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MOD: remove sat variables from pvt.dat file

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This commit is contained in:
M.A.Gomez 2023-02-17 21:58:00 +00:00
parent 1a50d75ee0
commit 1a3df78ba8
1 changed files with 3 additions and 101 deletions
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104
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -205,7 +205,7 @@ bool Rtklib_Solver::save_matfile() const
// READ DUMP FILE
const std::string dump_filename = d_dump_filename;
const int32_t number_of_double_vars = 23; //+2 MAGL
const int32_t number_of_double_vars_sat = 9; //+ pos(3)/vel(3)/psrange/doppler/CN0 for sat
const int32_t number_of_double_vars_sat = 0; //+ pos(3)/vel(3)/psrange/doppler/CN0 for sat
const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 3;
const int32_t number_of_float_vars = 2;
@ -258,15 +258,6 @@ bool Rtklib_Solver::save_matfile() const
auto clk_bias = std::vector<double>(num_epoch);
auto clk_drift = std::vector<double>(num_epoch);
auto sat_posX_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_posY_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_posZ_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velX = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velY = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_velZ = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_prg_m = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_dopp_hz = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto sat_CN0_dBhz = std::vector<std::vector<double>>(6, std::vector<double>(num_epoch));
auto latitude = std::vector<double>(num_epoch);
auto longitude = std::vector<double>(num_epoch);
@ -306,18 +297,7 @@ bool Rtklib_Solver::save_matfile() const
dump_file.read(reinterpret_cast<char *>(&clk_bias[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&clk_drift[i]), sizeof(double));
for (uint32_t chan = 0; chan < 6; chan++)
{
dump_file.read(reinterpret_cast<char *>(&sat_posX_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_posY_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_posZ_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_velX[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_velY[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_velZ[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_prg_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_dopp_hz[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&sat_CN0_dBhz[chan][i]), sizeof(double));
}
dump_file.read(reinterpret_cast<char *>(&latitude[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&longitude[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&height[i]), sizeof(double));
@ -340,33 +320,6 @@ bool Rtklib_Solver::save_matfile() const
return false;
}
auto sat_posX_m_aux = std::vector<double>(6 * num_epoch);
auto sat_posY_m_aux = std::vector<double>(6 * num_epoch);
auto sat_posZ_m_aux = std::vector<double>(6 * num_epoch);
auto sat_velX_aux = std::vector<double>(6 * num_epoch);
auto sat_velY_aux = std::vector<double>(6 * num_epoch);
auto sat_velZ_aux = std::vector<double>(6 * num_epoch);
auto sat_prg_m_aux = std::vector<double>(6 * num_epoch);
auto sat_dopp_hz_aux = std::vector<double>(6 * num_epoch);
auto sat_CN0_dBhz_aux = std::vector<double>(6 * num_epoch);
uint32_t k = 0U;
for (int64_t j = 0; j < num_epoch; j++)
{
for (uint32_t i = 0; i < 6; i++)
{
sat_posX_m_aux[k] = sat_posX_m[i][j];
sat_posY_m_aux[k] = sat_posY_m[i][j];
sat_posZ_m_aux[k] = sat_posZ_m[i][j];
sat_velX_aux[k] = sat_velX[i][j];
sat_velY_aux[k] = sat_velY[i][j];
sat_velZ_aux[k] = sat_velZ[i][j];
sat_prg_m_aux[k] = sat_prg_m[i][j];
sat_dopp_hz_aux[k] = sat_dopp_hz[i][j];
sat_CN0_dBhz_aux[k] = sat_CN0_dBhz[i][j];
k++;
}
}
// WRITE MAT FILE
mat_t *matfp;
@ -450,36 +403,6 @@ bool Rtklib_Solver::save_matfile() const
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
std::array<size_t, 2> dims_sat{static_cast<size_t>(6), static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("sat_posX_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_posX_m_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_posY_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_posY_m_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_posZ_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_posZ_m_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_velX", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_velX_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_velY", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_velY_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_velZ", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_velZ_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_prg_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_prg_m_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_dopp_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_dopp_hz_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sat_CN0_dBhz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims_sat.data(), sat_CN0_dBhz_aux.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), latitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -1417,28 +1340,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = vtl_data.rx_dts(1);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// for (int n = 0; n<6; n++)
// {
// tmp_double = vtl_data.sat_p(n, 0);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_p(n, 1);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_p(n, 2);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_v(n, 0);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_v(n, 1);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_v(n, 2);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.pr_m(n);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.doppler_hz(n);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// tmp_double = vtl_data.sat_CN0_dB_hz(n);
// d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// }
// GEO user position Latitude [deg]
tmp_double = this->get_latitude();
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));