feat!: multi-GNSS PVT with GPS L2C/L5/L1C and Galileo E5a

Project.toml

@@ -7,14 +7,14 @@ authors = ["Soeren Schoenbrod <soeren.schoenbrod@nav.rwth-aachen.de>", "Michael
 AstroTime = "c61b5328-d09d-5e37-a9a8-0eb41c39009c"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
+Dictionaries = "85a47980-9c8c-11e8-2b9f-f7ca1fa99fb4"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 GNSSDecoder = "bf6b1ec8-12ad-4501-972c-3dec0d675c2b"
 GNSSSignals = "52c80523-2a4e-5c38-8979-05588f836870"
 Geodesy = "0ef565a4-170c-5f04-8de2-149903a85f3d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 LsqFit = "2fda8390-95c7-5789-9bda-21331edee243"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
-Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 
 [weakdeps]
@@ -24,23 +24,23 @@ Tracking = "10b2438b-ffd4-5096-aa58-44041d5c8f3b"
 PositionVelocityTimeTrackingExt = "Tracking"
 
 [compat]
-Acquisition = "2"
+Acquisition = "2.6"
 Aqua = "0.8"
 AstroTime = "0.7"
 CodecZlib = "0.7"
 CoordinateTransformations = "0.6"
 Dates = "1"
+Dictionaries = "0.4"
 DocStringExtensions = "0.6, 0.7, 0.8, 0.9"
 Downloads = "1"
-GNSSDecoder = "2"
-GNSSSignals = "2"
+GNSSDecoder = "3.6"
+GNSSSignals = "3.3"
 Geodesy = "0.5, 1.0"
 LinearAlgebra = "1"
 LsqFit = "0.12, 0.13, 0.14, 0.15, 0.16"
 StaticArrays = "1"
-Statistics = "1"
 Test = "1"
-Tracking = "2"
+Tracking = "2.2"
 Unitful = "1"
 julia = "1.10"
 

docs/src/api.md

@@ -5,6 +5,7 @@
 ```@docs
 SatelliteState
 PVTSolution
+SatInfo
 ```
 
 ## PVT Computation
@@ -38,17 +39,26 @@ PositionVelocityTime._elevation_azimuth
 
 ## Dilution of Precision
 
+The DOP values are read from the `dop` field of a [`PVTSolution`](@ref), e.g.
+`pvt.dop.GDOP`.
+
 ```@docs
-get_gdop
-get_pdop
-get_hdop
-get_vdop
-get_tdop
+PositionVelocityTime.DOP
 ```
 
 ## Utilities
 
 ```@docs
-get_num_used_sats
-get_frequency_offset
+get_sat_info
 ```
+
+## Multi-GNSS Classification
+
+When [`calc_pvt`](@ref) combines constellations and bands it classifies each satellite by
+three keys, all provided by GNSSSignals (3.3+) and read from a satellite's ranging signal:
+`GNSSSignals.get_time_system` (a `GNSSSignals.TimeSystem`, i.e. `GPST()`/`GST()`) drives
+receiver-clock grouping (one bias per time system); `GNSSSignals.get_band_id` (e.g. `:L1`,
+`:L5`) drives inter-frequency-bias grouping (one bias per band); and
+`GNSSSignals.get_signal_id` (e.g. `:GPSL1CA`) is the per-signal identity used in the `sats`
+key of [`PVTSolution`](@ref). This package forwards each of the latter two to a
+[`SatelliteState`](@ref).

docs/src/index.md

@@ -5,9 +5,14 @@ Calculates position, velocity, and time from GNSS satellite measurements.
 ## Features
 
 - Estimation of user position, velocity, and time
-- Satellite position and velocity calculation from orbital parameters
+- Satellite position and velocity calculation from orbital parameters (LNAV and
+  CNAV/CNAV-2 quasi-Keplerian ephemerides)
 - Dilution of Precision (DOP) computation
-- Support for GPS L1 and Galileo E1B
+- Support for GPS (L1 C/A, L2C, L5, L1C) and Galileo (E1B, E5a), including combined
+  multi-GNSS solutions. Each measurement is one satellite-band pseudorange; the
+  group-delay/ISC correction is selected by the signal the range was generated on
+  (which may be a pilot such as GPS L1C-P or Galileo E1C), while the ephemeris and
+  clock come from the band's data-component decoder.
 
 ## Installation
 
@@ -46,3 +51,9 @@ With at least 4 satellite states, compute the PVT solution:
 pvt = calc_pvt(sat_states)
 lla = get_LLA(pvt)  # latitude, longitude, altitude
 ```
+
+Satellites from different constellations may be passed together. Because each GNSS
+references its broadcasts to its own system time, [`calc_pvt`](@ref) estimates one
+receiver clock bias per GNSS time system, so a combined fix needs at least `3 + M`
+satellites for `M` distinct systems. The per-system clock offsets are reported as
+`pvt.inter_system_biases` relative to `pvt.reference_system`.

ext/PositionVelocityTimeTrackingExt.jl

@@ -5,15 +5,10 @@ using GNSSDecoder: GNSSDecoderState
 using GNSSSignals: AbstractGNSSSignal
 using Tracking: Tracking, get_code_phase, get_carrier_doppler, get_carrier_phase
 
-# The name of the per-satellite tracking state changed between Tracking major versions:
-# `SatState` up to Tracking 1, `TrackedSat` from Tracking 2 on. Bind to whichever exists so
-# the extension supports both.
-const TrackingSatState = isdefined(Tracking, :TrackedSat) ? Tracking.TrackedSat : Tracking.SatState
-
 function PositionVelocityTime.SatelliteState(
     decoder::GNSSDecoderState,
     system::AbstractGNSSSignal,
-    sat_state::TrackingSatState,
+    sat_state::Tracking.TrackedSat,
 )
     SatelliteState(
         decoder,