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Code Issues Releases Wiki Activity

Code cleaning

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This commit is contained in:
Carles Fernandez
2015-03-16 21:43:19 +01:00
parent 37884afd0d
commit 078260d83f
5 changed files with 71 additions and 88 deletions
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44
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -137,17 +137,17 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
{
//record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
if (current_gnss_synchro[i].System=='G')
{
current_gnss_synchro_map_gps_only.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
if (current_gnss_synchro[i].System == 'G')
{
current_gnss_synchro_map_gps_only.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
}
}
/*
* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
*/
DLOG(INFO)<<"gnss_synchro set size="<<current_gnss_synchro_map.size()<<std::endl;
DLOG(INFO) << "gnss_synchro set size=" << current_gnss_synchro_map.size();
if(current_gnss_synchro_map.size() > 0)// and current_gnss_synchro_map_gps_only.size()>0)
{
@@ -157,12 +157,12 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
//gnss_synchro_iter = max_element(current_gnss_synchro_map_gps_only.begin(), current_gnss_synchro_map_gps_only.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol;
char ref_sat_system=gnss_synchro_iter->second.System;
DLOG(INFO)<<"d_TOW_hybrid_reference [ms] = "<< d_TOW_reference*1000 <<std::endl;
//gnss_synchro_iter = max_element(current_gnss_synchro_map_gps_only.begin(), current_gnss_synchro_map_gps_only.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol;
char ref_sat_system = gnss_synchro_iter->second.System;
DLOG(INFO) << "d_TOW_hybrid_reference [ms] = " << d_TOW_reference * 1000;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
DLOG(INFO)<<"ref_PRN_rx_time_ms [ms] = "<< d_ref_PRN_rx_time_ms <<std::endl;
DLOG(INFO) << "ref_PRN_rx_time_ms [ms] = " << d_ref_PRN_rx_time_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
@@ -170,31 +170,31 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
double pseudorange_m;
double delta_rx_time_ms;
double delta_TOW_ms;
//std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{
// check and correct synchronization in cross-system pseudoranges!
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000.0;
//std::cout<<"delta_rx_time_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_rx_time_ms<<std::endl;
//std::cout<<"delta_TOW_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_TOW_ms<<std::endl;
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000.0;
//compute the pseudorange
traveltime_ms = delta_TOW_ms + delta_rx_time_ms + GALILEO_STARTOFFSET_ms;
pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m]
DLOG(INFO)<<"CH "<<gnss_synchro_iter->second.Channel_ID<<" tracking GNSS System "<<gnss_synchro_iter->second.System<<" has PRN start at= "<<gnss_synchro_iter->second.Prn_timestamp_ms<<" [ms], d_TOW_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000<<" [ms], d_TOW_hybrid_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000<<"[ms], delta_rx_time_ms = "<< delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms << ", pseudorange[m] = "<< pseudorange_m << std::endl;
DLOG(INFO) << "CH " << gnss_synchro_iter->second.Channel_ID << " tracking GNSS System "
<< gnss_synchro_iter->second.System << " has PRN start at= " << gnss_synchro_iter->second.Prn_timestamp_ms
<< " [ms], d_TOW_at_current_symbol = " << (gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000
<< " [ms], d_TOW_hybrid_at_current_symbol = "<< (gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000
<< "[ms], delta_rx_time_ms = " << delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms
<< ", pseudorange[m] = "<< pseudorange_m;
// update the pseudorange object
//current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference*1000)/1000 + GALILEO_STARTOFFSET_ms/1000.0;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference * 1000) / 1000 + GALILEO_STARTOFFSET_ms / 1000.0;
}
//std::cout<<std::endl;
}
if(d_dump == true)
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try