100 lines
3.6 KiB
C
100 lines
3.6 KiB
C
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#ifndef __PDR_LOCATION_H__
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#define __PDR_LOCATION_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "pdr_base.h"
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#define HIST_GPS_NUM 8
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#define ACCURACY_THRES 0.6f // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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#define YAW_THRES 10.0f // Yaw<61>Ƿ<EFBFBD>Χ<EFBFBD><CEA7>ֵ
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/**---------------------------------------------------------------------
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* Function : NavSys_Init
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* Description : PDR<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2022/9/16
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*---------------------------------------------------------------------**/
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void PDRNav_Init(void);
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/**---------------------------------------------------------------------
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* Function : InsLocation
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* Description : PDR <EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
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* Date : 2022/09/16 logzhan
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*---------------------------------------------------------------------**/
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int InsLocation(IMU_t *ss_data, EKFPara_t *kf);
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/**----------------------------------------------------------------------
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* Function : pdr_noGpsPredict
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* 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>
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* Date : 2020/07/08 logzhan
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*---------------------------------------------------------------------**/
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void NoGnssInfoPredict(EKFPara_t* kf, lct_fs* result, PDR_t* g_pdr);
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/**----------------------------------------------------------------------
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* Function : Nmea2Gnss
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* Description : nmea<EFBFBD><EFBFBD><EFBFBD>ݽṹתgnss<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/07/08 logzhan
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*---------------------------------------------------------------------**/
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void Nmea2Gnss(lct_nmea* nmea_data, GNSS_t* pgnss);
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/**----------------------------------------------------------------------
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* Function : pdr_detectFixMode
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* 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>
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* ԭʼGPS<EFBFBD><EFBFBD><EFBFBD>߲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/07/08 logzhan
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* 2020/02/08 logzhan : <EFBFBD><EFBFBD>-1ΪINVAILD_GPS_YAW<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀɶ<EFBFBD><EFBFBD><EFBFBD>
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*---------------------------------------------------------------------**/
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int DetectFixMode(GNSS_t* pgnss, EKFPara_t* kf, PDR_t* g_pdr, lct_fs* result);
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/**----------------------------------------------------------------------
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* Function : GnssCalHeading
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* Description : <EFBFBD><EFBFBD>ȡGPSƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0 - 360<EFBFBD><EFBFBD>)
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* Date : 2022/09/16 logzhan
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀɶ<EFBFBD><EFBFBD><EFBFBD>
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*---------------------------------------------------------------------**/
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double GnssCalHeading(GNSS_t* pgnss);
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/**----------------------------------------------------------------------
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* Function : calPdrHeadingOffset
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* 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>
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* Date : 2020/07/08 logzhan
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*---------------------------------------------------------------------**/
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void CalPdrHeadingOffset(lct_nmea* nmea_data, PDR_t* p_pdr);
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/**---------------------------------------------------------------------
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* Function : pdr_resetSysStatus
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* Description : PDS <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ״̬
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* Date : 2020/2/1 logzhan
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*---------------------------------------------------------------------**/
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void ResetSystemStatus(EKFPara_t* kf);
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/**----------------------------------------------------------------------
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* Function : pdr_gnssInsLocation
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* Description : PDR GPS<EFBFBD>ں<EFBFBD>INS<EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>λ
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* Date : 2021/01/29 logzhan
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*---------------------------------------------------------------------**/
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int GnssInsFusionLocation(lct_nmea* nmea_data, EKFPara_t* kf, lct_fs* result);
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/**---------------------------------------------------------------------
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* Function : pdr_initGnssInfo
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* Description : PDS GNSS<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2020/2/1 logzhan
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*---------------------------------------------------------------------**/
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void InitGnssInfo(void);
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void GnssUpdate(GNSS_t* gps, lct_nmea* nmea);
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#ifdef __cplusplus
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}
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#endif
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#endif
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