Switch to ANISE for ECEF (IAU Earth) computation (#252)

* Switch to ANISE for ECEF (IAU Earth) computation
* In ephemeris, add the GM value based on the constellation.
* hifitime=4.0.0-alpha upgrade
* upgrade nyx tools

---------

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

Author: ChristopherRabotin

rinex-cli/Cargo.toml

@@ -7,7 +7,12 @@ description = "Command line tool parse and analyze RINEX data"
 homepage = "https://github.com/georust/rinex"
 repository = "https://github.com/georust/rinex"
 keywords = ["rinex", "gps", "glonass", "galileo", "timing"]
-categories = ["science", "science::geo", "command-line-interface", "command-line-utilities"]
+categories = [
+    "science",
+    "science::geo",
+    "command-line-interface",
+    "command-line-utilities",
+]
 edition = "2021"
 readme = "README.md"
 rust-version = "1.64"
@@ -30,20 +35,21 @@ map_3d = "0.1.5"
 colorous = "1.0"
 horrorshow = "0.8"
 clap = { version = "4.4.13", features = ["derive", "color"] }
-hifitime = { git = "https://github.com/nyx-space/hifitime.git", branch = "master", features = ["serde", "std"] }
-gnss-rs = { git = "https://github.com/rtk-rs/gnss", branch = "main", features = ["serde"] }
-rinex = { path = "../rinex", version = "=0.16.1", features = ["full"] }
 plotly = { git = "https://github.com/plotly/plotly.rs", branch = "main" }
-rinex-qc = { path = "../rinex-qc", version = "=0.1.14", features = ["serde"] } 
-sp3 = { path = "../sp3", version = "=1.0.8",  features = ["serde", "flate2"] }
+
+anise = "0.4.0"
+gnss-rs = { version = "2.2.0", features = ["serde"] }
+hifitime = { version = "4.0.0-alpha", features = ["serde", "std"] }
+
+rinex = { path = "../rinex", version = "=0.16.1", features = ["full"] }
+rinex-qc = { path = "../rinex-qc", version = "=0.1.14", features = ["serde"] }
+sp3 = { path = "../sp3", version = "=1.0.8", features = ["serde", "flate2"] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 
-# solver
 # gnss-rtk = { version = "0.4.5", features = ["serde"] }
 # gnss-rtk = { path = "../../rtk-rs/gnss-rtk", features = ["serde"] }
 gnss-rtk = { git = "https://github.com/rtk-rs/gnss-rtk", branch = "main", features = ["serde"] }
 
-# cggtts
 # cggtts = { version = "4.1.4", features = ["serde", "scheduler"] }
 # cggtts = { path = "../../cggtts/cggtts", features = ["serde", "scheduler"] }
-cggtts = { git = "https://github.com/gwbres/cggtts", branch = "dev", features = ["serde", "scheduler"] }
+cggtts = { git = "https://github.com/gwbres/cggtts", branch = "main", features = ["serde", "scheduler"]}

rinex-cli/src/graph/mod.rs

@@ -300,19 +300,13 @@ pub fn build_timedomain_2y_plot(title: &str, y1_title: &str, y2_title: &str) ->
  */
 pub fn build_default_polar_plot(title: &str) -> Plot {
     let layout = Layout::new()
-        .title(Title::new(title))
+        .title(title)
         .x_axis(
-            Axis::new()
-                .title(Title::new("Latitude [°]").side(Side::Top))
-                .zero_line(true), //.show_tick_labels(show_tick_labels)
-                                  //.dtick(dx_tick)
-                                  //.tick_format(tick_fmt)
-        )
-        .y_axis(
-            Axis::new()
-                .title(Title::new("Longitude [°]"))
-                .zero_line(true),
+            Axis::new().title("Latitude [°]").zero_line(true), //.show_tick_labels(show_tick_labels)
+                                                               //.dtick(dx_tick)
+                                                               //.tick_format(tick_fmt)
         )
+        .y_axis(Axis::new().title("Longitude [°]").zero_line(true))
         .show_legend(true)
         .auto_size(true);
     let mut p = Plot::new();
@@ -334,7 +328,7 @@ pub fn build_world_map(
 ) -> Plot {
     let mut p = Plot::new();
     let layout = Layout::new()
-        .title(Title::new(title).font(Font::default()))
+        .title(title)
         .drag_mode(DragMode::Zoom)
         .margin(Margin::new().top(0).left(0).bottom(0).right(0))
         .show_legend(show_legend)
@@ -365,20 +359,16 @@ fn build_plot(
     x_tick_fmt: &str,
 ) -> Plot {
     let layout = Layout::new()
-        .title(Title::new(title).font(title_font))
+        .title(title)
         .x_axis(
             Axis::new()
-                .title(Title::new(x_axis_title).side(title_side))
+                .title(x_axis_title)
                 .zero_line(zero_line.0)
                 .show_tick_labels(show_xtick_labels)
                 .dtick(dx_tick)
                 .tick_format(x_tick_fmt),
         )
-        .y_axis(
-            Axis::new()
-                .title(Title::new(y_axis_title))
-                .zero_line(zero_line.0),
-        )
+        .y_axis(Axis::new().title(y_axis_title).zero_line(zero_line.0))
         .show_legend(show_legend)
         .auto_size(auto_size);
     let mut p = Plot::new();
@@ -401,23 +391,19 @@ fn build_plot_2y(
     xtick_fmt: &str,
 ) -> Plot {
     let layout = Layout::new()
-        .title(Title::new(title).font(title_font))
+        .title(title)
         .x_axis(
             Axis::new()
-                .title(Title::new(x_title).side(title_side))
+                .title(x_title)
                 .zero_line(zero_line.0)
                 .show_tick_labels(show_xtick_labels)
                 .dtick(dx_tick)
                 .tick_format(xtick_fmt),
         )
-        .y_axis(
-            Axis::new()
-                .title(Title::new(y1_title))
-                .zero_line(zero_line.1),
-        )
+        .y_axis(Axis::new().title(y1_title).zero_line(zero_line.1))
         .y_axis2(
             Axis::new()
-                .title(Title::new(y2_title))
+                .title(y2_title)
                 .overlaying("y")
                 .side(AxisSide::Right)
                 .zero_line(zero_line.1),
@@ -441,23 +427,15 @@ fn build_3d_plot(
     auto_size: bool,
 ) -> Plot {
     let layout = Layout::new()
-        .title(Title::new(title).font(title_font))
+        .title(title)
         .x_axis(
             Axis::new()
-                .title(Title::new(x_title).side(title_side))
+                .title(x_title)
                 .zero_line(zero_line.0)
                 .show_tick_labels(false),
         )
-        .y_axis(
-            Axis::new()
-                .title(Title::new(y_title))
-                .zero_line(zero_line.1),
-        )
-        .z_axis(
-            Axis::new()
-                .title(Title::new(z_title))
-                .zero_line(zero_line.2),
-        )
+        .y_axis(Axis::new().title(y_title).zero_line(zero_line.1))
+        .z_axis(Axis::new().title(z_title).zero_line(zero_line.2))
         .show_legend(show_legend)
         .auto_size(auto_size);
     let mut p = Plot::new();

rinex-cli/src/positioning/orbit/mod.rs

@@ -1,6 +1,7 @@
 use crate::cli::Context;
 use gnss_rtk::prelude::{Epoch, InterpolationResult, SV};
 
+// would you mind adapting the includes in ::sp3 ?
 mod sp3;
 use sp3::Orbit as SP3Orbit;
 

rinex-cli/src/positioning/orbit/sp3.rs

@@ -2,12 +2,14 @@ use crate::{cli::Context, positioning::BufferTrait};
 use std::collections::HashMap;
 
 use gnss_rtk::prelude::{
-    Arc, Bodies, Cosm, Epoch, Frame, InterpolationResult as RTKInterpolationResult, LightTimeCalc,
-    TimeScale, Vector3, SV,
+    Almanac, Epoch, InterpolationResult as RTKInterpolationResult, TimeScale, Vector3, EARTH_J2000,
+    SPK, SUN_J2000, SV,
 };
 
 use rinex::carrier::Carrier;
 
+use anise::almanac::metaload::MetaFile;
+
 #[derive(Debug)]
 struct Buffer {
     inner: Vec<(Epoch, (f64, f64, f64))>,
@@ -49,13 +51,13 @@ impl BufferTrait<(f64, f64, f64)> for Buffer {
 /*
  * Evaluates Sun / Earth vector in meters ECEF at "t"
  */
-fn sun_unit_vector(ref_frame: &Frame, cosmic: &Arc<Cosm>, t: Epoch) -> Vector3<f64> {
-    let sun_body = Bodies::Sun; // This only works in the solar system..
-    let orbit = cosmic.celestial_state(sun_body.ephem_path(), t, *ref_frame, LightTimeCalc::None);
+fn sun_unit_vector(almanac: &Almanac, t: Epoch) -> Vector3<f64> {
+    let earth2sun = almanac.transform(EARTH_J2000, SUN_J2000, t, None).unwrap();
+
     Vector3::new(
-        orbit.x_km * 1000.0,
-        orbit.y_km * 1000.0,
-        orbit.z_km * 1000.0,
+        earth2sun.radius_km.x * 1000.0,
+        earth2sun.radius_km.y * 1000.0,
+        earth2sun.radius_km.z * 1000.0,
     )
 }
 
@@ -68,9 +70,15 @@ pub struct Orbit<'a> {
 
 impl<'a> Orbit<'a> {
     pub fn from_ctx(ctx: &'a Context, order: usize) -> Self {
-        let cosmic = Cosm::de438();
+        let meta = MetaFile {
+            uri: "http://public-data.nyxspace.com/anise/v0.4/de440s.bsp".to_string(),
+            crc32: Some(3072159656), // Specifying the CRC allows only downloading the data once.
+        };
+        let almanac = Almanac::default()
+            .load_from_metafile(meta)
+            .unwrap_or_else(|e| panic!("failed to build Almanac: {}", e));
+
         let sp3 = ctx.data.sp3().unwrap();
-        let earth_frame = cosmic.frame("EME2000"); // this only works on planet Earth..
         Self {
             order,
             epochs: 0,
@@ -85,7 +93,7 @@ impl<'a> Orbit<'a> {
                         let k = -r_sat
                             / (r_sat[0].powi(2) + r_sat[1].powi(2) + r_sat[3].powi(2)).sqrt();
 
-                        let r_sun = sun_unit_vector(&earth_frame, &cosmic, t);
+                        let r_sun = sun_unit_vector(&almanac, t);
                         let norm = ((r_sun[0] - r_sat[0]).powi(2)
                             + (r_sun[1] - r_sat[1]).powi(2)
                             + (r_sun[2] - r_sat[2]).powi(2))

rinex-qc/Cargo.toml

@@ -19,19 +19,19 @@ all-features = true
 rustdoc-args = ["--cfg", "docrs", "--generate-link-to-definition"]
 
 [dependencies]
-serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] }
-hifitime = { git = "https://github.com/nyx-space/hifitime.git", branch = "master" }
 strum = "0.26"
-strum_macros = "0.26"
+statrs = "0.16"
 horrorshow = "0.8"
 itertools = "0.13.0"
-statrs = "0.16"
+strum_macros = "0.26"
+hifitime = "4.0.0-alpha"
+
 sp3 = { path = "../sp3", version = "=1.0.8", features = ["serde"] }
 rinex-qc-traits = { path = "../qc-traits", version = "=0.1.1" }
 rinex = { path = "../rinex", version = "=0.16.1", features = ["full"] }
+serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] }
 
-# gnss-rs = { version = "2.1.3", features = ["serde"] }
-gnss-rs = { git = "https://github.com/rtk-rs/gnss", branch = "main", features = ["serde"] }
+gnss-rs = { version = "2.2.0", features = ["serde"] }
 
 [dev-dependencies]
 serde_json = "1"

rinex/Cargo.toml

@@ -49,11 +49,11 @@ processing = []
 
 # Unlock Quality Check (QC) methods and traits.
 # Allows to generate complete QC reports for RINEX or entire contexts.
-qc = ["rinex-qc-traits", "horrorshow"] 
+qc = ["rinex-qc-traits", "horrorshow"]
 
 # Unlock SP3 support to be able to integrate SP3 precise orbits
 # into a complete Context.
-sp3 = ["dep:sp3", "walkdir"] 
+sp3 = ["dep:sp3", "walkdir"]
 
 # Unlock all features, all at once
 full = [
@@ -87,7 +87,7 @@ num-derive = "0.4"
 num-traits = "0.2.15"
 regex = "1"
 thiserror = "1"
-bitflags = { version = "2.3", features = ["serde"] } 
+bitflags = { version = "2.3", features = ["serde"] }
 lazy_static = "1.4"
 map_3d = "0.1.5"
 strum = "0.26"
@@ -96,12 +96,20 @@ num-integer = "0.1.44"
 itertools = "0.13.0"
 geo = { version = "0.28", optional = true }
 wkt = { version = "0.10.0", default-features = false, optional = true }
-serde = { version = "1.0", optional = true, default-features = false, features = ["derive"] }
-flate2 = { version = "1.0.24", optional = true, default-features = false, features = ["zlib"] }
-hifitime = { git = "https://github.com/nyx-space/hifitime.git", branch = "master", features = ["serde", "std"] }
+serde = { version = "1.0", optional = true, default-features = false, features = [
+    "derive",
+] }
+flate2 = { version = "1.0.24", optional = true, default-features = false, features = [
+    "zlib",
+] }
+hifitime = { version = "4.0.0-alpha", features = [
+    "serde",
+    "std",
+] }
 horrorshow = { version = "0.8", optional = true }
 nalgebra = { version = "0.32.3" }
-gnss-rs = { git = "https://github.com/rtk-rs/gnss", branch = "main", features = ["serde"] }
+gnss-rs = { version = "2.2.0", features = ["serde"] }
+anise = { git = "https://github.com/nyx-space/anise.git", branch = "master" }
 
 # RINEX QC dedicated traits
 rinex-qc-traits = { path = "../qc-traits", version = "=0.1.1", optional = true }