100 lines
3.5 KiB
C
100 lines
3.5 KiB
C
#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 // 精度阈值
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#define YAW_THRES 10.0f // Yaw角范围阈值
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/**---------------------------------------------------------------------
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* Function : NavSys_Init
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* Description : PDR导航系统初始化
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* Date : 2022/9/16
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*---------------------------------------------------------------------**/
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void NavSys_Init(void);
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/**---------------------------------------------------------------------
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* Function : InsLocation
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* Description : PDR 惯性导航定位
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* Date : 2022/09/16 logzhan
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*---------------------------------------------------------------------**/
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int InsLocation(imu *ss_data, KfPara_t *kf);
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/**----------------------------------------------------------------------
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* Function : pdr_noGpsPredict
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* Description : 在没有gps信息时预测GPS位置，最多预测10个点
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* Date : 2020/07/08 logzhan
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*---------------------------------------------------------------------**/
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void NoGnssInfoPredict(KfPara_t* kf, lct_fs* result, PDR* g_pdr);
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/**----------------------------------------------------------------------
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* Function : Nmea2Gnss
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* Description : nmea数据结构转gnss数据
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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 : 检测当前PDR处于的模式，如果是车载和静止模式,根据情况选择输出
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* 原始GPS或者不输出
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* Date : 2020/07/08 logzhan
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* 2020/02/08 logzhan : 修改-1为INVAILD_GPS_YAW，提高
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* 代码的可读性
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*---------------------------------------------------------------------**/
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int DetectFixMode(GNSS_t* pgnss, KfPara_t* kf, PDR* g_pdr, lct_fs* result);
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/**----------------------------------------------------------------------
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* Function : GnssCalHeading
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* Description : 获取GPS偏航角(0 - 360°)
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* Date : 2022/09/16 logzhan
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* 代码的可读性
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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 : 利用GPS信号较好时的偏航角修正磁力计计算方向键的偏移
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* Date : 2020/07/08 logzhan
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*---------------------------------------------------------------------**/
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void CalPdrHeadingOffset(lct_nmea* nmea_data, PDR* p_pdr);
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/**---------------------------------------------------------------------
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* Function : pdr_resetSysStatus
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* Description : PDS 重设系统状态
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* Date : 2020/2/1 logzhan
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*---------------------------------------------------------------------**/
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void ResetSystemStatus(KfPara_t* kf);
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/**----------------------------------------------------------------------
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* Function : pdr_gnssInsLocation
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* Description : PDR GPS融合INS惯性定位
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* Date : 2021/01/29 logzhan
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*---------------------------------------------------------------------**/
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int GnssInsFusionLocation(lct_nmea* nmea_data, KfPara_t* kf, lct_fs* result);
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/**---------------------------------------------------------------------
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* Function : pdr_initGnssInfo
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* Description : PDS GNSS定位信息初始化
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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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