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Sylphase SDGPS
The software-defined GPS(/GNSS) toolkit
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Sylphase SDGPS
The software-defined GPS(/GNSS) toolkit
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Type signature: (observables->solution)
Also known as kf2
Type signature: (observables->solution)
Usage:
kf2 [OPTION]...
Allowed options:
| Option | Description |
|---|---|
--help | produce help message |
--output-rate arg | output solution packets at this rate (units: Hertz) (default: the highest integer divisor of the IMU sample rate that is <= 100 Hz) |
--offline | don't boost state to realtime. incurs delay of OFFSET seconds |
--print-phase-resets | print phase resets |
--ionospheric-model arg (=zero) | use specified ionospheric delay model (default: assume ionospheric delay to always be zero) |
--wait-for-ionospheric-model | wait for ionospheric model to be initialized to avoid transient behavior |
--tropospheric-model arg (=simple) | use specified tropospheric delay model |
--estimate-ztd-factor | estimate ZTD (zenith tropospheric delay) scale factor |
--estimate-ionospheric-delay | estimate ionospheric delay; with dual-frequency measurements, convergence is immediate, but with single-frequency measurements, convergence takes >= 1 hour |
--estimate-antenna-delays | estimate differential delay between antennas |
--elevation-mask arg | do not use observables from SVs with an elevation below this angle relative to the local horizon (units: degrees) |
--antenna-elevation-mask arg | do not use observables from SVs with an elevation below this angle relative to the plane defined by the antenna's "axis" vector (units: degrees) (multiantenna example: 'ANT0:20,ANT1:0') |
--p-ignore arg (=1e-9) | p-value threshold for ignoring an SV due to a large pseudorange residual; set to 0 to never ignore |
--ignore-duration arg (=1) | if --p-ignore is triggered, ignore all of SV's measurements for this many seconds |
--abort-signals-ignored-for arg | if an SV's measurements are --p-ignored for this many seconds, abort signal tracking via the AbortSignalTracking FunctionalityCallback |
--p-log arg (=1e-6) | p-value threshold for logging a message about a large measurement residual; set to 0 to never log |
--p-reset arg (=0) | p-value threshold for triggering a reset due to large pseudorange residual; set to 0 to never reset |
--p-phase-reset arg (=1e-6) | p-value threshold for resetting carrier phase tracking for a given SV; set to 0 to never reset |
--ignore-doppler | minimize use of Doppler observable |
--ignore-phase | don't use phase observable |
--clock-wander-rate arg (=1e-17) | diffusion constant for local oscillator frequency random walk (units: (s/s)^2/s) |
--phase-wander-rate arg (=0.02) | diffusion constant for unmodeled SV phase random walk (units: radian^2/s) |
--plot-residuals | plot measurement residuals |
--min-sample-period arg (=0) | minimum width between plot points in seconds; plot points closer than this will be averaged |
--x-axis-unit arg (=sec) | unit of X axis (options: sec, min, hour, day) |
--x-axis-absolute | plot absolute stream time on X axis instead of relative to now (implied by --wait) |
--detrend | <no effect> |
--wait | wait for pipeline to terminate, then plot (default: live plotting) |
--live-history arg (=60) | duration of live history buffer in seconds |
--title-suffix arg | append string to plot titles |
--sample-time-stream arg | name of Time stream to include in "time_streams" key of solution output; will also match a unique prefix of a name; special value of "*" will select all |
--include-sisre-in-covariance arg (=0) | add given SISRE contribution to position covariance matrix (units: meters rms) Note: SISRE (rms) = sqrt((--sv-ephemeris-error value)^2 + (--sv-clock-error value)^2) |
This is one of the most common node chains required to obtain a full pose solution using SDGPS. You should change the --antenna-position option to the XYZ position (in meters) of antenna phase center in the INS coordinate system (denoted by the axes reference on the Infix-1).
Type signature: (observables->solution)
The static-kf2 node is much like the kf2 node, except that it assumes that the antenna is stationary rather than dynamic. As a result, it essentially averages over the entire run time, enabling very accurate output position and time measurements.
Usage:
static-kf2 [OPTION]...
Allowed options:
| Option | Description |
|---|---|
--help | produce help message |
--output-rate arg | output solution packets at this rate (units: Hertz) (default: the highest integer divisor of the Kalman predict rate that is <= 100 Hz) |
--predict-rate arg (=100) | run Kalman predict at this rate (units: Hertz) |
--print-phase-resets | print phase resets |
--ionospheric-model arg (=zero) | use specified ionospheric delay model (default: assume ionospheric delay to always be zero) |
--wait-for-ionospheric-model | wait for ionospheric model to be initialized to avoid transient behavior |
--tropospheric-model arg (=simple) | use specified tropospheric delay model |
--estimate-ztd-factor | estimate ZTD (zenith tropospheric delay) scale factor |
--estimate-ionospheric-delay | estimate ionospheric delay; with dual-frequency measurements, convergence is immediate, but with single-frequency measurements, convergence takes >= 1 hour |
--estimate-antenna-delays | estimate differential delay between antennas |
--elevation-mask arg | do not use observables from SVs with an elevation below this angle relative to the local horizon (units: degrees) |
--antenna-elevation-mask arg | do not use observables from SVs with an elevation below this angle relative to the plane defined by the antenna's "axis" vector (units: degrees) (multiantenna example: 'ANT0:20,ANT1:0') |
--p-ignore arg (=1e-9) | p-value threshold for ignoring an SV due to a large pseudorange residual; set to 0 to never ignore |
--ignore-duration arg (=1) | if --p-ignore is triggered, ignore all of SV's measurements for this many seconds |
--abort-signals-ignored-for arg | if an SV's measurements are --p-ignored for this many seconds, abort signal tracking via the AbortSignalTracking FunctionalityCallback |
--p-log arg (=1e-6) | p-value threshold for logging a message about a large measurement residual; set to 0 to never log |
--p-reset arg (=0) | p-value threshold for triggering a reset due to large pseudorange residual; set to 0 to never reset |
--p-phase-reset arg (=1e-6) | p-value threshold for resetting carrier phase tracking for a given SV; set to 0 to never reset |
--ignore-doppler | minimize use of Doppler observable |
--ignore-phase | don't use phase observable |
--clock-wander-rate arg (=1e-17) | diffusion constant for local oscillator frequency random walk (units: (s/s)^2/s) |
--phase-wander-rate arg (=0.02) | diffusion constant for unmodeled SV phase random walk (units: radian^2/s) |
--plot-residuals | plot measurement residuals |
--min-sample-period arg (=0) | minimum width between plot points in seconds; plot points closer than this will be averaged |
--x-axis-unit arg (=sec) | unit of X axis (options: sec, min, hour, day) |
--x-axis-absolute | plot absolute stream time on X axis instead of relative to now (implied by --wait) |
--detrend | <no effect> |
--wait | wait for pipeline to terminate, then plot (default: live plotting) |
--live-history arg (=60) | duration of live history buffer in seconds |
--title-suffix arg | append string to plot titles |
--position-ecef arg | assume antenna is at this position instead of solving for antenna position |
--sample-time-stream arg | name of Time stream to include in "time_streams" key of solution output; will also match a unique prefix of a name; special value of "*" will select all |
--include-sisre-in-covariance arg (=0) | add given SISRE contribution to position covariance matrix (units: meters rms) Note: SISRE (rms) = sqrt((--sv-ephemeris-error value)^2 + (--sv-clock-error value)^2) |
1.8.17