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