PDR/1.Software/PDR 1.04/include/Location.h

#ifndef __PDR_LOCATION_H__
#define __PDR_LOCATION_H__

#ifdef __cplusplus
extern "C" {
#endif

#include "pdr_base.h"

#define HIST_GPS_NUM          8
#define ACCURACY_THRES        0.6f            // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
#define YAW_THRES             10.0f           // Yaw<61>Ƿ<EFBFBD>Χ<EFBFBD><CEA7>ֵ


/**---------------------------------------------------------------------
* Function    : NavSys_Init
* Description : PDR<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
* Date        : 2022/9/16 
*---------------------------------------------------------------------**/
void PDR_Init(void);

/**---------------------------------------------------------------------
* Function    : InsLocation
* Description : PDR <EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
* Date        : 2022/09/16 logzhan
*---------------------------------------------------------------------**/
int InsLocation(IMU_t *ss_data,  EKFPara_t *kf);


/**----------------------------------------------------------------------
* Function    : pdr_noGpsPredict
* Description : <EFBFBD><EFBFBD>û<EFBFBD><EFBFBD>gps<EFBFBD><EFBFBD>ϢʱԤ<EFBFBD><EFBFBD>GPSλ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* Date        : 2020/07/08 logzhan
*---------------------------------------------------------------------**/
void NoGnssInfoPredict(EKFPara_t* kf, LctFs_t* result, PDR_t* g_pdr);

/**----------------------------------------------------------------------
* Function    : Nmea2Gnss
* Description : nmea<EFBFBD><EFBFBD><EFBFBD>ݽṹתgnss<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* Date        : 2020/07/08 logzhan
*---------------------------------------------------------------------**/
void Nmea2Gnss(Nmea_t* nmea_data, GNSS_t* pgnss);


/**----------------------------------------------------------------------
* Function    : pdr_detectFixMode
* Description : <EFBFBD><EFBFBD><EFBFBD>⵱ǰPDR<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dz<EFBFBD><EFBFBD>غ;<EFBFBD>ֹģʽ,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               ԭʼGPS<EFBFBD><EFBFBD><EFBFBD>߲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* Date        : 2020/07/08 logzhan
*               2020/02/08 logzhan : <EFBFBD>޸<EFBFBD>-1ΪINVAILD_GPS_YAW<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀɶ<EFBFBD><EFBFBD><EFBFBD>
*---------------------------------------------------------------------**/
int DetectFixMode(GNSS_t* pgnss, EKFPara_t* kf, PDR_t* g_pdr, LctFs_t* result);

/**----------------------------------------------------------------------
* Function    : GnssCalHeading
* Description : <EFBFBD><EFBFBD>ȡGPSƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0 - 360<EFBFBD><EFBFBD>)
* Date        : 2022/09/16 logzhan
*               <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀɶ<EFBFBD><EFBFBD><EFBFBD>
*---------------------------------------------------------------------**/
double GnssCalHeading(GNSS_t* pgnss);

/**----------------------------------------------------------------------
* Function    : calPdrHeadingOffset
* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD>źŽϺ<EFBFBD>ʱ<EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƽ<EFBFBD><EFBFBD>㷽<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD>
* Date        : 2020/07/08 logzhan
*---------------------------------------------------------------------**/
void CalPdrHeadingOffset(Nmea_t* nmea_data, PDR_t* p_pdr);

/**---------------------------------------------------------------------
* Function    : pdr_resetSysStatus
* Description : PDS <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ״̬
* Date        : 2020/2/1 logzhan
*---------------------------------------------------------------------**/
void ResetSystemStatus(EKFPara_t* kf);

/**----------------------------------------------------------------------
* Function    : pdr_gnssInsLocation
* Description : PDR GPS<EFBFBD>ں<EFBFBD>INS<EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>λ
* Date        : 2021/01/29 logzhan
*---------------------------------------------------------------------**/
int GnssInsFusionLocation(Nmea_t* nmea_data, EKFPara_t* kf, LctFs_t* result);

/**---------------------------------------------------------------------
* Function    : pdr_initGnssInfo
* Description : PDS GNSS<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
* Date        : 2020/2/1 logzhan
*---------------------------------------------------------------------**/
void InitGnssInfo(void);

/**----------------------------------------------------------------------
* Function    : GnssUpdate
* Description : nmea<EFBFBD><EFBFBD><EFBFBD>ݽṹתgnss<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* Date        : 2020/07/08 logzhan
*               2020/02/09 logzhan : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧԭpdr_gpsUpdate<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ÿ<EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD><EFBFBD>¿<EFBFBD><EFBFBD><EFBFBD>gnss<EFBFBD>ṹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>nmea<EFBFBD>ṹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵû
*               ʲô<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*---------------------------------------------------------------------**/
void GnssUpdate(GNSS_t* gps, Nmea_t* nmea);

/**----------------------------------------------------------------------
* Function    : OutputRawGnssPos
* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPSλ<EFBFBD><EFBFBD>
* Date        : 2022/10/15 logzhan
*---------------------------------------------------------------------**/
void OutputRawGnssPos(GNSS_t* pgnss, LctFs_t* result);

/**----------------------------------------------------------------------
* Function    : ResetOutputLoction
* Description : 1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼλ<EFBFBD>á<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*               2<EFBFBD><EFBFBD>GPSֵ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>result
* Date        : 2022/09/19 logzhan
*---------------------------------------------------------------------**/
int ResetOutputLoction(GNSS_t* pgnss, PDR_t* g_pdr, EKFPara_t* kf, LctFs_t* result);


/**----------------------------------------------------------------------
* Function    : EkfGnssInsLocFusion
* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>EKF<EFBFBD><EFBFBD>GNSS<EFBFBD><EFBFBD>INS<EFBFBD>ں϶<EFBFBD>λ
* Date        : 2022/09/21 logzhan
*---------------------------------------------------------------------**/
void EkfGnssInsLocFusion(GNSS_t* pgnss, PDR_t* g_pdr, Classifer_t* sys, double yaw_bias,
	EKFPara_t* kf, LctFs_t* res);

/**----------------------------------------------------------------------
* Function    : PDRInitialAlignment
* Description : PDR<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>׼
* Date        : 2022/09/19 logzhan
*---------------------------------------------------------------------**/
int GnssInsInitialAlignment(GNSS_t* pgnss, EKFPara_t* kf, PDR_t* g_pdr, LctFs_t* result);

#ifdef __cplusplus
}
#endif

#endif