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Expose more RTKLIB parameters to user configuration

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This commit is contained in:
Carles Fernandez 2017-05-01 20:39:42 +02:00
parent 44883b2f4d
commit 29efbd895b
1 changed files with 98 additions and 47 deletions
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145
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -171,6 +171,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
//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;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = configuration->property(role + ".positioning_mode", PMODE_SINGLE); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (positioning_mode < 0) || (positioning_mode > 8) )
{
@ -178,24 +180,6 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
positioning_mode = PMODE_SINGLE;
}
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
/* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
if( (navigation_system < 1) || (navigation_system > 255) )
{
//warn user and set the default
navigation_system = nsys;
}
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
{
//warn user and set the default
elevation_mask = 15.0;
}
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
@ -207,18 +191,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
number_of_frequencies = num_bands;
}
int trop_model = configuration->property(role + ".trop_model", 0); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (trop_model < 0) || (trop_model > 5) )
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
{
//warn user and set the default
trop_model = 0;
}
int iono_model = configuration->property(role + ".iono_model", 0); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (iono_model < 0) || (iono_model > 8) )
{
//warn user and set the default
iono_model = 0; /* 0: ionosphere option: correction off */
elevation_mask = 15.0;
}
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
@ -228,28 +205,102 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
dynamics_model = 0;
}
int iono_model = configuration->property(role + ".iono_model", 0); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (iono_model < 0) || (iono_model > 8) )
{
//warn user and set the default
iono_model = 0; /* 0: ionosphere option: correction off */
}
int trop_model = configuration->property(role + ".trop_model", 0); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (trop_model < 0) || (trop_model > 5) )
{
//warn user and set the default
trop_model = 0;
}
/* RTKLIB positioning options */
int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
int phwindup = 0; /* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
int reject_GPS_IIA = 0; /* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
int raim_fde = 0; /* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
The excluded satellite is selected to indicate the minimum SSE. */
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
//warn user and set the default
navigation_system = nsys;
}
// Settings 2
int integer_ambiguity_resolution_gps = configuration->property(role + ".AR_GPS", 1); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
if( (integer_ambiguity_resolution_gps < 0) || (integer_ambiguity_resolution_gps > 4) )
{
//warn user and set the default
integer_ambiguity_resolution_gps = 1;
}
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
{
//warn user and set the default
integer_ambiguity_resolution_glo = 1;
}
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) )
{
//warn user and set the default
integer_ambiguity_resolution_bds = 1;
}
//int max_iter_resolve_ambiguity = configuration->property(role + ".max_iter_resolve_ambiguity", 1);
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum eveation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
/// Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0);
double iono_0 = configuration->property(role + ".iono_0", 0.03);
double trop_0 = configuration->property(role + ".trop_0", 0.3);
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4);
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
bias (ambiguity) (cycle/sqrt(s)) */
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3);
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4);
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1);
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2);
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m) */
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP */
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
@ -257,11 +308,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
elevation_mask * D2R, /* elevation mask angle (degrees) */
{ {}, {{},{}} }, /* snrmask_t snrmask SNR mask */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
1, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
1, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
1, /* BeiDou AR mode (0:off,1:on) */
5, /* obs outage count to reset bias */
0, /* min lock count to fix ambiguity */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
outage_reset_ambiguity, /* obs outage count to reset bias */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
10, /* min fix count to hold ambiguity */
1, /* max iteration to resolve ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */
@ -283,9 +334,9 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{3.0,0.9999,0.25,0.1,0.05}, /* thresar[8]: AR validation threshold */
0.0, /* elevation mask of AR for rising satellite (deg) */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
0.05, /* slip threshold of geometry-free phase (m) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
30.0, /* max difference of time (sec) */
threshold_reject_innovation, /* reject threshold of innovation (m) */
threshold_reject_gdop, /* reject threshold of gdop */
@ -298,14 +349,14 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */
0, /* initialize by restart */
0, /* output single by dgps/float/fix/ppp outage*/
0, /* output single by dgps/float/fix/ppp outage */
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */
{}, /* posopt[6] positioning options */
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */
{} /* char pppopt[256] ppp option */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
sol_t sol_ = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };