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Modify RTKLIB PVT band selection and Tel. Dec. E5a

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This commit is contained in:
Antonio Ramos
2017-11-20 12:31:49 +01:00
parent bc78416f52
commit 140b388066
10 changed files with 288 additions and 353 deletions
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18
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -36,7 +36,18 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI);
switch(band)
{
case 0:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L1C);
break;
case 1:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2S);
break;
case 2:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L5X);
break;
}
double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
if (CN0_dB_Hz_est > 63.75) CN0_dB_Hz_est = 63.75;
if (CN0_dB_Hz_est < 0.0) CN0_dB_Hz_est = 0.0;
@@ -56,7 +67,6 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
}
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1;
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs;
}
@@ -88,8 +98,8 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
rtklib_sat.f0 = gal_eph.af0_4;
rtklib_sat.f1 = gal_eph.af1_4;
rtklib_sat.f2 = gal_eph.af2_4;
rtklib_sat.tgd[0] = 0;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1;

89
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@@ -84,7 +84,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var)
{
const double *lam = nav->lam[obs->sat - 1];
double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma;
double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma_;
int i = 0, j = 1, sys;
*var = 0.0;
@@ -124,7 +124,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
}
}
}
gamma = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */
P1 = obs->P[i];
P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat-1][0];
@@ -134,7 +134,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* if no P1-P2 DCB, use TGD instead */
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS)))
{
P1_P2 = (1.0 - gamma) * gettgd(obs->sat, nav);
P1_P2 = (1.0 - gamma_) * gettgd(obs->sat, nav);
}
if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */
@@ -144,15 +144,30 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
if (obs->code[j] == CODE_L2C) P2 += P2_C2; /* C2->P2 */
/* iono-free combination */
PC = (gamma * P1 - P2) / (gamma - 1.0);
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
else
{ /* single-frequency */
if((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)){return 0.0;}
if (P1 == 0.0) return 0.0;
if (obs->code[i] == CODE_L1C) P1 += P1_C1; /* C1->P1 */
PC = P1 - P1_P2 / (1.0 - gamma);
}
else if((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE))
{
P1 += P1_C1; /* C1->P1 */
PC = P1 - P1_P2 / (1.0 - gamma_);
}
else if((obs->code[i] == CODE_NONE) && (obs->code[j] != CODE_NONE))
{
P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
}
/* dual-frequency */
else
{
P1 += P1_C1;
P2 += P2_C2;
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
}
if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0);
@@ -285,12 +300,17 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
continue;
}
/* geometric distance/azimuth/elevation angle */
if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 || satazel(pos, e, azel + i * 2) < opt->elmin)
if ((r = geodist(rs + i * 6, rr, e)) <= 0.0)
{
trace(4, "geodist / satazel error\n");
trace(4, "geodist error\n");
continue;
}
double elaux = satazel(pos, e, azel + i * 2);
if(elaux < opt->elmin)
{
trace(4, "satazel error. el = %lf , elmin = %lf\n", elaux, opt->elmin);
continue;
}
/* psudorange with code bias correction */
if ((P = prange(obs+i, nav, azel+i*2, iter, opt, &vmeas)) == 0.0)
{
@@ -671,53 +691,6 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg)
{
// int k = 0;
// for (k = 0;k<n;k++)
// {
// printf("OBS[%i]: sat %i, P:%f ,LLI:%s \r\n",k,obs[k].sat,obs[k].P[0], obs[k].LLI);
// }
//
// for (k = 0;k<nav->n;k++)
// {
// printf("NAV[%i]: sat %i, %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f \r\n",
// k,
// nav->eph[k].sat,
// nav->eph[k].A,
// nav->eph[k].Adot,
// nav->eph[k].M0,
// nav->eph[k].OMG0,
// nav->eph[k].OMGd,
// nav->eph[k].cic,
// nav->eph[k].cis,
// nav->eph[k].code,
// nav->eph[k].crc,
// nav->eph[k].crs,
// nav->eph[k].cuc,
// nav->eph[k].cus,
// nav->eph[k].deln,
// nav->eph[k].e,
// nav->eph[k].f0,
// nav->eph[k].f1,
// nav->eph[k].f2,
// nav->eph[k].fit,
// nav->eph[k].flag,
// nav->eph[k].i0,
// nav->eph[k].idot,
// nav->eph[k].iodc,
// nav->eph[k].iode,
// nav->eph[k].ndot,
// nav->eph[k].omg,
// nav->eph[k].sat,
// nav->eph[k].sva,
// nav->eph[k].svh,
// nav->eph[k].tgd[0],
// nav->eph[k].toc.sec,
// nav->eph[k].toe.sec,
// nav->eph[k].toes,
// nav->eph[k].ttr.sec,
// nav->eph[k].week);
// }
prcopt_t opt_ = *opt;
double *rs, *dts, *var, *azel_, *resp;
int i, stat, vsat[MAXOBS] = {0}, svh[MAXOBS];

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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@@ -3461,7 +3461,7 @@ double geodist(const double *rs, const double *rr, double *e)
/* satellite azimuth/elevation angle -------------------------------------------
* compute satellite azimuth/elevation angle
* args : double *pos I geodetic position {lat,lon,h} (rad,m)
* double *e I receiver-to-satellilte unit vevtor (ecef)
* double *e I receiver-to-satellilte unit vector (ecef)
* double *azel IO azimuth/elevation {az,el} (rad) (NULL: no output)
* (0.0<=azel[0]<2*pi,-pi/2<=azel[1]<=pi/2)
* return : elevation angle (rad)