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Added velocity and clock drift to PVT

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Interestingly RTKLIB does not store the clock drift in its sol_t
datatype, so I added this to the unused element dtr[5]. This may not be
compatible with future versions of RTKLIB.

Here we store velocity in ENU coordinates and the clock drift in parts
per million (PPM)
This commit is contained in:
Cillian O'Driscoll 2017-08-29 11:27:13 +01:00
parent afb2eb16c6
commit 216e8dfa26
3 changed files with 43 additions and 1 deletions
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23
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -316,6 +316,16 @@ void Pvt_Solution::set_time_offset_s(double offset)
d_rx_dt_s = offset;
}
double Pvt_Solution::get_clock_drift_ppm() const
{
return d_rx_clock_drift_ppm;
}
void Pvt_Solution::set_clock_drift_ppm(double clock_drift_ppm)
{
d_rx_clock_drift_ppm = clock_drift_ppm;
}
double Pvt_Solution::get_latitude() const
{
@ -404,11 +414,22 @@ void Pvt_Solution::set_rx_pos(const arma::vec &pos)
}
arma::vec Pvt_Solution::get_rx_pos() const
const arma::vec& Pvt_Solution::get_rx_pos() const
{
return d_rx_pos;
}
void Pvt_Solution::set_rx_vel(arma::vec vel)
{
d_rx_vel = vel;
}
const arma::vec& Pvt_Solution::get_rx_vel() const
{
return d_rx_vel;
}
boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
{

4
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -53,6 +53,8 @@ public:
double get_time_offset_s() const; //!< Get RX time offset [s]
void set_time_offset_s(double offset); //!< Set RX time offset [s]
double get_clock_drift_ppm() const; //!< Get the Rx clock drift [ppm]
void set_clock_drift_ppm(double clock_drift_ppm ); //!< Set the Rx clock drift [ppm]
double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
double get_height() const; //!< Get RX position height WGS84 [m]
@ -133,6 +135,7 @@ protected:
bool d_pre_2009_file; // Flag to correct week rollover in post processing mode for signals older than 2009
private:
double d_rx_dt_s; // RX time offset [s]
double d_rx_clock_drift_ppm; // RX clock drift [ppm]
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
@ -154,6 +157,7 @@ private:
int d_averaging_depth; // Length of averaging window
arma::vec d_rx_pos;
arma::vec d_rx_vel;
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
};

17
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -1071,6 +1071,23 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
double vel_enu[3];
double pos[3];
pos[0] = rx_position_and_time(0);
pos[1] = rx_position_and_time(1);
pos[2] = rx_position_and_time(2);
ecef2enu( pos, &pvt_sol.rr[3], vel_enu );
arma::vec rx_vel_enu(3);
rx_vel_enu(0) = vel_enu[ 0 ];
rx_vel_enu(1) = vel_enu[ 1 ];
rx_vel_enu(2) = vel_enu[ 2 ];
this->set_rx_vel( rx_vel_enu );
double clock_drift_ppm = pvt_sol.dtr[5] / GPS_C_m_s *1e6;
this->set_clock_drift_ppm( clock_drift_ppm );
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)