/******************** (C) COPYRIGHT 2021 Geek************************************ * File Name : pdr_sensor.h * Department : Sensor Algorithm Team * Current Version : V2.0 * Author : logzhan * Date of Issued : 2021.02.01 * Comments : PDR算法传感器基本定义 ********************************************************************************/ #ifndef _SENSOR_H_ #define _SENSOR_H_ #ifdef __cplusplus extern "C" { #endif #include /* Macro Definition ----------------------------------------------------------*/ #define IMU_SENSOR_AXIS 3 #ifdef _WIN32 #define PDR_LOGD printf #define PDR_LOGE printf #else #include #define LOG_TAG "Loc_PDR" #define PDR_LOGD(...) __android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__) #define PDR_LOGE(...) __android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__) #endif #define ADD_POINT_NUM 10 #define GGA_STR "GGA" #define RMC_STR "RMC" #define GSA_STR "GSA" #define GSV_STR "GSV" #define GNGGA_STR "$GNGGA" #define GPGGA_STR "$GPGGA" #define GNRMC_STR "$GNRMC" #define GPRMC_STR "$GPRMC" #define GNGSA_STR "$GNGSA" #define GPGSA_STR "$GPGSA" #define GAGSA_STR "$GAGSA" #define GLGSA_STR "$GLGSA" #define GPGSV_STR "$GPGSV" #define GAGSV_STR "$GAGSV" #define GLGSV_STR "$GLGSV" #define NORTH "N" #define SOUTH "S" #define EAST "E" #define WEST "W" #define ITEM_INVALID (-1) #define INVAILD_GPS_YAW (-1) // 无效GPS航向角定义 /* Struct Definition ---------------------------------------------------------*/ typedef enum { SENSOR_MIN, SENSOR_ACC = 1, SENSOR_MAG = 2, SENSOR_GYRO = 4, SENSOR_LIGHT = 5, SENSOR_PROXIMITY = 8, SENSOR_GAME_ROTATION_VECTOR = 15, SENSOR_LOCATION_STATELLITE = 70, SENSOR_LOCATION_NETWORK = 71, SENSOR_LOCATION_FUSION = 72, SENSOR_LOCATION_NMEA = 73, SENSOR_LOCATION_NMEA_GNGGA = 74, SENSOR_LOCATION_NMEA_GPGGA = 75, SENSOR_LOCATION_NMEA_GNRMC = 76, SENSOR_LOCATION_NMEA_GPRMC = 77, SENSOR_LOCATION_NMEA_GNGSA = 78, SENSOR_LOCATION_NMEA_GPGSA = 79, SENSOR_LOCATION_NMEA_GPGSV = 80, SENSOR_LOCATION_NMEA_GLGSV = 81, SENSOR_LOCATION_NMEA_GAGSV = 82, SENSOR_LOCATION_NMEA_GLGSA = 83, SENSOR_LOCATION_NMEA_GAGSA = 84, SENSOR_MAX, } sensor; typedef enum { POSITIONING_N = 0, POSITIONING_Y = 1, }lct_status; typedef enum { POSITIONING_MODE_A = 0, POSITIONING_MODE_M = 1, }lct_mode; typedef enum PDR_Mode { RAW_GPS = 1, STOP = 2, WALK_PDR = 3, WALK_GPS = 4, CAR = 5 } PDR_Mode; typedef enum DIR_Mode { GPS_DATASHEET = 0, IMU_PCA = 1, DELTA_LOCATION = 2 } DIR_Mode; /*for GSA*/ typedef enum { PSTN_GSA_N = 1, PSTN_GSA_Y_2D = 2, PSTN_GSA_Y_3D = 3, }lct_type; typedef enum { LATITUDE_N = 0, LATITUDE_S = 1, LONGITUDINAL_E = 2, LONGITUDINAL_W = 3, }LL_NSEW; typedef enum { MAG_E = 0, MAG_W = 1, }mag_heading; typedef enum { MODE_A = 0, MODE_D = 1, MODE_E = 2, MODE_N = 3, }gnrmc_mode; typedef enum { invalid = 0, fix = 1, dgps_fix = 2, invalid_pps = 3, rtk_fix = 4, rtk_float = 5, estimating = 6, }gngga_quality; typedef struct Sensor { unsigned char update; int type; double time; float s[IMU_SENSOR_AXIS]; }Sensor_t; typedef struct imu { Sensor_t acc; Sensor_t gyr; Sensor_t mag; }IMU_t; typedef struct NmeaRMC_t { unsigned char update; char rmc_check_sum[9]; sensor type; lct_status status; LL_NSEW rmc_latitude_ns; LL_NSEW longitudinal_ew; mag_heading mag_h; gnrmc_mode mode; float speed; float cog; float utc_ddmmyy; float magnetic; double rmc_utc; double latitude; double longitudinal; double time; //ms }NmeaRMC_t; typedef struct NmeaGGA{ unsigned char update; char gga_check_sum[9]; sensor type; LL_NSEW gga_latitude_ns; LL_NSEW longitudinal_ew; gngga_quality status; int satellites_nb; int unit_a; int unit_h; int dgps; float hdop; float altitude; float height; double gga_utc; double latitude; double longitudinal; double time; //ms }NmeaGGA_t; typedef struct NmeaGSA { unsigned char update; char check_sum[9]; sensor type; lct_mode mode; lct_type p_type; int prnflg; int prn[12]; float pdop; float hdop; float vdop; double time; //ms }NmeaGSA_t; typedef struct satellite_status { int prn; int elevation; // elevation >10 int azimuth; int snr; //snr >25 good }satellite_status; typedef struct NmeaGSV { unsigned char update; sensor type; int sentences; int sentence_number; int satellites; int satellite_number; satellite_status satellites_data[20]; double time; //ms }NmeaGSV_t; typedef struct Accuracy{ unsigned char update; int status; //-1,:Status Unknown; 0: Out of Service; 1: Temporarily Unavailable; 2: Available float err; // m double time; }Accuracy_t; typedef struct Nmea_t { unsigned char update; double minTime; double maxTime; NmeaGGA_t gga; NmeaRMC_t rmc[2]; // 0 - GNRMC, 1 - GPRMC NmeaGSA_t gsa[3]; // 0 - GPGSA, 1 - GLGSA, 2 - GAGSA NmeaGSV_t gsv[3]; // 0 - GPGSV, 1 - GLGSV, 2 - GAGSV Accuracy_t accuracy; }Nmea_t; typedef struct lct_fs { LL_NSEW latitude_ns; LL_NSEW longitudinal_ew; double latitude; double longitudinal; double gpsLat; double gpsLon; double gpsHeading; double pdrHeading; double hdop; double gpsSpeed; double accuracy; double time; double yaw; double lambda; double last_lat; double last_lon; unsigned long step; uint8_t motionType; }LctFs_t; typedef struct gnss { LL_NSEW lat_ns; LL_NSEW lon_ew; int minElevation; int satellites_num; // 当前卫星数量 int quality; float yaw; // GNSS 航向角 float vel; // GNSS 速度 float HDOP; // GNSS 水平精度因子 float error; // 当前GPS的Accuracy float lastError; // 上一次GPS的Accuracy int overVelCount; // 速度过快数量统计, 记录速度过快的数量，用于判断手机是否处于车载模式 double timestamps; double lat; double lon; double xNed; double yNed; }GNSS_t; typedef struct IMU { double time; float gyr[3]; float acc[3]; float mag[3]; } IMU; typedef struct AHRS { uint8_t status; uint8_t stable; // 当前AHRS算法收敛稳定性 float error; float q[4]; // float gravity[3]; float x_axis[3]; float y_axis[3]; float z_axis[3]; float Dt; float Kp; // mahony kp比例调节参数 float Yaw; float Pitch; float Roll; float insHeading; }AHRS_t; #ifdef __cplusplus } #endif #endif