Class: GPS_PVT::Receiver

Inherits:
Object
  • Object
show all
Defined in:
lib/gps_pvt/receiver.rb,
lib/gps_pvt/receiver/agps.rb,
lib/gps_pvt/receiver/rtcm3.rb,
lib/gps_pvt/receiver/almanac.rb,
lib/gps_pvt/receiver/extension.rb

Constant Summary collapse

YUMA_ITEMS = 
[
  [proc{|s| s.to_i}, {
    :ID => :svid,
    :Health => :SV_health,
    :week => :WN,
  }],
  [proc{|s| Float(s)}, {
    :Eccentricity => :e,
    "Time of Applicability" => [:t_oc, :t_oe],
    "Orbital Inclination" => :i0,
    "Rate of Right Ascen" => :dot_Omega0,
    'SQRT\(A\)' => :sqrt_A,
    "Right Ascen at Week" => :Omega0,
    "Argument of Perigee" => :omega,
    "Mean Anom" => :M0,
    "Af0" => :a_f0,
    "Af1" => :a_f1,
  }],
].collect{|cnv, key_list|
  key_list.collect{|k1, k2_list|
    [/#{k1}[^:]*:/, cnv,
        *([k2_list].flatten(1).collect{|k2|
          "#{k2}=".to_sym
        })]
  }
}.flatten(1)

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(options = {}) ⇒ Receiver

Returns a new instance of Receiver.



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# File 'lib/gps_pvt/receiver.rb', line 152

def initialize(options = {})
  @solver = GPS::Solver::new
  @solver.options = {
    :skip_exclusion => true, # default is to skip fault exclusion calculation
  }
  @debug = {}
  @semaphore = Mutex::new
  solver_opts = [:gps_options, :sbas_options, :glonass_options].collect{|target|
    @solver.send(target)
  }
  solver_opts.each{|opt|
    # default solver options
    opt.elevation_mask = 0.0 / 180 * Math::PI # 0 deg (use satellite over horizon)
    opt.residual_mask = 1E4 # 10 km (without residual filter, practically)
  }
  output_options = {
    :system => [[:GPS, 1..32], [:QZSS, 193..202]],
    :satellites => (1..32).to_a + (193..202).to_a, # [idx, ...] or [[idx, label], ...] is acceptable
    :FDE => false,
  }
  options = options.reject{|k, v|
    def v.to_b; !(self =~ /^(?:false|0|f|off)$/i); end
    case k
    when :debug
      v = v.split(/,/)
      @debug[v[0].upcase.to_sym] = v[1..-1]
      next true
    when :weight
      case v.to_sym
      when :elevation # (same as underneath C++ library except for ignoring broadcasted/calculated URA)
        @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
          if rel_prop[0] > 0 then
            elv = Coordinate::ENU::relative_rel(
                Coordinate::XYZ::new(*rel_prop[4..6]), usr_pos).elevation
            rel_prop[0] = (Math::sin(elv)/0.8)**2
          end
          rel_prop
        }
        next true
      when :identical # treat each satellite range having same accuracy
        @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
          rel_prop[0] = 1 if rel_prop[0] > 0 # weight = 1
          rel_prop
        }
        next true
      end
    when :elevation_mask_deg
      raise "Unknown elevation mask angle: #{v}" unless elv_deg = (Float(v) rescue nil)
      $stderr.puts "Elevation mask: #{elv_deg} deg"
      solver_opts.each{|opt|
        opt.elevation_mask = elv_deg / 180 * Math::PI # 0 deg (use satellite over horizon)
      }
      next true
    when :base_station
      crd, sys = v.split(/ *, */).collect.with_index{|item, i|
        case item
        when /^([\+-]?\d+\.?\d*)([XYZNEDU]?)$/ # ex) meter[X], degree[N]
          [$1.to_f, ($2 + "XY?"[i])[0]]
        when /^([\+-]?\d+)_(?:(\d+)_(\d+\.?\d*)|(\d+\.?\d*))([NE])$/ # ex) deg_min_secN
          [$1.to_f + ($2 || $4).to_f / 60 + ($3 || 0).to_f / 3600, $5]
        else
          raise "Unknown coordinate spec.: #{item}"
        end
      }.transpose
      raise "Unknown base station: #{v}" if crd.size != 3
      @base_station = case (sys = sys.join.to_sym)
      when :XYZ, :XY?
        Coordinate::XYZ::new(*crd)
      when :NED, :ENU, :NE?, :EN? # :NE? => :NEU, :EN? => :ENU
        (0..1).each{|i| crd[i] *= (Math::PI / 180)}
        ([:NED, :NE?].include?(sys) ?
            Coordinate::LLH::new(crd[0], crd[1], crd[2] * (:NED == sys ? -1 : 1)) :
            Coordinate::LLH::new(crd[1], crd[0], crd[2])).xyz
      else
        raise "Unknown coordinate system: #{sys}"
      end
      $stderr.puts "Base station (LLH): #{
        llh = @base_station.llh.to_a
        llh[0..1].collect{|rad| rad / Math::PI * 180} + [llh[2]]
      }"
      next true
    when :with, :without
      [v].flatten.each{|spec| # array is acceptable
        sys, svid = case spec
        when Integer
          [nil, spec]
        when /^([a-zA-Z]+)(?::(-?\d+))?$/
          [$1.upcase.to_sym, (Integer($2) rescue nil)]
        when /^-?\d+$/
          [nil, $&.to_i]
        else
          next false
        end
        mode = if svid && (svid < 0) then
          svid *= -1
          (k == :with) ? :exclude : :include
        else
          (k == :with) ? :include : :exclude
        end
        update_output = proc{|sys_target, prns, labels|
          unless (i = output_options[:system].index{|sys, range| sys == sys_target}) then
            i = -1
            output_options[:system] << [sys_target, []]
          else
            output_options[:system][i][1].reject!{|prn| prns.include?(prn)}
          end
          output_options[:satellites].reject!{|prn, label| prns.include?(prn)}
          if mode == :include then
            output_options[:system][i][1] += prns
            output_options[:system][i][1].sort!
            output_options[:satellites] += (labels ? prns.zip(labels) : prns)
            output_options[:satellites].sort!{|a, b| [a].flatten[0] <=> [b].flatten[0]}
          end
        }
        check_sys_svid = proc{|sys_target, range_in_sys, offset|
          next range_in_sys.include?(svid - (offset || 0)) unless sys # svid is specified without system
          next false unless sys == sys_target
          next true unless svid # All satellites in a target system (svid == nil)
          range_in_sys.include?(svid)
        }
        if check_sys_svid.call(:GPS, 1..32) then
          [svid || (1..32).to_a].flatten.each{|prn| @solver.gps_options.send(mode, prn)}
        elsif check_sys_svid.call(:SBAS, 120..158) then
          prns = [svid || (120..158).to_a].flatten
          update_output.call(:SBAS, prns)
          prns.each{|prn| @solver.sbas_options.send(mode, prn)}
        elsif check_sys_svid.call(:QZSS, 193..202) then
          [svid || (193..202).to_a].flatten.each{|prn| @solver.gps_options.send(mode, prn)}
        elsif check_sys_svid.call(:GLONASS, 1..24, 0x100) then
          prns = [svid || (1..24).to_a].flatten.collect{|i| (i & 0xFF) + 0x100}
          labels = prns.collect{|prn| "GLONASS:#{prn & 0xFF}"}
          update_output.call(:GLONASS, prns, labels)
          prns.each{|prn| @solver.glonass_options.send(mode, prn & 0xFF)}
        else
          raise "Unknown satellite: #{spec}"
        end
        $stderr.puts "#{mode.capitalize} satellite: #{[sys, svid].compact.join(':')}"
      }
      next true
    when :fault_exclusion
      @solver.options = {:skip_exclusion => !(output_options[:FDE] = v.to_b)}
      next true
    when :use_signal
      {
        :GPS_L2C => proc{@solver.gps_options.exclude_L2C = false},
      }[v.to_sym].call rescue next false
      next true
    end
    false
  }
  raise "Unknown receiver options: #{options.inspect}" unless options.empty?
  @output = {
    :pvt => Receiver::pvt_items(output_options),
    :meas => Receiver::meas_items(output_options),
  }
end

Instance Attribute Details

#base_station ⇒ Object

Returns the value of attribute base_station.



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# File 'lib/gps_pvt/receiver.rb', line 150

def base_station
  @base_station
end

#solver ⇒ Object

Returns the value of attribute solver.



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# File 'lib/gps_pvt/receiver.rb', line 149

def solver
  @solver
end

Class Method Details

.make_critical(fname) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 318

def make_critical(fname)
  f_orig = instance_method(fname)
  define_method(fname){|*args, &b|
    critical{f_orig.bind(self).call(*args, &b)}
  }
end

.meas_items(opt = {}) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 123

def self.meas_items(opt = {})
  opt = {
    :satellites => (1..32).to_a,
  }.merge(opt)
  keys = [:PSEUDORANGE, :RANGE_RATE, :DOPPLER, :FREQUENCY].collect{|k|
    GPS::Measurement.const_get("L1_#{k}".to_sym)
  }
  [[
    opt[:satellites].collect{|prn, label|
      [:L1_range, :L1_rate].collect{|str| "#{str}(#{label || prn})"}
    }.flatten,
    proc{|meas|
      meas_hash = meas.to_hash
      opt[:satellites].collect{|prn, label|
        pr, rate, doppler, freq = keys.collect{|k| meas_hash[prn][k] rescue nil}
        freq ||= GPS::SpaceNode.L1_Frequency
        [pr, rate || ((-doppler * GPS::SpaceNode::light_speed / freq) rescue nil)]
      }
    }
  ]]
end

.pvt_items(opt = {}) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 18

def self.pvt_items(opt = {})
  opt = {
    :system => [[:GPS, 1..32]],
    :satellites => (1..32).to_a,
    :FDE => true,
  }.merge(opt)
  [[
    [:week, :itow_rcv, :year, :month, :mday, :hour, :min, :sec_rcv_UTC],
    proc{|pvt|
      [:week, :seconds, :utc].collect{|f| pvt.receiver_time.send(f)}.flatten
    }
  ]] + [[
    [:receiver_clock_error_meter, :longitude, :latitude, :height, :rel_E, :rel_N, :rel_U],
    proc{|pvt|
      next [nil] * 7 unless pvt.position_solved?
      [
        pvt.receiver_error,
        pvt.llh.lng / Math::PI * 180,
        pvt.llh.lat / Math::PI * 180,
        pvt.llh.alt,
      ] + (pvt.rel_ENU.to_a rescue [nil] * 3)
    } 
  ]] + [proc{
    labels = [:g, :p, :h, :v, :t].collect{|k| "#{k}dop".to_sym} \
        + [:h, :v, :t].collect{|k| "#{k}sigma".to_sym}
    [
      labels,
      proc{|pvt|
        next [nil] * 8 unless pvt.position_solved?
        labels.collect{|k| pvt.send(k)}
      }
    ]
  }.call] + [[
    [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms, :vel_sigma],
    proc{|pvt|
      next [nil] * 5 unless pvt.velocity_solved?
      [:north, :east, :down].collect{|k| pvt.velocity.send(k)} \
          + [pvt.receiver_error_rate, pvt.vel_sigma] 
    }
  ]] + [
    [:used_satellites, proc{|pvt| pvt.used_satellites}],
  ] + opt[:system].collect{|sys, range|
    range = range.kind_of?(Array) ? proc{
      # check whether inputs can be converted to Range
      next nil if range.empty?
      a, b = range.minmax
      ((b - a) == (range.length - 1)) ? (a..b) : range
    }.call : range
    next nil unless range
    bit_flip, label = case range
    when Array
      [proc{|res, i|
        res[i] = "1" if i = range.index(i)
        res
      }, range.collect{|pen| pen & 0xFF}.reverse.join('+')]
    when Range
      base_prn = range.min
      [proc{|res, i|
        res[i - base_prn] = "1" if range.include?(i)
        res
      }, [:max, :min].collect{|f| range.send(f) & 0xFF}.join('..')]
    end
    ["#{sys}_PRN(#{label})", proc{|pvt|
      pvt.used_satellite_list.inject("0" * range.size, &bit_flip) \
          .scan(/.{1,8}/).join('_').reverse
    }]
  }.compact + [[
    opt[:satellites].collect{|prn, label|
      [:range_residual, :weight, :azimuth, :elevation, :slopeH, :slopeV].collect{|str|
        "#{str}(#{label || prn})"
      }
    }.flatten,
    proc{|pvt|
      next ([nil] * 6 * opt[:satellites].size) unless pvt.position_solved?
      sats = pvt.used_satellite_list
      r, w = [:delta_r, :W].collect{|f| pvt.send(f)}
      opt[:satellites].collect{|prn, label|
        next ([nil] * 6) unless i2 = sats.index(prn)
        [r[i2, 0], w[i2, i2]] +
            [:azimuth, :elevation].collect{|f|
              pvt.send(f)[prn] / Math::PI * 180
            } + [pvt.slopeH[prn], pvt.slopeV[prn]]
      }.flatten
    },
  ]] + [[
    [:wssr, :wssr_sf, :weight_max,
        :slopeH_max, :slopeH_max_PRN, :slopeH_max_elevation,
        :slopeV_max, :slopeV_max_PRN, :slopeV_max_elevation],
    proc{|pvt|
      next [nil] * 9 unless fd = pvt.fd
      el_deg = [4, 6].collect{|i| pvt.elevation[fd[i]] / Math::PI * 180}
      fd[0..4] + [el_deg[0]] + fd[5..6] + [el_deg[1]]
    }
  ]] + (opt[:FDE] ? [[
    [:wssr_FDE_min, :wssr_FDE_min_PRN, :wssr_FDE_2nd, :wssr_FDE_2nd_PRN],
    proc{|pvt|
      [:fde_min, :fde_2nd].collect{|f|
        info = pvt.send(f)
        next ([nil] * 2) if (!info) || info.empty?
        [info[0], info[-3]] 
      }.flatten
    }
  ]] : [])
end

Instance Method Details

#attach_antex(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 707

def attach_antex(src)
  fname = Util::get_txt(src)
  raise "Specify SP3 before ANTEX application!" unless @sp3
  applied_items = critical{@sp3.apply_antex(fname)}
  raise "Format error! (Not ANTEX) #{src}" unless applied_items >= 0
  $stderr.puts "SP3 correction with ANTEX file (%s): %d items have been processed."%[src, applied_items]
end

#attach_online_ephemeris(uri_template = [nil]) ⇒ Object 



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# File 'lib/gps_pvt/receiver/extension.rb', line 32

def attach_online_ephemeris(uri_template = [nil])
  uri_template = uri_template.collect{|v|
    if (!v) || (v =~ /^\s*$/) then
      "ftp://gssc.esa.int/gnss/data/daily/%Y/brdc/BRDC00IGS_R_%Y%j0000_01D_MN.rnx.gz"
    else
      v
    end
  }.uniq
  loader = proc{|t_meas|
    utc = Time::utc(*t_meas.c_tm)
    uri_template.each{|v|
      uri = URI::parse(utc.strftime(v))
      begin
        self.parse_rinex_nav(uri)
      rescue Net::FTPError, Net::HTTPExceptions => e
        $stderr.puts "Skip to read due to %s (%s)"%[e.inspect.gsub(/[\r\n]/, ' '), uri]
      end
    }
  }
  run_orig = self.method(:run)
  eph_list = {}
  self.define_singleton_method(:run){|meas, t_meas, *args|
    w_d = [t_meas.week, (t_meas.seconds.to_i / 86400)]
    eph_list[w_d] ||= loader.call(t_meas)
    run_orig.call(meas, t_meas, *args)
  }
end

#attach_rinex_clk(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 715

def attach_rinex_clk(src)
  fname = Util::get_txt(src)
  @clk ||= GPS::RINEX_Clock::new
  read_items = @clk.read(fname)
  raise "Format error! (Not RINEX clock) #{src}" if read_items < 0
  $stderr.puts "Read RINEX clock file (%s): %d items."%[src, read_items]
  sats = @clk.satellites
  @clk.class.constants.each{|sys|
    next unless /^SYS_(?!SYSTEMS)(.*)/ =~ sys.to_s
    idx, sys_name = [@clk.class.const_get(sys), $1]
    next unless sats[idx] > 0
    next unless critical{@clk.push(@solver, idx)}
    $stderr.puts "Change clock error source of #{sys_name} to RINEX clock" 
  }
end

#attach_sp3(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 691

def attach_sp3(src)
  fname = Util::get_txt(src)
  @sp3 ||= GPS::SP3::new
  read_items = @sp3.read(fname)
  raise "Format error! (Not SP3) #{src}" if read_items < 0
  $stderr.puts "Read SP3 file (%s): %d items."%[src, read_items]
  sats = @sp3.satellites
  @sp3.class.constants.each{|sys|
    next unless /^SYS_(?!SYSTEMS)(.*)/ =~ sys.to_s
    idx, sys_name = [@sp3.class.const_get(sys), $1]
    next unless sats[idx] > 0
    next unless critical{@sp3.push(@solver, idx)}
    $stderr.puts "Change ephemeris source of #{sys_name} to SP3" 
  }
end

#correct_week_sem_yuma_almanac(src, week_rem = 0) ⇒ Object 



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# File 'lib/gps_pvt/receiver/almanac.rb', line 7

def correct_week_sem_yuma_almanac(src, week_rem = 0)
  t_ref = case src.to_s
  when /www\.navcen\.uscg\.gov\/.*\/(\d{4})\//
    # ex) https://www.navcen.uscg.gov/sites/default/files/gps/almanac/20XX/(Sem|Yuma)/003.(al3|alm)
    GPS_PVT::GPS::Time::new(Time::new($1.to_i).to_a.slice(0, 6).reverse)
  when /www\.navcen\.uscg\.gov\/.*\/current_(sem|yuma)/
    GPS_PVT::GPS::Time::now
  else
    raise
  end
  q, rem = t_ref.week.divmod(1024)
  delta = rem - (week_rem % 1024)
  if delta <= -512 then
    q -= 1
  elsif delta > 512 then
    q += 1
  end
  q * 1024 + week_rem
end

#critical(&b) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 309

def critical(&b)
  begin
    @semaphore.synchronize{b.call}
  rescue ThreadError # recovery from deadlock
    b.call
  end
end

#ephemeris(t, sys, prn) ⇒ Object

shortcut to access ephemeris registered in receiver



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# File 'lib/gps_pvt/receiver/extension.rb', line 9

def ephemeris(t, sys, prn)
  eph = case sys
  when :GPS, :QZSS
    critical{
      @solver.gps_space_node.update_all_ephemeris(t)
      @solver.gps_space_node.ephemeris(prn)
    }
  when :SBAS
    critical{
      @solver.sbas_space_node.update_all_ephemeris(t)
      @solver.sbas_space_node.ephemeris(prn)
    }
  when :GLONASS
    critical{
      @solver.glonass_space_node.update_all_ephemeris(t)
      @solver.glonass_space_node.ephemeris(prn)
    }
  else
    return nil
  end
  return (eph.valid?(t) ? eph : nil)
end

#header ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 145

def header
  (@output[:pvt] + @output[:meas]).transpose[0].flatten.join(',')
end

#parse_rinex_nav(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 608

def parse_rinex_nav(src)
  fname = Util::get_txt(src)
  items = [
    @solver.gps_space_node,
    @solver.sbas_space_node,
    @solver.glonass_space_node,
  ].inject(0){|res, sn|
    loaded_items = critical{sn.send(:read, fname)}
    raise "Format error! (Not RINEX) #{src}" if loaded_items < 0
    res + loaded_items
  }
  $stderr.puts "Read RINEX NAV file (%s): %d items."%[src, items]
end

#parse_rinex_obs(src, &b) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 622

def parse_rinex_obs(src, &b)
  fname = Util::get_txt(src)
  after_run = b || proc{|pvt| puts pvt.to_s if pvt}
  $stderr.print "Reading RINEX observation file (%s)"%[src]
  types = nil
  glonass_freq = nil
  count = 0
  GPS::RINEX_Observation::read(fname){|item|
    $stderr.print '.' if (count += 1) % 1000 == 0
    t_meas = item[:time]

    types ||= Hash[*(item[:meas_types].collect{|sys, values|
      [sys, values.collect.with_index{|type_, i|
        sig_obs_type = [case type_[1..-1]
          when /^1C?$/; :L1
          when /^2[XL]$/; :L2CL
          when /^2S$/; :L2CM
          else; nil
        end, {
          'C' => :PSEUDORANGE,
          'L' => :CARRIER_PHASE,
          'D' => :DOPPLER,
          'S' => :SIGNAL_STRENGTH_dBHz,
        }[type_[0]]]
        next nil unless sig_obs_type.all?
        [i, sig_obs_type.join('_').to_sym, *sig_obs_type]
      }.compact]
    }.flatten(1))]

    glonass_freq ||= proc{|spec|
      # frequency channels described in observation file
      next {} unless spec
      Hash[*(spec.collect{|line|
        line[4..-1].scan(/R(\d{2}).([\s+-]\d)./).collect{|prn, ch|
          [prn.to_i, GPS::SpaceNode_GLONASS::L1_frequency(ch.to_i)]
        }
      }.flatten(2))]
    }.call(item[:header]["GLONASS SLOT / FRQ #"])

    meas = GPS::Measurement::new
    item[:meas].each{|(sys, prn), v|
      case sys
      when 'G', ' '
      when 'S'; prn += 100
      when 'J'; prn += 192
      when 'R'
        freq = (glonass_freq[prn] ||= proc{|sn|
          # frequency channels saved with ephemeris
          sn.update_all_ephemeris(t_meas)
          next nil unless sn.ephemeris(prn).in_range?(t_meas)
          sn.ephemeris(prn).frequency_L1
        }.call(@solver.glonass_space_node))
        prn += 0x100
        meas.add(prn, :L1_FREQUENCY, freq) if freq
      else; next
      end
      types[sys] = (types[' '] || []) unless types[sys]
      types[sys].each{|i, type_, sig_type, obs_type|
        next unless v[i]
        meas.add(prn, type_, v[i][0])
        meas.add(prn, "#{sig_type}_CARRIER_PHASE_AMBIGUITY_SCALE".to_sym, 0.5) \
            if (obs_type == :CARRIER_PHASE) && (v[i][1] & 0x2 == 0x2)
      }
    }
    after_run.call(run(meas, t_meas), [meas, t_meas])
  }
  $stderr.puts ", %d epochs."%[count] 
end

#parse_rtcm3(src, opt = {}, &b) ⇒ Object 



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# File 'lib/gps_pvt/receiver/rtcm3.rb', line 7

def parse_rtcm3(src, opt = {}, &b)
  $stderr.print "Reading RTCM3 stream (%s) "%[src]
  require_relative '../rtcm3'
  src_io = Util::open(src)
  rtcm3 = GPS_PVT::RTCM3::new(src_io)
  ref_time = case (ref_time = opt[:ref_time])
  when GPS::Time; 
  when Time
    t_array = ref_time.utc.to_a[0..5].reverse
    GPS::Time::new(t_array, GPS::Time::guess_leap_seconds(t_array))
  when nil; GPS::Time::now
  else; raise "reference time (#{ref_time}) should be GPS::Time or Time"
  end
  leap_sec = ref_time.leap_seconds
  ref_pos = opt[:ref_pos] || if src_io.respond_to?(:property) then
    Coordinate::LLH::new(*(src_io.property.values_at(:latitude, :longitude).collect{|v|
      v.to_f / 180 * Math::PI
    } + [0])).xyz
  else 
    defined?(@base_station) ? @base_station : nil
  end
  after_run = b || proc{|pvt| puts pvt.to_s if pvt}
  t_meas, meas = [nil, {}]
  # meas := {msg_num => [[], ...]} due to duplicated observation such as 1074 and 1077
  run_proc = proc{
    meas_ = GPS::Measurement::new
    meas.sort.each{|k, values| # larger msg_num entries have higher priority
      values.each{|prn_k_v| meas_.add(*prn_k_v)}
    }
    pvt = nil
    after_run.call(pvt = run(meas_, t_meas), [meas_, ref_time = t_meas]) if t_meas
    ref_pos = pvt.xyz if pvt && pvt.position_solved?
    t_meas, meas = [nil, {}]
  }
  dt_threshold = GPS::Time::Seconds_week / 2
  tow2t = proc{|tow_sec|
    dt = tow_sec - ref_time.seconds 
    GPS::Time::new(ref_time.week + if dt <= -dt_threshold then; 1
          elsif dt >= dt_threshold then; -1
          else; 0; end, tow_sec)
  }
  utc2t = proc{|utc_tod|
    if t_meas then
      delta = (t_meas.seconds - utc_tod).to_i % (60 * 60 * 24)
      leap_sec = (delta >= (60 * 60 * 12)) ? delta - (60 * 60 * 12) : delta
      t_meas
    else
      ref_dow, ref_tod = ref_time.seconds.divmod(60 * 60 * 24)
      tod = utc_tod + leap_sec
      tod_delta = ref_tod - tod
      if tod_delta > 12 * 60 * 60 then
        ref_dow -= 1
      elsif tod_delta < -12 * 60 * 60 then
        ref_dow += 1
      end
      GPS::Time::new(ref_time.week, 0) + tod + 60 * 60 * 24 * ref_dow
    end
  }
  restore_ranges = proc{
    c_1ms = 299_792.458
    threshold = c_1ms / 10 # 100 us =~ 30 km
    cache = {} # {[sys, svid] => [range, t], ...}
    get_rough = proc{|t, sys_svid_list|
      sn_list = sys_svid_list.collect{|sys, svid|
        case sys
        when :GPS, :QZSS; @solver.gps_space_node
        when :SBAS; @solver.sbas_space_node
        when :GLONASS; @solver.glonass_space_node
        end
      }
      critical{
        sn_list.uniq.compact{|sn| sn.update_all_ephemeris(t)}
        sys_svid_list.zip(sn_list).each{|(sys, svid), sn|
          next unless sn
          eph = sn.ephemeris(svid)
          cache[[sys, svid]] = [if eph.valid?(t) then
            sv_pos, clk_err = eph.constellation(t).values_at(0, 2)
            sv_pos.distance(ref_pos) - (clk_err * c_1ms * 1E3)
          end, t]
        }
      }
    }
    per_kind = proc{|t, sys_svid_list, ranges_rem|
      get_rough.call(t, sys_svid_list.uniq.reject{|sys, svid|
        next true unless sys
        range, t2 = cache[[sys, svid]]
        range && ((t2 - t).abs <= 60)
      })
      ranges_rem.zip(sys_svid_list).collect{|rem_in, (sys, svid)|
        range_ref, t2 = cache[[sys, svid]]
        next nil unless range_ref
        q, rem_ref = range_ref.divmod(c_1ms)
        delta = rem_in - rem_ref 
        res = if delta.abs <= threshold then
          q * c_1ms + rem_in
        elsif -delta + c_1ms <= threshold
          (q - 1) * c_1ms + rem_in
        elsif delta + c_1ms <= threshold
          (q + 1) * c_1ms + rem_in
        end
        #p [sys, svid, q, rem_in, rem_ref, res]
        (cache[[sys, svid]] = [res, t])[0]
      }
    }
    proc{|t, sys_svid_list, ranges|
      [
        :pseudo_range, # for MT 1001/3/9/11, MSM1/3
        :phase_range, # for MT 1003/11, MSM2/3
      ].each{|k|
        next if ranges[k]
        k_rem = "#{k}_rem".to_sym
        ranges[k] = per_kind.call(t, sys_svid_list, ranges[k_rem]) if ranges[k_rem]
      }
    }
  }.call

  while packet = rtcm3.read_packet
    msg_num = packet.message_number
    parsed = packet.parse
    t_meas2, meas2 = [nil, []] # per_packet
    add_proc = proc{
      t_meas ||= t_meas2
      meas[msg_num] = meas2 unless meas2.empty?
    }
    case msg_num
    when 1001..1004
      t_meas2 = tow2t.call(parsed[2][0]) # DF004
      ranges = parsed.ranges
      sys_svid_list = ranges[:sat].collect{|svid|
        case svid
        when 1..32; [:GPS, svid]
        when 40..58; [:SBAS, svid + 80]
        else; [nil, svid]
        end
      }
      restore_ranges.call(t_meas2, sys_svid_list, ranges)
      item_size = sys_svid_list.size
      ([sys_svid_list] + [:pseudo_range, :phase_range, :cn].collect{|k|
        ranges[k] || ([nil] * item_size)
      }).transpose.each{|(sys, svid), pr, cpr, cn|
        next unless sys
        meas2 << [svid, :L1_PSEUDORANGE, pr] if pr
        meas2 << [svid, :L1_CARRIER_PHASE, cpr / GPS::SpaceNode.L1_WaveLength] if cpr
        meas2 << [svid, :L1_SIGNAL_STRENGTH_dBHz, cn] if cn
      }
    when 1009..1012
      t_meas2 = utc2t.call(parsed[2][0] - 60 * 60 * 3) # DF034 UTC(SU)+3hr, time of day[sec]
      ranges = parsed.ranges
      sys_svid_list = ranges[:sat].collect{|svid|
        case svid
        when 1..24; [:GLONASS, svid]
        when 40..58; [:SBAS, svid + 80]
        else; [nil, svid]
        end
      }
      restore_ranges.call(t_meas2, sys_svid_list, ranges)
      item_size = sys_svid_list.size
      ([sys_svid_list] + [:freq_ch, :pseudo_range, :phase_range, :cn].collect{|k|
        ranges[k] || ([nil] * item_size)
      }).transpose.each{|(sys, svid), freq_ch, pr, cpr, cn|
        case sys
        when :GLONASS
          svid += 0x100
          freq = GPS::SpaceNode_GLONASS::L1_frequency(freq_ch)
          len = GPS::SpaceNode_GLONASS.light_speed / freq
          meas2 << [svid, :L1_FREQUENCY, freq]
          meas2 << [svid, :L1_CARRIER_PHASE, cpr / len] if cpr
        when :SBAS
          meas2 << [svid, :L1_CARRIER_PHASE, cpr / GPS::SpaceNode.L1_WaveLength] if cpr
        else; next
        end
        meas2 << [svid, :L1_PSEUDORANGE, pr] if pr
        meas2 << [svid, :L1_SIGNAL_STRENGTH_dBHz, cn] if cn
      }
    when 1013
      leap_sec = parsed[5][0]
    when 1019, 1044
      params = parsed.params
      if msg_num == 1044
        params[:svid] += 192
        params[:fit_interval] ||= 2 * 60 * 60
      end
      params[:WN] += ((ref_time.week - params[:WN]).to_f / 1024).round * 1024
      eph = GPS::Ephemeris::new
      params.each{|k, v| eph.send("#{k}=".to_sym, v)}
      critical{
        @solver.gps_space_node.register_ephemeris(eph.svid, eph)
      }
    when 1020
      params = parsed.params
      eph = GPS::Ephemeris_GLONASS::new
      eph.F_T = 10 # [m], default to be overwritten
      params.each{|k, v|
        next if [:P3, :NA, :N_4].include?(k)
        eph.send("#{k}=".to_sym, v)
      }
      proc{|date_src|
        eph.set_date(*(date_src.all? \
            ? date_src \
            : [(ref_time + 3 * 60 * 60).c_tm(leap_sec)])) # UTC -> Moscow time
      }.call([:N_4, :NA].collect{|k| params[k]})
      eph.N_T = params[:NA] || eph.NA unless params[:N_T] # N_T is available only for GLONASS-M
      eph.rehash(leap_sec)
      critical{
        @solver.glonass_space_node.register_ephemeris(eph.svid, eph)
      }
    when 1043
      params = parsed.params
      eph = GPS::Ephemeris_SBAS::new
      tod_delta = params[:tod] - (ref_time.seconds % (24 * 60 * 60)) 
      if tod_delta > (12 * 60 * 60) then
        tod_delta -= (24 * 60 * 60)
      elsif tod_delta < -(12 * 60 * 60) then
        tod_delta += (24 * 60 * 60)
      end
      toe = ref_time + tod_delta
      eph.WN, eph.t_0 = [:week, :seconds].collect{|k| toe.send(k)}
      params.each{|k, v| eph.send("#{k}=".to_sym, v) unless [:iodn, :tod].include?(k)}
      critical{
        @solver.sbas_space_node.register_ephemeris(eph.svid, eph)
      }
    when 1071..1077, 1081..1087, 1101..1107, 1111..1117
      ranges = parsed.ranges
      glonass_freq = nil
      case msg_num / 10 # check time of measurement
      when 107, 110, 111 # GPS, SBAS, QZSS
        t_meas2 = tow2t.call(parsed[2][0]) # DF004
      when 108 # GLONASS
        t_meas2 = utc2t.call(parsed[3][0] - 60 * 60 * 3) # DF034 UTC(SU)+3hr, time of day[sec]
        glonass_freq = critical{
          @solver.glonass_space_node.update_all_ephemeris(t_meas2)
          Hash[*(ranges[:sat_sig].collect{|svid, sig| svid}.uniq.collect{|svid|
            eph = @solver.glonass_space_node.ephemeris(svid)
            next nil unless eph.in_range?(t_meas2)
            [svid, {:L1 => eph.frequency_L1}]
          }.compact.flatten(1))]
        }
      end
      sig_list, sys, svid_offset = case msg_num / 10
        when 107 # GPS
          [{2 => [:L1, GPS::SpaceNode.L1_WaveLength],
              15 => [:L2CM, GPS::SpaceNode.L2_WaveLength],
              16 => [:L2CL, GPS::SpaceNode.L2_WaveLength]}, :GPS, 0]
        when 108 # GLONASS
          [{2 => [:L1, nil]}, :GLONASS, 0x100]
        when 110 # SBAS
          [{2 => [:L1, GPS::SpaceNode.L1_WaveLength]}, :SBAS, 120]
        when 111 # QZSS
          [{2 => [:L1, GPS::SpaceNode.L1_WaveLength],
              15 => [:L2CM, GPS::SpaceNode.L2_WaveLength],
              16 => [:L2CL, GPS::SpaceNode.L2_WaveLength]}, :QZSS, 192]
        else; [{}, nil, 0]
      end
      sys_svid_list = ranges[:sat_sig].collect{|sat, sig| [sys, (sat + svid_offset) & 0xFF]}
      restore_ranges.call(t_meas2, sys_svid_list, ranges)
      item_size = sys_svid_list.size
      [:sat_sig, :pseudo_range, :phase_range, :phase_range_rate, :cn, :halfc_amb].collect{|k|
        ranges[k] || ([nil] * item_size)
      }.transpose.each{|(svid, sig), pr, cpr, dr, cn, amb|
        prefix, len = sig_list[sig]
        next unless prefix
        proc{
          next unless freq = (glonass_freq[svid] || {})[prefix]
          meas2 << [svid, "#{prefix}_FREQUENCY".to_sym, freq]
          len = GPS::SpaceNode_GLONASS.light_speed / freq
        }.call if glonass_freq
        svid += svid_offset
        meas2 << [svid, "#{prefix}_PSEUDORANGE".to_sym, pr] if pr
        meas2 << [svid, "#{prefix}_RANGE_RATE".to_sym, dr] if dr
        meas2 << [svid, "#{prefix}_CARRIER_PHASE".to_sym, cpr / len] if cpr && len
        meas2 << [svid, "#{prefix}_SIGNAL_STRENGTH_dBHz".to_sym, cn] if cn
        meas2 << [svid, "#{prefix}_CARRIER_PHASE_AMBIGUITY_SCALE".to_sym, 0.5] if amb && (amb == 1)
      }
    else
      #p({msg_num => parsed})
    end
    
    run_proc.call if t_meas && t_meas2 && ((t_meas - t_meas2).abs > 1E-3) # fallback for incorrect more_data flag
    add_proc.call
    run_proc.call if (1070..1229).include?(msg_num) && (!parsed.more_data?)
  end
end

#parse_sem_almanac(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver/almanac.rb', line 27

def parse_sem_almanac(src)
  src_io = open(Util::get_txt(src))
  raise unless src_io.readline =~ /(\d+)\s+(\S+)/ # line 1
  num, name = [$1.to_i, $2]
  raise unless src_io.readline =~ /(\d+)\s+(\d+)/ # line 2
  week, t_oa = [$1.to_i, $2.to_i]
  week = correct_week_sem_yuma_almanac(src, week)
  src_io.readline # line 3
  
  num.times.each{
    eph = GPS::Ephemeris::new
    9.times{|i| # line R-1..9
      case i
      when 0, 1, 2, 6, 7
        # N/A items; 1 => SV reference number, 7 => configuration code
        k = {0 => :svid, 2 => :URA_index, 6 => :SV_health}[i]
        v = Integer(src_io.readline)
        eph.send("#{k}=".to_sym, v) if k
      when 3..5
        res = src_io.readline.scan(/[+-]?\d+(?:\.\d+)?(?:E[+-]\d+)?/).collect{|s| Float(s)}
        raise unless res.size == 3
        res.zip({
          3 => [:e, [:i0, GPS::GPS_SC2RAD], [:dot_Omega0, GPS::GPS_SC2RAD]],
          4 => [:sqrt_A, [:Omega0, GPS::GPS_SC2RAD], [:omega, GPS::GPS_SC2RAD]],
          5 => [[:M0, GPS::GPS_SC2RAD], :a_f0, :a_f1],
        }[i]).each{|v, (k, sf)|
          eph.send("#{k}=".to_sym, sf ? (sf * v) : v)
        }
      when 8
        src_io.readline
      end
    }
    eph.i0 = GPS::GPS_SC2RAD * 0.3 + eph.i0
    eph.WN = week
    eph.t_oc = eph.t_oe = t_oa
    [:iodc, :t_GD, :a_f2, :iode, :c_rs, :delta_n,
        :c_uc, :c_us, :c_ic, :c_is, :c_rc, :dot_i0, :iode_subframe3].each{|k|
      eph.send("#{k}=", 0)
    }
    critical{@solver.gps_space_node.register_ephemeris(eph.svid, eph)}
  }
  
  $stderr.puts "Read SEM Almanac file (%s): %d items."%[src, num]
end

#parse_supl(src, opt = {}, &b) ⇒ Object 



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# File 'lib/gps_pvt/receiver/agps.rb', line 7

def parse_supl(src, opt = {}, &b)
  $stderr.print "A-GPS (%s) "%[src]
  opt = {
    :interval => 60 * 10, # 10 min.
  }.merge(opt)
  require_relative '../supl'
  src_io = Util::open(src)
  while data = src_io.get_assisted_data
    data.ephemeris.each{|eph|
      target = case eph
      when GPS::Ephemeris; @solver.gps_space_node
      when GPS::Ephemeris_GLONASS; @solver.glonass_space_node
      when GPS::Ephemeris_SBAS; @solver.sbas_space_node
      else nil
      end
      critical{target.register_ephemeris(eph.svid, eph)} if target
    } if data.respond_to?(:ephemeris)
    critical{
      @solver.gps_space_node.update_iono_utc(data.iono_utc)
    } if data.respond_to?(:iono_utc)
    sleep(opt[:interval])
  end
end

#parse_ubx(ubx_fname, &b) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 467

def parse_ubx(ubx_fname, &b)
  $stderr.print "Reading UBX file (%s) "%[ubx_fname]
  require_relative 'ubx'

  ubx = UBX::new(Util::open(ubx_fname))
  ubx_kind = Hash::new(0)
  
  after_run = b || proc{|pvt| puts pvt.to_s if pvt}
  
  gnss_serial = proc{|svid, sys|
    if sys then # new numbering
      sys = [:GPS, :SBAS, :Galileo, :BeiDou, :IMES, :QZSS, :GLONASS][sys] if sys.kind_of?(Integer)
      case sys
      when :QZSS; svid += 192
      end
    else # old numbering
      sys = case svid
      when 1..32; :GPS
      when 120..158; :SBAS
      when 193..202; :QZSS
      when 65..96; svid -= 64; :GLONASS
      when 255; :GLONASS
      end
    end
    [sys, svid]
  }
  
  t_meas = nil
  ubx.each_packet.with_index(1){|packet, i|
    $stderr.print '.' if i % 1000 == 0
    ubx_kind[packet[2..3]] += 1
    case packet[2..3]
    when [0x02, 0x10] # RXM-RAW
      msec, week = [[0, 4, "V"], [4, 2, "v"]].collect{|offset, len, str|
        packet.slice(6 + offset, len).pack("C*").unpack(str)[0]
      }
      t_meas = GPS::Time::new(week, msec.to_f / 1000)
      meas = GPS::Measurement::new
      packet[6 + 6].times{|i|
        loader = proc{|offset, len, str|
          ary = packet.slice(6 + offset + (i * 24), len)
          str ? ary.pack("C*").unpack(str)[0] : ary
        }
        prn = loader.call(28, 1)[0]
        {
          :L1_PSEUDORANGE => [16, 8, "E"],
          :L1_DOPPLER => [24, 4, "e"],
          :L1_CARRIER_PHASE => [8, 8, "E"],
          :L1_SIGNAL_STRENGTH_dBHz => [30, 1, "c"],
        }.each{|k, prop|
          meas.add(prn, k, loader.call(*prop))
        }
        lli = packet[6 + 31 + (i * 24)]
        # bit 0 of RINEX LLI (loss of lock indicator) shows lost lock
        # between previous and current observation, which maps negative lock seconds
        meas.add(prn, :L1_LOCK_SEC, (lli & 0x01 == 0x01) ? -1 : 0)
        # set bit 1 of LLI represents possibility of half cycle ambiguity
        meas.add(prn, :L1_CARRIER_PHASE_AMBIGUITY_SCALE, 0.5) if (lli & 0x02 == 0x02)
      }
      after_run.call(run(meas, t_meas), [meas, t_meas])
    when [0x02, 0x15] # RXM-RAWX
      sec, week = [[0, 8, "E"], [8, 2, "v"]].collect{|offset, len, str|
        packet.slice(6 + offset, len).pack("C*").unpack(str)[0]
      }
      t_meas = GPS::Time::new(week, sec)
      meas = GPS::Measurement::new
      packet[6 + 11].times{|i|
        loader = proc{|offset, len, str, post|
          v = packet.slice(6 + offset + (i * 32), len)
          v = str ? v.pack("C*").unpack(str)[0] : v
          v = post.call(v) if post
          v
        }
        sys, svid = gnss_serial.call(*loader.call(36, 2).reverse)
        sigid = (packet[6 + 13] != 0) ? loader.call(38, 1, "C") : 0 # sigID if version(>0); @see UBX-18010854 
        case sys
        when :GPS
          sigid = {0 => :L1, 3 => :L2CL, 4 => :L2CM}[sigid]
        when :SBAS
          sigid = :L1
        when :QZSS
          sigid = {0 => :L1, 5 => :L2CL, 4 => :L2CM}[sigid]
        when :GLONASS
          svid += 0x100
          sigid = {0 => :L1}[sigid] # TODO: to support {2 -> :L2}
          meas.add(svid, :L1_FREQUENCY, 
              GPS::SpaceNode_GLONASS::L1_frequency(loader.call(39, 1, "C") - 7))
        else; next
        end
        next unless sigid
        trk_stat = loader.call(46, 1)[0]
        {
          :PSEUDORANGE => [16, 8, "E", proc{|v| (trk_stat & 0x1 == 0x1) ? v : nil}],
          :PSEUDORANGE_SIGMA => [43, 1, nil, proc{|v|
            (trk_stat & 0x1 == 0x1) ? (1E-2 * (1 << (v[0] & 0xF))) : nil
          }],
          :DOPPLER => [32, 4, "e"],
          :DOPPLER_SIGMA => [45, 1, nil, proc{|v| 2E-3 * (1 << (v[0] & 0xF))}],
          :CARRIER_PHASE => [24, 8, "E", proc{|v|
            case (trk_stat & 0x6)
            when 0x6; (trk_stat & 0x8 == 0x8) ? (v + 0.5) : v
            when 0x2; meas.add(svid, "#{sigid}_CARRIER_PHASE_AMBIGUITY_SCALE".to_sym, 0.5); v
            else; nil
            end
          }],
          :CARRIER_PHASE_SIGMA => [44, 1, nil, proc{|v|
            (trk_stat & 0x2 == 0x2) ? (0.004 * (v[0] & 0xF)) : nil
          }],
          :SIGNAL_STRENGTH_dBHz => [42, 1, "C"],
          :LOCK_SEC => [40, 2, "v", proc{|v| 1E-3 * v}],
        }.each{|k, prop|
          next unless v = loader.call(*prop)
          meas.add(svid, "#{sigid}_#{k}".to_sym, v) rescue nil # unsupported signal
        }
      }
      after_run.call(run(meas, t_meas), [meas, t_meas])
    when [0x02, 0x11] # RXM-SFRB
      sys, svid = gnss_serial.call(packet[6 + 1])
      register_ephemeris(
          t_meas,
          sys, svid,
          proc{|data|
            case sys # adjust padding
            when :GPS; data.collect!{|v| (v & 0xFFFFFF) << 6}
            when :SBAS; data[7] <<= 6
            end
            data
          }.call(packet.slice(6 + 2, 40).pack("C*").unpack("V*")))
    when [0x02, 0x13] # RXM-SFRBX
      sys, svid = gnss_serial.call(packet[6 + 1], packet[6])
      opt = {}
      opt[:freq_ch] = packet[6 + 3] - 7 if sys == :GLONASS
      register_ephemeris(
          t_meas,
          sys, svid,
          packet.slice(6 + 8, 4 * packet[6 + 4]).pack("C*").unpack("V*"), opt)
    end
  }
  $stderr.puts ", found packets are %s"%[ubx_kind.inspect]
end

#parse_yuma_almanac(src) ⇒ Object 



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# File 'lib/gps_pvt/receiver/almanac.rb', line 99

def parse_yuma_almanac(src)
  src_io = open(Util::get_txt(src))
  num = 0
  
  idx_line = -1
  eph, items = nil
  while !src_io.eof?
    line = src_io.readline.chomp
    if idx_line < 0 then
      if line =~ /^\*{8}/ then
        eph = GPS::Ephemeris::new
        items = YUMA_ITEMS.clone
        idx_line = 0
      end
      next
    end
    raise unless i = items.index{|re, cnv, *k_list|
      next false unless re =~ line
      v = cnv.call($')
      k_list.each{|k| eph.send(k, v)}
      true
    }
    items.delete_at(i)
    next unless items.empty?

    [:iodc, :t_GD, :a_f2, :iode, :c_rs, :delta_n,
        :c_uc, :c_us, :c_ic, :c_is, :c_rc, :dot_i0, :iode_subframe3].each{|k|
      eph.send("#{k}=", 0)
    }
    eph.WN = correct_week_sem_yuma_almanac(src, eph.WN)
    critical{@solver.gps_space_node.register_ephemeris(eph.svid, eph)}
    num += 1
    idx_line = -1
  end
  
  $stderr.puts "Read YUMA Almanac file (%s): %d items."%[src, num]
end

#register_ephemeris(t_meas, sys, prn, bcast_data, *options) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 412

def register_ephemeris(t_meas, sys, prn, bcast_data, *options)
  @eph_list ||= Hash[*((1..32).to_a + (193..202).to_a).collect{|prn|
    eph = GPS::Ephemeris::new
    eph.svid = prn
    [prn, eph]
  }.flatten(1)]
  @eph_glonass_list ||= Hash[*(1..24).collect{|num|
    eph = GPS::Ephemeris_GLONASS::new
    eph.svid = num
    [num, eph]
  }.flatten(1)]
  opt = options[0] || {}
  case sys
  when :GPS, :QZSS
    return unless bcast_data.size == 10 # 8 for QZSS(SAIF)
    return unless eph = @eph_list[prn]
    sn = @solver.gps_space_node
    subframe, iodc_or_iode = eph.parse(bcast_data)
    if iodc_or_iode < 0 then
      begin
        sn.update_iono_utc(
            GPS::Ionospheric_UTC_Parameters::parse(bcast_data))
        [:alpha, :beta].each{|k|
          $stderr.puts "Iono #{k}: #{sn.iono_utc.send(k)}"
        } if false
      rescue
      end
      return
    end
    if t_meas and eph.consistent? then
      eph.WN = ((t_meas.week / 1024).to_i * 1024) + (eph.WN % 1024)
      sn.register_ephemeris(prn, eph)
      eph.invalidate
    end
  when :SBAS
    case @solver.sbas_space_node.decode_message(bcast_data[0..7], prn, t_meas)
    when 26
      ['', "IGP broadcasted by PRN#{prn} @ #{Time::utc(*t_meas.c_tm)}",
          @solver.sbas_space_node.ionospheric_grid_points(prn)].each{|str|
        $stderr.puts str
      } if @debug[:SBAS_IGP]
    end if t_meas
  when :GLONASS
    return unless eph = @eph_glonass_list[prn]
    leap_sec = @solver.gps_space_node.is_valid_utc ? 
        @solver.gps_space_node.iono_utc.delta_t_LS :
        GPS::Time::guess_leap_seconds(t_meas)
    return unless eph.parse(bcast_data[0..3], leap_sec)
    eph.freq_ch = opt[:freq_ch] || 0
    @solver.glonass_space_node.register_ephemeris(prn, eph)
    eph.invalidate
  end
end

#run(meas, t_meas, ref_pos = @base_station) ⇒ Object 



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# File 'lib/gps_pvt/receiver.rb', line 355

def run(meas, t_meas, ref_pos = @base_station)
=begin
  $stderr.puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %d:%d:%d UTC"%[*t_meas.c_tm]})"
  meas.to_a.collect{|prn, k, v| prn}.uniq.each{|prn|
    eph = @solver.gps_space_node.ephemeris(prn)
    $stderr.puts "XYZ(PRN:#{prn}): #{eph.constellation(t_meas)[0].to_a} (iodc: #{eph.iodc}, iode: #{eph.iode})"
  }
=end

  #@solver.gps_space_node.update_all_ephemeris(t_meas) # internally called in the following solver.solve
  pvt = critical{@solver.solve(meas, t_meas)}
  pvt.define_singleton_method(:rel_ENU){
    Coordinate::ENU::relative(xyz, ref_pos)
  } if (ref_pos && pvt.position_solved?)
  output = @output
  pvt.define_singleton_method(:to_s){
    (output[:pvt].transpose[1].collect{|task|
      task.call(pvt)
    } + output[:meas].transpose[1].collect{|task|
      task.call(meas)
    }).flatten.join(',')
  }
  pvt
end