATH_QUIPC_CONF_STR; +/*=========================================================================== +FUNCTION loc_get_datum_type + +DESCRIPTION + get datum type + +PARAMETERS: + N/A + +DEPENDENCIES + N/A + +RETURN VALUE + DATUM TYPE + +SIDE EFFECTS + N/A +===========================================================================*/ +int loc_get_datum_type() +{ + return DATUM_TYPE; +} + /*=========================================================================== FUNCTION loc_set_config_entry diff --git a/utils/loc_cfg.h b/utils/loc_cfg.h index a8bdaede..aa001480 100644 --- a/utils/loc_cfg.h +++ b/utils/loc_cfg.h @@ -132,7 +132,7 @@ extern const char LOC_PATH_QUIPC_CONF[]; int loc_read_process_conf(const char* conf_file_name, uint32_t * process_count_ptr, loc_process_info_s_type** process_info_table_ptr); - +int loc_get_datum_type(); #ifdef __cplusplus } #endif diff --git a/utils/loc_nmea.cpp b/utils/loc_nmea.cpp index b4de6dba..e9a8f848 100644 --- a/utils/loc_nmea.cpp +++ b/utils/loc_nmea.cpp @@ -33,6 +33,7 @@ #include #include #include +#include #define GLONASS_SV_ID_OFFSET 64 #define MAX_SATELLITES_IN_USE 12 @@ -113,6 +114,126 @@ typedef struct loc_sv_cache_info_s float vdop; } loc_sv_cache_info; +/*=========================================================================== +FUNCTION convert_Lla_to_Ecef + +DESCRIPTION + Convert LLA to ECEF + +DEPENDENCIES + NONE + +RETURN VALUE + NONE + +SIDE EFFECTS + N/A + +===========================================================================*/ +static void convert_Lla_to_Ecef(const LocLla& plla, LocEcef& pecef) +{ + double r; + + r = MAJA / sqrt(1.0 - ESQR * sin(plla.lat) * sin(plla.lat)); + pecef.X = (r + plla.alt) * cos(plla.lat) * cos(plla.lon); + pecef.Y = (r + plla.alt) * cos(plla.lat) * sin(plla.lon); + pecef.Z = (r * OMES + plla.alt) * sin(plla.lat); +} + +/*=========================================================================== +FUNCTION convert_WGS84_to_PZ90 + +DESCRIPTION + Convert datum from WGS84 to PZ90 + +DEPENDENCIES + NONE + +RETURN VALUE + NONE + +SIDE EFFECTS + N/A + +===========================================================================*/ +static void convert_WGS84_to_PZ90(const LocEcef& pWGS84, LocEcef& pPZ90) +{ + double deltaX = DatumConstFromWGS84[0]; + double deltaY = DatumConstFromWGS84[1]; + double deltaZ = DatumConstFromWGS84[2]; + double deltaScale = DatumConstFromWGS84[3]; + double rotX = DatumConstFromWGS84[4]; + double rotY = DatumConstFromWGS84[5]; + double rotZ = DatumConstFromWGS84[6]; + + pPZ90.X = deltaX + deltaScale * (pWGS84.X + rotZ * pWGS84.Y - rotY * pWGS84.Z); + pPZ90.Y = deltaY + deltaScale * (pWGS84.Y - rotZ * pWGS84.X + rotX * pWGS84.Z); + pPZ90.Z = deltaZ + deltaScale * (pWGS84.Z + rotY * pWGS84.X - rotX * pWGS84.Y); +} + +/*=========================================================================== +FUNCTION convert_Ecef_to_Lla + +DESCRIPTION + Convert ECEF to LLA + +DEPENDENCIES + NONE + +RETURN VALUE + NONE + +SIDE EFFECTS + N/A + +===========================================================================*/ +static void convert_Ecef_to_Lla(const LocEcef& pecef, LocLla& plla) +{ + double p, r; + double EcefA = C_PZ90A; + double EcefB = C_PZ90B; + double Ecef1Mf; + double EcefE2; + double Mu; + double Smu; + double Cmu; + double Phi; + double Sphi; + double N; + + p = sqrt(pecef.X * pecef.X + pecef.Y * pecef.Y); + r = sqrt(p * p + pecef.Z * pecef.Z); + if (r < 1.0) { + plla.lat = 1.0; + plla.lon = 1.0; + plla.alt = 1.0; + } + Ecef1Mf = 1.0 - (EcefA - EcefB) / EcefA; + EcefE2 = 1.0 - (EcefB * EcefB) / (EcefA * EcefA); + if (p > 1.0) { + Mu = atan2(pecef.Z * (Ecef1Mf + EcefE2 * EcefA / r), p); + } else { + if (pecef.Z > 0.0) { + Mu = M_PI / 2.0; + } else { + Mu = -M_PI / 2.0; + } + } + Smu = sin(Mu); + Cmu = cos(Mu); + Phi = atan2(pecef.Z * Ecef1Mf + EcefE2 * EcefA * Smu * Smu * Smu, + Ecef1Mf * (p - EcefE2 * EcefA * Cmu * Cmu * Cmu)); + Sphi = sin(Phi); + N = EcefA / sqrt(1.0 - EcefE2 * Sphi * Sphi); + plla.alt = p * cos(Phi) + pecef.Z * Sphi - EcefA * EcefA/N; + plla.lat = Phi; + if ( p > 1.0) { + plla.lon = atan2(pecef.Y, pecef.X); + } else { + plla.lon = 0.0; + } +} + /*=========================================================================== FUNCTION convert_signalType_to_signalId @@ -607,6 +728,110 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify, } //while } +/*=========================================================================== +FUNCTION loc_nmea_generate_DTM + +DESCRIPTION + Generate NMEA DTM sentences generated based on position report + +DEPENDENCIES + NONE + +RETURN VALUE + NONE + +SIDE EFFECTS + N/A + +===========================================================================*/ +static void loc_nmea_generate_DTM(const LocLla &ref_lla, + const LocLla &local_lla, + char *sentence, + int bufSize) +{ + char* pMarker = sentence; + int lengthRemaining = bufSize; + int length = 0; + int datum_type; + char ref_datum[4] = {0}; + char local_datum[4] = {0}; + double lla_offset[3] = {0}; + char latHem, longHem; + double latMins, longMins; + + + + datum_type = loc_get_datum_type(); + switch (datum_type) { + case LOC_GNSS_DATUM_WGS84: + ref_datum[0] = 'W'; + ref_datum[1] = '8'; + ref_datum[2] = '4'; + local_datum[0] = 'P'; + local_datum[1] = '9'; + local_datum[2] = '0'; + break; + case LOC_GNSS_DATUM_PZ90: + ref_datum[0] = 'P'; + ref_datum[1] = '9'; + ref_datum[2] = '0'; + local_datum[0] = 'W'; + local_datum[1] = '8'; + local_datum[2] = '4'; + break; + default: + break; + } + length = snprintf(pMarker , lengthRemaining , "$GPDTM,%s,," , local_datum); + if (length < 0 || length >= lengthRemaining) { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + lla_offset[0] = local_lla.lat - ref_lla.lat; + lla_offset[1] = fmod(local_lla.lon - ref_lla.lon, 360.0); + if (lla_offset[1] < -180.0) { + lla_offset[1] += 360.0; + } else if ( lla_offset[1] > 180.0) { + lla_offset[1] -= 360.0; + } + lla_offset[2] = local_lla.alt - ref_lla.alt; + if (lla_offset[0] > 0.0) { + latHem = 'N'; + } else { + latHem = 'S'; + lla_offset[0] *= -1.0; + } + latMins = fmod(lla_offset[0] * 60.0, 60.0); + if (lla_offset[1] < 0.0) { + longHem = 'W'; + lla_offset[1] *= -1.0; + }else { + longHem = 'E'; + } + longMins = fmod(lla_offset[1] * 60.0, 60.0); + length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,%.3lf,", + (uint8_t)floor(lla_offset[0]), latMins, latHem, + (uint8_t)floor(lla_offset[1]), longMins, longHem, lla_offset[2]); + if (length < 0 || length >= lengthRemaining) { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + length = snprintf(pMarker , lengthRemaining , "%s" , ref_datum); + if (length < 0 || length >= lengthRemaining) { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + length = loc_nmea_put_checksum(sentence, bufSize); +} + /*=========================================================================== FUNCTION getUtcTimeWithLeapSecondTransition @@ -726,6 +951,9 @@ void loc_nmea_generate_pos(const UlpLocation &location, } char sentence[NMEA_SENTENCE_MAX_LENGTH] = {0}; + char sentence_DTM[NMEA_SENTENCE_MAX_LENGTH] = {0}; + char sentence_RMC[NMEA_SENTENCE_MAX_LENGTH] = {0}; + char sentence_GGA[NMEA_SENTENCE_MAX_LENGTH] = {0}; char* pMarker = sentence; int lengthRemaining = sizeof(sentence); int length = 0; @@ -736,6 +964,13 @@ void loc_nmea_generate_pos(const UlpLocation &location, int utcMinutes = pTm->tm_min; int utcSeconds = pTm->tm_sec; int utcMSeconds = (location.gpsLocation.timestamp)%1000; + int datum_type = loc_get_datum_type(); + LocEcef ecef_w84; + LocEcef ecef_p90; + LocLla lla_w84; + LocLla lla_p90; + LocLla ref_lla; + LocLla local_lla; if (inLsTransition) { // During leap second transition, we need to display the extra @@ -904,12 +1139,52 @@ void loc_nmea_generate_pos(const UlpLocation &location, length = loc_nmea_put_checksum(sentence, sizeof(sentence)); nmeaArraystr.push_back(sentence); + memset(&ecef_w84, 0, sizeof(ecef_w84)); + memset(&ecef_p90, 0, sizeof(ecef_p90)); + memset(&lla_w84, 0, sizeof(lla_w84)); + memset(&lla_p90, 0, sizeof(lla_p90)); + memset(&ref_lla, 0, sizeof(ref_lla)); + memset(&local_lla, 0, sizeof(local_lla)); + lla_w84.lat = location.gpsLocation.latitude / 180.0 * M_PI; + lla_w84.lon = location.gpsLocation.longitude / 180.0 * M_PI; + lla_w84.alt = location.gpsLocation.altitude; + + convert_Lla_to_Ecef(lla_w84, ecef_w84); + convert_WGS84_to_PZ90(ecef_w84, ecef_p90); + convert_Ecef_to_Lla(ecef_p90, lla_p90); + + switch (datum_type) { + case LOC_GNSS_DATUM_WGS84: + ref_lla.lat = location.gpsLocation.latitude; + ref_lla.lon = location.gpsLocation.longitude; + ref_lla.alt = location.gpsLocation.altitude; + local_lla.lat = lla_p90.lat / M_PI * 180.0; + local_lla.lon = lla_p90.lon / M_PI * 180.0; + local_lla.alt = lla_p90.alt; + break; + case LOC_GNSS_DATUM_PZ90: + ref_lla.lat = lla_p90.lat / M_PI * 180.0; + ref_lla.lon = lla_p90.lon / M_PI * 180.0; + ref_lla.alt = lla_p90.alt; + local_lla.lat = location.gpsLocation.latitude; + local_lla.lon = location.gpsLocation.longitude; + local_lla.alt = location.gpsLocation.altitude; + break; + default: + break; + } + + // ------------------- + // ------$--DTM------- + // ------------------- + loc_nmea_generate_DTM(ref_lla, local_lla, sentence_DTM, sizeof(sentence_DTM)); + // ------------------- // ------$--RMC------- // ------------------- - pMarker = sentence; - lengthRemaining = sizeof(sentence); + pMarker = sentence_RMC; + lengthRemaining = sizeof(sentence_RMC); length = snprintf(pMarker, lengthRemaining, "$%sRMC,%02d%02d%02d.%02d,A," , talker, utcHours, utcMinutes, utcSeconds,utcMSeconds/10); @@ -924,8 +1199,8 @@ void loc_nmea_generate_pos(const UlpLocation &location, if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG) { - double latitude = location.gpsLocation.latitude; - double longitude = location.gpsLocation.longitude; + double latitude = ref_lla.lat; + double longitude = ref_lla.lon; char latHemisphere; char lonHemisphere; double latMinutes; @@ -1067,15 +1342,14 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); - nmeaArraystr.push_back(sentence); + length = loc_nmea_put_checksum(sentence_RMC, sizeof(sentence_RMC)); // ------------------- // ------$--GGA------- // ------------------- - pMarker = sentence; - lengthRemaining = sizeof(sentence); + pMarker = sentence_GGA; + lengthRemaining = sizeof(sentence_GGA); length = snprintf(pMarker, lengthRemaining, "$%sGGA,%02d%02d%02d.%02d," , talker, utcHours, utcMinutes, utcSeconds, utcMSeconds/10); @@ -1090,8 +1364,8 @@ void loc_nmea_generate_pos(const UlpLocation &location, if (location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG) { - double latitude = location.gpsLocation.latitude; - double longitude = location.gpsLocation.longitude; + double latitude = ref_lla.lat; + double longitude = ref_lla.lon; char latHemisphere; char lonHemisphere; double latMinutes; @@ -1191,15 +1465,26 @@ void loc_nmea_generate_pos(const UlpLocation &location, (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)) { length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,", - location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel); + ref_lla.alt - locationExtended.altitudeMeanSeaLevel); } else { length = snprintf(pMarker, lengthRemaining,",,,"); } - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); - nmeaArraystr.push_back(sentence); + length = loc_nmea_put_checksum(sentence_GGA, sizeof(sentence_GGA)); + + // ------$--DTM------- + nmeaArraystr.push_back(sentence_DTM); + // ------$--RMC------- + nmeaArraystr.push_back(sentence_RMC); + if(LOC_GNSS_DATUM_PZ90 == datum_type) { + // ------$--DTM------- + nmeaArraystr.push_back(sentence_DTM); + } + // ------$--GGA------- + nmeaArraystr.push_back(sentence_GGA); + } //Send blank NMEA reports for non-final fixes else { diff --git a/utils/loc_nmea.h b/utils/loc_nmea.h index fbf88a74..c6c83db4 100644 --- a/utils/loc_nmea.h +++ b/utils/loc_nmea.h @@ -35,6 +35,43 @@ #include #define NMEA_SENTENCE_MAX_LENGTH 200 +/** gnss datum type */ +#define LOC_GNSS_DATUM_WGS84 0 +#define LOC_GNSS_DATUM_PZ90 1 + +/* len of semi major axis of ref ellips*/ +#define MAJA (6378137.0) +/* flattening coef of ref ellipsoid*/ +#define FLAT (1.0/298.2572235630) +/* 1st eccentricity squared*/ +#define ESQR (FLAT*(2.0 - FLAT)) +/*1 minus eccentricity squared*/ +#define OMES (1.0 - ESQR) +#define MILARCSEC2RAD (4.848136811095361e-09) +/*semi major axis */ +#define C_PZ90A (6378136.0) +/*semi minor axis */ +#define C_PZ90B (6356751.3618) +/* Transformation from WGS84 to PZ90 + * Cx,Cy,Cz,Rs,Rx,Ry,Rz,C_SYS_A,C_SYS_B*/ +const double DatumConstFromWGS84[9] = + {+0.003, +0.001, 0.000, (1.0+(0.000*1E-6)), (-0.019*MILARCSEC2RAD), + (+0.042*MILARCSEC2RAD), (-0.002*MILARCSEC2RAD), C_PZ90A, C_PZ90B}; + +/** Represents a LTP*/ +typedef struct { + double lat; + double lon; + double alt; +} LocLla; + +/** Represents a ECEF*/ +typedef struct { + double X; + double Y; + double Z; +} LocEcef; + void loc_nmea_generate_sv(const GnssSvNotification &svNotify, std::vector &nmeaArraystr);