315 lines
7.2 KiB
C
315 lines
7.2 KiB
C
/******************** (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 <stdint.h>
|
|
|
|
/* Macro Definition ----------------------------------------------------------*/
|
|
#define IMU_SENSOR_AXIS 3
|
|
|
|
|
|
#ifdef _WIN32
|
|
#define PDR_LOGD printf
|
|
#define PDR_LOGE printf
|
|
#else
|
|
#include <android/log.h>
|
|
#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_agm {
|
|
unsigned char update;
|
|
int type;
|
|
double time; //ms
|
|
float s[IMU_SENSOR_AXIS];
|
|
}sensor_agm;
|
|
|
|
typedef struct imu {
|
|
sensor_agm acc;
|
|
sensor_agm gyr;
|
|
sensor_agm mag;
|
|
}imu;
|
|
|
|
typedef struct lct_nmea_rmc {
|
|
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
|
|
}lct_nmea_rmc;
|
|
|
|
typedef struct lct_nmea_gga {
|
|
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
|
|
}lct_nmea_gga;
|
|
|
|
typedef struct lct_nmea_gsa {
|
|
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
|
|
}
|
|
lct_nmea_gsa;
|
|
|
|
typedef struct satellite_status {
|
|
int prn;
|
|
int elevation; // elevation >10
|
|
int azimuth;
|
|
int snr; //snr >25 good
|
|
}satellite_status;
|
|
|
|
typedef struct lct_nmea_gsv {
|
|
unsigned char update;
|
|
sensor type;
|
|
int sentences;
|
|
int sentence_number;
|
|
int satellites;
|
|
int satellite_number;
|
|
satellite_status satellites_data[20];
|
|
double time; //ms
|
|
}lct_nmea_gsv;
|
|
|
|
typedef struct loc_accuracy{
|
|
unsigned char update;
|
|
int status; //-1,:Status Unknown; 0: Out of Service; 1: Temporarily Unavailable; 2: Available
|
|
float err; // m
|
|
double time;
|
|
}loc_accuracy;
|
|
|
|
typedef struct lct_nmea {
|
|
unsigned char update;
|
|
double minTime;
|
|
double maxTime;
|
|
lct_nmea_gga gga;
|
|
lct_nmea_rmc rmc[2]; // 0 - GNRMC, 1 - GPRMC
|
|
lct_nmea_gsa gsa[3]; // 0 - GPGSA, 1 - GLGSA, 2 - GAGSA
|
|
lct_nmea_gsv gsv[3]; // 0 - GPGSV, 1 - GLGSV, 2 - GAGSV
|
|
loc_accuracy accuracy;
|
|
}lct_nmea;
|
|
|
|
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;
|
|
}lct_fs;
|
|
|
|
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;
|
|
|
|
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 qnb[4];
|
|
float gravity[3];
|
|
float x_axis[3];
|
|
float y_axis[3];
|
|
float z_axis[3];
|
|
float kp; // mahony kp比例调节参数
|
|
float yaw;
|
|
float pitch;
|
|
float roll;
|
|
float insHeading;
|
|
} AHRS;
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif
|
|
|