As I know internally any GPS reciever solve equation and get X,Y,Z and VX,VY,VZ in orthogonal coordinates WGS-84 system.
But in Android API I get only VX,VY,VZ projection to north-east plane (Location::getSpeed, Location::getBearing), so
How can I get full 3d vector of speed?
Based on what getAccuracy calculated for GPS, GDOP, VDOP or what?
As I remeber, and as you can find in the android docu,
getAccuracy is related to horizontal accuracy.
From the DOP values its is more or less related to HDOP.
But the chip manufacturers, which calculate the horizontalAccuracy estimate,
do not specify how they internaly calculate that value. Nor they are willing to tell.
Your first sentence probably simplifies things. This might be valid for a
demonstration modell of a GPS receiver.
In practise speed (over ground) considers, the doppler effect, too, which then gives more precise speed than just evalution the location change per time.
"How can I get full 3d vector of speed?"
I doubt you can get it.
You can try to self caluclate by evalutaing altitude(m) change per time,
for higher vertical speeds, like airplane, that might work.
Related
Right now I am using a gpsStatus to get a list of satellites from the android SDK. I am retrieving the variables with the following methods:
float az = item.getAzimuth();
float el = item.getElevation();
int p = item.getPrn();
float s = item.getSnr();
So far I am getting values of only 1 point in precision, mostly .0, so for instance:
(173.0, 47.0, 74, 30.0) For the floating point numbers is there anyway to get more precision? I was able to use a Criteria to get more precision out of the Accuracy, Latitude, and Longitude. I need to try and get as precise data as possible for the satellite information too. Thanks.
I'm not 100% sure about this, but I believe that most (if not all) GPS receivers will only output azimuth and elevation data to the nearest degree. Similarly, SNR values are only given to the nearest integer (perhaps professional-grade receivers will give more precise SNR measurements, but I don't any smartphone-based receiver would do so.). PRNs are, of course, only integer values.
So I'm afraid that the answer to your question (if I'm correct about GPS receivers) is that it is not possible to get more accurate azimuth, elevation, and SNR info using any Android API, since the API just retrieves whatever is output by the receiver.
The only possibility I can think of to get more accurate azimuth and elevation values would be to retrieve the GPS satellite almanac from some online source, and then calculate the expected azimuth and elevation at your current location using formulae of geodesy. In other words, a not so easy task...
By the way, you mention that the output is "mostly .0", but I think if you go back and check, all values are ending in .0.
I need to get an accurate measurement of altitude using GPS only.
I tried Location.getAltitude(), but that is terribly inaccurate.
Any advice?
There are two issues with using altitude of a smartphone / tablet GPS:
The altitude is the altitude above the WGS84 reference ellipsoid. It is not the altitude above ground level or sea level. Here is more detail on that: http://www.gpspassion.com/forumsen/topic.asp?TOPIC_ID=10915. This error can be corrected; here is a description how to do that by hand: http://www.unavco.org/edu_outreach/tutorial/geoidcorr.html. The web article links to a calculator to get the Geoid height for correction; I do not know if there is also a web service available for this computation.
The GPS altitude is terribly inaccurate for relatively cheap GPS receivers. Here is an article on that: http://gpsinformation.net/main/altitude.htm. One method to cope with this kind of inaccuracy is to filter the altitude data. I used a circular array data structure to remember the last few (I used 4) altitude readings and compute the average. This sufficed to get a relatively accurate reading of vertical speed for my application.
Another way would be parsing NMEA strings. The $GPGGA sentence already contains the corrected altitude data above sea level.
So, simply create a listener to NMEA-strings for your LocationManager and parse the messages:
private GpsStatus.NmeaListener mNmeaListener = new GpsStatus.NmeaListener() {
#Override
public void onNmeaReceived(long timestamp, String nmea) {
parseNmeaString(nmea);
}
};
public void registerLocationManager(Context context) {
mLocationManager = (LocationManager) mContext.getSystemService(LOCATION_SERVICE);
mLocationManager.addNmeaListener(mNmeaListener);
}
private void parseNmeaString(String line) {
if (line.startsWith("$")) {
String[] tokens = line.split(",");
String type = tokens[0];
// Parse altitude above sea level, Detailed description of NMEA string here http://aprs.gids.nl/nmea/#gga
if (type.startsWith("$GPGGA")) {
if (!tokens[9].isEmpty()) {
mLastMslAltitude = Double.parseDouble(tokens[9]);
}
}
}
}
You can either replace the altitude of the last Location object received through a location listener, or parse the whole new location through NMEA.
Another approach is to measure the altitude from the barometer.
By using the pressure you can calculate the user's altitude. I'm uncertain of the precision level of this and whether it is more accurate than the other answer's approach.
By using the hypsometric formula you can calculate the altitude:
Variable definition:
P0: Sea-level pressure
P: Atmospheric pressure
T: Temperature
You can get the pressure in android from the environment sensors
SensorManager.getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE,pressure)
If the device has a barometer, then use can that to improve the relative accuracy. I don't mean to use the barometer to compute the height in relation to the sea level, as can be found in several formulas, as this is highly dependent of the weather conditions.
What you want to do is to get the GPS-altitude when you know that the device has a good fix, with high accuracy values. At that point you fetch the barometric pressure and set that pressure as a reference.
When the pressure increases around 12 hPa, you will know that your altitude decreased by around 100 m ( https://en.wikipedia.org/wiki/Atmospheric_pressure "At low altitudes above sea level, the pressure decreases by about 1.2 kPa (12 hPa) for every 100 metres." ).
Don't take that value as an exact, but variations in the altitude determined by GPS vary a lot due to trees covering the line of sight and other factors, while the barometer will remain very precise under those conditions.
The following graph is a bike ride of around one hour and 20 minutes in duration. Starting point and end point are the same at around 477 m above sea level, determined via GPS. The measured pressure is 1015.223 hPA.
The lowest point is 377 m, with a measured pressure of 1025.119 hPa. So in that case, 100 m make a difference of 10 hPa.
The highest point is 550 m, with a measured pressure of 1007.765 hPa.
Ending point is the same height, and the exact same pressure as the starting conditions (the pressure could have varied due to the weather conditions, but it didn't). The temperature dropped around 1°C, so it was all pretty constant.
The black line containing the many variations is the altitude measured via GPS, the mirrored, but clean line, is the barometric pressure. It has very little variation in it simply because the pressure doesn't vary as wild as the GPS-quality. It is a very smooth, very precise curve. This is not due to lag. This is measured with a Bosch BME280 sensor, which is capable of detecting the closing of a door, change of floor detection, elevator direction, drones, with a noise of 0.2 Pa which equals 1.7 cm and an error of 1m at 400m of height change. These kind of sensors are integrated in some Smartphones. For example, the Pixel 3 contains a Bosch BMP380.
If you mirror the pressure graph, as is shown with the dotted black line, you will see that it very closely matches the GPS altitude. It is much more precise than GPS, but the only problem is that you can't take it as an absolute value.
The samples of GPS and pressure were both taken in 1 second intervals, so there is no curve smoothing from the d3 library causing some false impressions.
So maybe readjusting the pressure around every 10-30 minutes while you have a GPS good fix will give you a good base to perform your altitude measurements by pressure in between.
There are other ways to get the altitude than by GPS. You can use the barometer but as there isn't that many devices with a barometric sensors yet (only the new ones). I will recommend to use a web service to acquire the desired data.
Here is a question which should help you through: Get altitude by longitude and latitude in Android
For newcomers I made a library that wrap LocationManager into rxjava observables and add some observable helpers to get sea level altitutde from Nmea/GPGGA mre info here
There are libraries, such as the open-source CS-Map which provide an API that do these lookups in large tables. You specify the coordinates, and it will tell you the height offset that needs to be applied to the ellipsoidal height at that location to get the "real-world" orthometric height.
Note: Having used CS-Map before, it isn't exactly straight-forward 5-minute job to plug it in. Warning you in advance that it is more complicated than calling a single API with a set of lat-long coordinates and getting back a height. I no longer work at the company where we were doing this kind of work, so unfortunately cannot look up the code to say exactly which API to call.
Doing a google search for it right now (2019), it seems CS-Map has been merged into MetaCRS in OSGeo, the "Open Source Geospatial Foundation" project. That same search led me to this old CS-Map wiki as well as the PROJ GitHub page, where PROJ seems to be similar project to CS-Map.
I would recommend using NmeaListener, as sladstaetter
suggested in his answer. However, according to NMEA documentation, "$GPGGA" is not the only sentence you can get. You should look for any "GGA" sentence ($--GGA).
Regular expressions are great for that, e.g.:
#Override
public void onNmeaReceived(final long timestamp, final String nmea) {
final Pattern pattern = Pattern.compile("\\$..GGA,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,([+-]?\\d+(.\\d+)?),[^,]*,[^,]*,[^,]*,[^,]*,[^,]*$");
final Matcher matcher = pattern.matcher(nmea);
if (matcher.find()) {
final float altitude = Float.parseFloat(matcher.group(1));
// ...enjoy the altitude!
}
}
I am getting negative altitude value when finding latitude , longitude and altitude. Can anyone help me to find the reason for it ?
Short of seeing the code which produces these values, there's not much I can offer beyond general knowledge.
GPS altitudes generally use a geodetic model for an idealised sea level (the zero altitude), basically mapping an ellipsoid onto a less-than-perfectly-shaped planet (which varies anyway with things such as lunar tidal forces). See WGS84 here for more details.
The normal error is about +/- 15m, and this only applies about 95% of the time. According to the specs I remember, the other 5% of the time can have an altitude of any value.
And, of course, if your GPS doesn't have an unobstructed pathway between it and the satellites, the error range is much greater.
These potential errors are no doubt why aircraft rely more on altimeters or ILS for their near-ground activities.
As one site puts it:
What this means is that if you are walking on the seashore, and see your altitude as -15 meters, you should not be concerned.
Of course, if you're having troubles breathing, you may want to look more closely at how wet you are :-)
Well, altitude in context of GPS coordinates represents your elevation according to the sea level. So I assume your current position is just below the sea level. Yeah, this is possible ;)
The GPS altitude is the altitude above the GPS WGS84 reference elipsoid (which is different from sea level and does not take hills into account!). A negative altutude means (if it not due to a bad signal) that you are below the reference elipsoid.
Here is more information on how to get more accurate altitude: https://stackoverflow.com/a/9432382/1127492
Switch positioning settings to use Geoid model.
I need to get an accurate measurement of altitude using GPS only.
I tried Location.getAltitude(), but that is terribly inaccurate.
Any advice?
There are two issues with using altitude of a smartphone / tablet GPS:
The altitude is the altitude above the WGS84 reference ellipsoid. It is not the altitude above ground level or sea level. Here is more detail on that: http://www.gpspassion.com/forumsen/topic.asp?TOPIC_ID=10915. This error can be corrected; here is a description how to do that by hand: http://www.unavco.org/edu_outreach/tutorial/geoidcorr.html. The web article links to a calculator to get the Geoid height for correction; I do not know if there is also a web service available for this computation.
The GPS altitude is terribly inaccurate for relatively cheap GPS receivers. Here is an article on that: http://gpsinformation.net/main/altitude.htm. One method to cope with this kind of inaccuracy is to filter the altitude data. I used a circular array data structure to remember the last few (I used 4) altitude readings and compute the average. This sufficed to get a relatively accurate reading of vertical speed for my application.
Another way would be parsing NMEA strings. The $GPGGA sentence already contains the corrected altitude data above sea level.
So, simply create a listener to NMEA-strings for your LocationManager and parse the messages:
private GpsStatus.NmeaListener mNmeaListener = new GpsStatus.NmeaListener() {
#Override
public void onNmeaReceived(long timestamp, String nmea) {
parseNmeaString(nmea);
}
};
public void registerLocationManager(Context context) {
mLocationManager = (LocationManager) mContext.getSystemService(LOCATION_SERVICE);
mLocationManager.addNmeaListener(mNmeaListener);
}
private void parseNmeaString(String line) {
if (line.startsWith("$")) {
String[] tokens = line.split(",");
String type = tokens[0];
// Parse altitude above sea level, Detailed description of NMEA string here http://aprs.gids.nl/nmea/#gga
if (type.startsWith("$GPGGA")) {
if (!tokens[9].isEmpty()) {
mLastMslAltitude = Double.parseDouble(tokens[9]);
}
}
}
}
You can either replace the altitude of the last Location object received through a location listener, or parse the whole new location through NMEA.
Another approach is to measure the altitude from the barometer.
By using the pressure you can calculate the user's altitude. I'm uncertain of the precision level of this and whether it is more accurate than the other answer's approach.
By using the hypsometric formula you can calculate the altitude:
Variable definition:
P0: Sea-level pressure
P: Atmospheric pressure
T: Temperature
You can get the pressure in android from the environment sensors
SensorManager.getAltitude(SensorManager.PRESSURE_STANDARD_ATMOSPHERE,pressure)
If the device has a barometer, then use can that to improve the relative accuracy. I don't mean to use the barometer to compute the height in relation to the sea level, as can be found in several formulas, as this is highly dependent of the weather conditions.
What you want to do is to get the GPS-altitude when you know that the device has a good fix, with high accuracy values. At that point you fetch the barometric pressure and set that pressure as a reference.
When the pressure increases around 12 hPa, you will know that your altitude decreased by around 100 m ( https://en.wikipedia.org/wiki/Atmospheric_pressure "At low altitudes above sea level, the pressure decreases by about 1.2 kPa (12 hPa) for every 100 metres." ).
Don't take that value as an exact, but variations in the altitude determined by GPS vary a lot due to trees covering the line of sight and other factors, while the barometer will remain very precise under those conditions.
The following graph is a bike ride of around one hour and 20 minutes in duration. Starting point and end point are the same at around 477 m above sea level, determined via GPS. The measured pressure is 1015.223 hPA.
The lowest point is 377 m, with a measured pressure of 1025.119 hPa. So in that case, 100 m make a difference of 10 hPa.
The highest point is 550 m, with a measured pressure of 1007.765 hPa.
Ending point is the same height, and the exact same pressure as the starting conditions (the pressure could have varied due to the weather conditions, but it didn't). The temperature dropped around 1°C, so it was all pretty constant.
The black line containing the many variations is the altitude measured via GPS, the mirrored, but clean line, is the barometric pressure. It has very little variation in it simply because the pressure doesn't vary as wild as the GPS-quality. It is a very smooth, very precise curve. This is not due to lag. This is measured with a Bosch BME280 sensor, which is capable of detecting the closing of a door, change of floor detection, elevator direction, drones, with a noise of 0.2 Pa which equals 1.7 cm and an error of 1m at 400m of height change. These kind of sensors are integrated in some Smartphones. For example, the Pixel 3 contains a Bosch BMP380.
If you mirror the pressure graph, as is shown with the dotted black line, you will see that it very closely matches the GPS altitude. It is much more precise than GPS, but the only problem is that you can't take it as an absolute value.
The samples of GPS and pressure were both taken in 1 second intervals, so there is no curve smoothing from the d3 library causing some false impressions.
So maybe readjusting the pressure around every 10-30 minutes while you have a GPS good fix will give you a good base to perform your altitude measurements by pressure in between.
There are other ways to get the altitude than by GPS. You can use the barometer but as there isn't that many devices with a barometric sensors yet (only the new ones). I will recommend to use a web service to acquire the desired data.
Here is a question which should help you through: Get altitude by longitude and latitude in Android
For newcomers I made a library that wrap LocationManager into rxjava observables and add some observable helpers to get sea level altitutde from Nmea/GPGGA mre info here
There are libraries, such as the open-source CS-Map which provide an API that do these lookups in large tables. You specify the coordinates, and it will tell you the height offset that needs to be applied to the ellipsoidal height at that location to get the "real-world" orthometric height.
Note: Having used CS-Map before, it isn't exactly straight-forward 5-minute job to plug it in. Warning you in advance that it is more complicated than calling a single API with a set of lat-long coordinates and getting back a height. I no longer work at the company where we were doing this kind of work, so unfortunately cannot look up the code to say exactly which API to call.
Doing a google search for it right now (2019), it seems CS-Map has been merged into MetaCRS in OSGeo, the "Open Source Geospatial Foundation" project. That same search led me to this old CS-Map wiki as well as the PROJ GitHub page, where PROJ seems to be similar project to CS-Map.
I would recommend using NmeaListener, as sladstaetter
suggested in his answer. However, according to NMEA documentation, "$GPGGA" is not the only sentence you can get. You should look for any "GGA" sentence ($--GGA).
Regular expressions are great for that, e.g.:
#Override
public void onNmeaReceived(final long timestamp, final String nmea) {
final Pattern pattern = Pattern.compile("\\$..GGA,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,[^,]*,([+-]?\\d+(.\\d+)?),[^,]*,[^,]*,[^,]*,[^,]*,[^,]*$");
final Matcher matcher = pattern.matcher(nmea);
if (matcher.find()) {
final float altitude = Float.parseFloat(matcher.group(1));
// ...enjoy the altitude!
}
}
I have in my android application a database table with geo pointes (lat and lon are decimal degree values), about 1000 points. And I need to select 20 nearest point to some given geo point.
I've found at Stackoverflow the answer how to compute distance between two geo points and was very happy, till I tried to write my query. I've found out, that it's not possible to use trignometrical functions in built-in sqlite of android.
But then I've got an Idea. I don't really need to compute a distance. The near a point is to another one the smaller difference in their geo coordinates should be.
How could I use this fact? Would it be enough to order saved points by (lat_0 - lat_n)^2 + (lon0-lon_n)^2, where lat_0 and lon_0 are geo coordinates of a given point?
Thank you,
Mur
UPD
So, the best way to get an answer for my question was to test approach I describe above.
It works pretty well but not really exactly compared to exact distance.
So if you just need to compute a distance, this solution is ok, but in my case I also needed to order stations by distance and couldn't use this solution.
My thanks go on John at CashCommons and Philip. Thank you guys
If your points are separated within a city (more or less), that approximation will work fine. The approximation falls apart if you go worldwide, though.
EDIT: Based on Philip's comment below, you should scale one of the components. Germany is about 50 degrees north latitude, so multiplying the longitude by (cos 50 deg) will do better.
Yes. :-) The actual distance is sqrt( (lat_0 - lat_n)^2 + (lon0-lon_n)^2 ) but ordering by (lat_0 - lat_n)^2 + (lon0-lon_n)^2 is sufficient.
Hmm... I'm not sure how that ordering would work? Wouldn't you need a different order for each point to indicate it's neighbors.
The simplest solution is to just iterate through all the points and compute the geometrical distance between the points. For 1000 points this should happen fairly fast.
The most optimized solution (in terms of retrieval speed) is to compute the neighbors of each point when you insert them in the database. For example you can keep the list of ids as a comma separate string and insert in the database?. Then when you need someones neighbors you do directly to them. However this is going to become a pain if you need to insert new points. Basically you'll need to re-compute the neighbors.