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https://github.com/gnss-sdr/gnss-sdr
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Expose some RTKLIB options to user configuration
This commit is contained in:
Carles Fernandez
parent
dab7c0a8a6
commit
04a2ee9c34
@ -166,30 +166,113 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
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//RTKLIB PVT solver options
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/* defaults processing options */
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prcopt_t default_opt={PMODE_SINGLE,0,2,SYS_GPS, /* mode,soltype,nf,navsys */
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15.0*D2R, { {}, {{},{}} }, /* elmin,snrmask */
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0,1,1,1, /* sateph,modear,glomodear,bdsmodear */
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5,0,10,1, /* maxout,minlock,minfix,armaxiter */
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0,0,0,0, /* estion,esttrop,dynamics,tidecorr */
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1,0,0,0,0, /* niter,codesmooth,intpref,sbascorr,sbassatsel */
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0,0, /* rovpos,refpos */
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{100.0,100.0,100.0}, /* eratio[] */
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{100.0,0.003,0.003,0.0,1.0}, /* err[] */
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{30.0,0.03,0.3}, /* std[] */
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{1E-4,1E-3,1E-4,1E-1,1E-2,0.0}, /* prn[] */
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5E-12, /* sclkstab */
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{3.0,0.9999,0.25,0.1,0.05}, /* thresar */
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0.0,0.0,0.05, /* elmaskar,almaskhold,thresslip */
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30.0,30.0,30.0, /* maxtdif,maxinno,maxgdop */
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{},{},{}, /* baseline,ru,rb */
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{"",""}, /* anttype */
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{},{},{}, /* antdel,pcv,exsats */
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0, 0, 0, {"",""}, {}, 0, {{},{}}, { {}, {{},{}}, {{},{}}, {}, {} }, 0, {}
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int positioning_mode = configuration->property(role + ".positioning_mode", PMODE_SINGLE); /* (PMODE_XXX) see rtklib.h */
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if( (positioning_mode < 0) || (positioning_mode > 8) )
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{
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//warn user and set the default
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positioning_mode = PMODE_SINGLE;
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}
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int navigation_system = configuration->property(role + ".navigation_system", SYS_GPS); /* (SYS_XXX) see rtklib.h */
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if( (navigation_system < 0) || (navigation_system > 8) )
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{
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//warn user and set the default
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navigation_system = SYS_GPS;
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}
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double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
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if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
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{
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//warn user and set the default
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elevation_mask = 15.0;
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}
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int number_of_frequencies = configuration->property(role + ".num_bands", 2); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
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if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
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{
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//warn user and set the default
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number_of_frequencies = 2;
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}
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double bias_0 = configuration->property(role + ".bias_0", 30.0);
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double iono_0 = configuration->property(role + ".iono_0", 0.03);
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double trop_0 = configuration->property(role + ".trop_0", 0.3);
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double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4);
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double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3);
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double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4);
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double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1);
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double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2);
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double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
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prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see rtklib.h */
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0, /* solution type (0:forward,1:backward,2:combined) */
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number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
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navigation_system, /* navigation system */
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elevation_mask * D2R, /* elevation mask angle (degrees) */
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{ {}, {{},{}} }, /* snrmask_t snrmask SNR mask */
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0, /* satellite ephemeris/clock (EPHOPT_XXX) */
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1, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
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1, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
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1, /* BeiDou AR mode (0:off,1:on) */
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5, /* obs outage count to reset bias */
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0, /* min lock count to fix ambiguity */
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10, /* min fix count to hold ambiguity */
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1, /* max iteration to resolve ambiguity */
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0, /* ionosphere option (IONOOPT_XXX) */
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0, /* troposphere option (TROPOPT_XXX) */
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0, /* dynamics model (0:none,1:velociy,2:accel) */
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0, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
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1, /* number of filter iteration */
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0, /* code smoothing window size (0:none) */
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0, /* interpolate reference obs (for post mission) */
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0, /* SBAS correction options */
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0, /* SBAS satellite selection (0:all) */
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0, /* rover position for fixed mode */
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0, /* base position for relative mode */
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/* 0:pos in prcopt, 1:average of single pos, */
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/* 2:read from file, 3:rinex header, 4:rtcm pos */
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{100.0,100.0,100.0}, /* eratio[NFREQ] code/phase error ratio */
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{100.0,0.003,0.003,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
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{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
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{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */
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5e-12, /* sclkstab: satellite clock stability (sec/sec) */
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{3.0,0.9999,0.25,0.1,0.05}, /* thresar[8]: AR validation threshold */
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0.0, /* elevation mask of AR for rising satellite (deg) */
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0.0, /* elevation mask to hold ambiguity (deg) */
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0.05, /* slip threshold of geometry-free phase (m) */
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30.0, /* max difference of time (sec) */
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30.0, /* reject threshold of innovation (m) */
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30.0, /* reject threshold of gdop */
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{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
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{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
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{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
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{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
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{}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
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{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
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{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded,2:included) */
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0, /* max averaging epoches */
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0, /* initialize by restart */
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0, /* output single by dgps/float/fix/ppp outage*/
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{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */
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{}, /* posopt[6] positioning options */
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0, /* solution sync mode (0:off,1:on) */
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{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
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{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */
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0, /* disable L2-AR */
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{} /* char pppopt[256] ppp option */
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};
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rtklib_options=default_opt;
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rtklib_options = rtklib_configuration_options;
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// make PVT object
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pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options);
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DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
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