NAV RINEX: improve documentation (#362)

* NAV RINEX: improve documentation

   * add more comments
   * add RINEX v3 and v4 examples
   * Status flags are private while they should be public

* Add L2P flag support
* Fix documentation, improve kepler solver

  * add kepler2position example
  * remove non needed struct from kepler solver
  * kepler solver requires some improvements

* Removed unused struct from keplerian solver
* Fixed wrong feature gate
* V0.19

---------

Signed-off-by: Guillaume W. Bres <[email protected]>

Author: gwbres

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rinex"
-version = "0.18.1"
+version = "0.19.0"
 license = "MPL-2.0"
 authors = ["Guillaume W. Bres <[email protected]>"]
 description = "RINEX file parsing, analysis and production"
@@ -156,10 +156,11 @@ num-traits = "0.2.15"
 num-integer = "0.1.44"
 
 [dev-dependencies]
+flate2 = "1"
+rand = "0.8.4"
 serde_json = "1"
 criterion = "0.5"
-rand = "0.8.4"
-flate2 = "1"
+env_logger = "0.11"
 
 [[bench]]
 name = "parsing"

db/NAV/orbits.json

@@ -24,7 +24,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",
@@ -58,7 +58,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",
@@ -92,7 +92,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",
@@ -127,7 +127,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",
@@ -432,7 +432,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",
@@ -466,7 +466,7 @@
             "idot": "f64",
             "l2Codes": "f64",
             "week": "u32",
-            "l2pDataFlag": "f64",
+            "l2p": "flag",
             "accuracy": "f64",
             "health": "flag",
             "tgd": "f64",

src/bibliography.rs

@@ -5,39 +5,49 @@ pub enum Bibliography {
     /// RINEX V2.11 specifications by IGS.
     /// [DOI](https://files.igs.org/pub/data/format/rinex211.pdf).
     RINEX211,
+
     /// RINEX V3 specifications by IGS.
     /// [DOI](https://files.igs.org/pub/data/format/rinex300.pdf).
     RINEX3,
+
     /// RINEX V4 specifications by IGS.
     /// [DOI](https://files.igs.org/pub/data/format/rinex_4.00.pdf).
     RINEX4,
+
     /// J. Lesouple, 2019: *Estimation Parcimonieuse de Biais Multitrajets pour Systemes GNSS*.
     /// Pseudo range calculation method on page 50.
     /// Kepler Solver on page 159.
     /// Elevation and Azimuth angles determination, page 160.
     /// [DOI](http://perso.recherche.enac.fr/~julien.lesouple/fr/publication/thesis/THESIS.pdf?fbclid=IwAR3WlHm0eP7ygRzywbL07Ig-JawvsdCEdvz1umJJaRRXVO265J9cp931YyI)
     JLe19,
+
     /// ESA NAVIPedia: *Combining Pairs of signals and clock definitions*.
     /// [DOI](https://gssc.esa.int/navipedia/index.php/Combining_pairs_of_signals_and_clock_definition)
     ESAGnssCombination,
+
     /// ASCE Appendix 3: *Calculation of Satellite Position from Ephemeris Data*.
     /// [DOI](https://ascelibrary.org/doi/pdf/10.1061/9780784411506.ap03).
     AsceAppendix3,
+
     /// ESA GNSS Data Processing Book Vol. I.
     /// [DOI](https://gssc.esa.int/navipedia/GNSS_Book/ESA_GNSS-Book_TM-23_Vol_I.pdf).
     ESABookVol1,
+
     /// ESA GNSS Data Processing Book Vol. II.
     /// [DOI](https://gssc.esa.int/navipedia/GNSS_Book/ESA_GNSS-Book_TM-23_Vol_II.pdf).
     ESABookVol2,
+
     /// E. Schönemann, M. Becker, T. Springer, 2011:
     /// *A new Approach for GNSS Analysis in a Multi-GNSS and Multi-Signal Environment*.
     /// [DOI](https://www.degruyter.com/document/doi/10.2478/v10156-010-0023-2/pdf).
     GeoScienceJournal1,
+
     /// V. Pinazo Garcia, N. Woodhouse:
     /// *Multipath Analysis Using Code-Minus-Carrier technique in
     /// GNSS antennas*.
     /// [DOI](https://cdn.taoglas.com/wp-content/uploads/pdf/Multipath-Analysis-Using-Code-Minus-Carrier-Technique-in-GNSS-Antennas-_WhitePaper_VP__Final-1.pdf).
     MpTaoglas,
+
     /// BeiDou Navigation Satellite System Signal In Space Interface Control Document(BDS-3)
     /// [B1I](http://www.beidou.gov.cn/xt/gfxz/201902/P020190227593621142475.pdf)
     /// [B1c](http://www.beidou.gov.cn/xt/gfxz/201712/P020171226741342013031.pdf)

src/navigation/ephemeris/kepler/helper.rs

@@ -4,46 +4,54 @@ use log::{error, warn};
 use crate::{
     constants::{Constants, Omega},
     navigation::Ephemeris,
-    prelude::{nav::Orbit, Constellation, Epoch, TimeScale, SV},
+    prelude::{Constellation, Epoch, SV},
 };
 
 use nalgebra::{Matrix3, Rotation, Rotation3, SMatrix, Vector4};
 
-use anise::{constants::frames::EARTH_J2000, math::Vector3};
+use anise::math::Vector3;
 
 /// [Helper] helps calcualte satellite orbital state from Keplerian elements.
 #[derive(Debug, Clone, Copy)]
 pub struct Helper {
-    /// Satellite
+    /// [SV] satellite identity
     pub sv: SV,
+
     /// The difference between the calculated time and the ephemeris reference time
     pub t_k: f64,
-    /// Ascending angle(corrected)
+
+    /// Ascending angle (corrected) in radians
     pub u_k: f64,
-    /// Radius(corrected)
+
+    /// Radius(corrected) in radians
     pub r_k: f64,
-    /// Orbital inclination(corrected)
+
+    /// Orbital inclination (corrected) in radians
     pub i_k: f64,
-    /// Ascending node right ascension
+
+    /// Ascending node right ascension (in radians)
     pub omega_k: f64,
+
     /// First Derivative of Ascending angle(corrected)
     pub fd_u_k: f64,
+
     /// First Derivative of Radius(corrected)
     pub fd_r_k: f64,
+
     /// First Derivative of Orbital inclination(corrected)
     pub fd_i_k: f64,
+
     /// First Derivative of Ascending node right ascension
     pub fd_omega_k: f64,
+
     /// Relativistic Effect Correction
     pub dtr: f64,
+
     /// First Derivative of Relativistic Effect Correction
     pub fd_dtr: f64,
+
     /// r_sv in meters ECEF
     pub r_sv: (f64, f64, f64),
-    /// ECEF to Celestial rotation matrix
-    pub cie_rot: Rotation3<f64>,
-    /// Orbit
-    pub orbit: Orbit,
 }
 
 impl Helper {
@@ -228,19 +236,13 @@ impl Helper {
 impl Ephemeris {
     /// Try to form obtain a [Helper] for Keplerian equations solving.
     /// This will fail on Glonass and SBAS constellations.
-    pub fn helper(&self, sv: SV, t_sv: Epoch, t: Epoch) -> Option<Helper> {
+    pub fn helper(&self, sv: SV, t: Epoch) -> Option<Helper> {
         // const
         let gm_m3_s2 = Constants::gm(sv);
         let omega = Constants::omega(sv);
         let dtr_f = Constants::dtr_f(sv);
 
         let t_k = self.t_k(sv, t)?;
-        if t_k < 0.0 {
-            #[cfg(feature = "log")]
-            error!("t_k < 0.0: bad op");
-
-            return None;
-        }
 
         let mut kepler = self.kepler()?;
         let perturbations = self.perturbations()?;
@@ -332,52 +334,11 @@ impl Ephemeris {
         // position in orbital plane
         let (x, y) = (r_k * u_k.cos(), r_k * u_k.sin());
 
-        // rotated position
-        // let (sin_omega_k, cos_omega_k) = omega_k.sin_cos();
-        // let (sin_i_k, cos_i_k) = i_k.sin_cos();
-
-        // earth rotation
-        let t_sv_gpst = t_sv.to_time_scale(TimeScale::GPST);
-        let t_gpst = t.to_time_scale(TimeScale::GPST);
-        let earth_rot = omega * (t_sv_gpst - t_gpst).to_seconds();
-        let (sin_earth_rot, cos_earth_rot) = earth_rot.sin_cos();
-
-        //let r_sv = (
-        //    x * cos_omega_k - y * sin_omega_k * sin_i_k,
-        //    x * sin_omega_k + y * cos_omega_k * cos_i_k,
-        //    y * sin_i_k,
-        //);
         let r_sv = (x, y, 0.0);
 
-        let cie_rot = Rotation3::from_matrix(&Matrix3::new(
-            cos_earth_rot,
-            -sin_earth_rot,
-            0.0,
-            sin_earth_rot,
-            cos_earth_rot,
-            0.0,
-            0.0,
-            0.0,
-            1.0,
-        ));
-
-        // Finally, determine Orbital state
-        let orbit = Orbit::try_keplerian(
-            kepler.a * 1e-3,
-            kepler.e,
-            i_k.to_degrees(),
-            omega_k.to_degrees(),
-            omega.to_degrees(),
-            v_k.to_degrees(),
-            t_gpst,
-            EARTH_J2000.with_mu_km3_s2(gm_m3_s2 * 1e-9),
-        )
-        .ok()?;
-
         Some(Helper {
             sv,
             t_k,
-            orbit,
             omega_k,
             dtr,
             fd_dtr,
@@ -389,7 +350,6 @@ impl Ephemeris {
             fd_i_k,
             fd_omega_k,
             r_sv,
-            cie_rot,
         })
     }
 }