140 lines
5.4 KiB
C
140 lines
5.4 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 "PDRBase.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 PDR_Init(void);
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void PDRInfoInit(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_t *ss_data, EKFPara_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(EKFPara_t* kf, LctFs_t* result, PDR_t* 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(Nmea_t* 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, EKFPara_t* kf, PDR_t* g_pdr, LctFs_t* 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(Nmea_t* nmea_data, PDR_t* 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(EKFPara_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(Nmea_t* nmea_data, EKFPara_t* kf, LctFs_t* 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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/**----------------------------------------------------------------------
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* Function : GnssUpdate
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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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* 2020/02/09 logzhan : 函数对应原pdr_gpsUpdate函数，
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* 经过引用分析发现每次GPS更新拷贝gnss结构体和nmea结构体其实没
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* 什么用，还增加运算量
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*---------------------------------------------------------------------**/
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void GnssUpdate(GNSS_t* gps, Nmea_t* nmea);
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/**----------------------------------------------------------------------
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* Function : OutputRawGnssPos
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* Description : 输出GPS位置
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* Date : 2022/10/15 logzhan
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*---------------------------------------------------------------------**/
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void OutputRawGnssPos(GNSS_t* pgnss, LctFs_t* result);
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/**----------------------------------------------------------------------
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* Function : ResetOutputLoction
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* Description : 1、初始化解算初始位置、卡尔曼滤波初始参数
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* 2、GPS值赋值给result
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* Date : 2022/09/19 logzhan
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*---------------------------------------------------------------------**/
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int ResetOutputLoction(GNSS_t* pgnss, PDR_t* g_pdr, EKFPara_t* kf, LctFs_t* result);
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/**----------------------------------------------------------------------
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* Function : EkfGnssInsLocFusion
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* Description : 采用EKF对GNSS和INS融合定位
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* Date : 2022/09/21 logzhan
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*---------------------------------------------------------------------**/
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void EkfGnssInsLocFusion(GNSS_t* pgnss, PDR_t* g_pdr, Classifer_t* sys, double yaw_bias,
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EKFPara_t* kf, LctFs_t* res);
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/**----------------------------------------------------------------------
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* Function : PDRInitialAlignment
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* Description : PDR初始对准
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* Date : 2022/09/19 logzhan
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*---------------------------------------------------------------------**/
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int GnssInsInitialAlignment(GNSS_t* pgnss, EKFPara_t* kf, PDR_t* g_pdr, LctFs_t* result);
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#ifdef __cplusplus
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}
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#endif
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#endif
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