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ADD: user clock drift to PVT_raw dump file

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This commit is contained in:
M.A. Gomez 2023-04-05 12:06:17 +02:00
parent 23b3576159
commit 2f17b5c5e0
3 changed files with 19 additions and 2 deletions
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12
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -236,7 +236,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
{
// READ DUMP FILE
const std::string dump_filename = d_vtl_dump_filename;
const int32_t number_of_double_vars = 27;
const int32_t number_of_double_vars = 28;
const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 1;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars +
@ -271,6 +271,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
auto week = std::vector<uint32_t>(num_epoch);
auto RX_time = std::vector<double>(num_epoch);
auto user_clk_offset = std::vector<double>(num_epoch);
auto user_clk_offset_drift = std::vector<double>(num_epoch);
auto pos_x = std::vector<double>(num_epoch);
auto pos_y = std::vector<double>(num_epoch);
auto pos_z = std::vector<double>(num_epoch);
@ -308,6 +309,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
dump_file.read(reinterpret_cast<char *>(&week[i]), sizeof(uint32_t));
dump_file.read(reinterpret_cast<char *>(&RX_time[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&user_clk_offset[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&user_clk_offset_drift[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_x[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_y[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_z[i]), sizeof(double));
@ -370,6 +372,10 @@ bool Rtklib_Solver::save_vtl_matfile() const
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("user_clk_offset_drift", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), user_clk_offset_drift.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -2097,9 +2103,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
tmp_double = gnss_observables_map.cbegin()->second.RX_time;
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// User clock offset [s]
//tmp_double = rx_position_and_time[3];
tmp_double = vtl_engine.get_user_clock_offset_s();
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// User clock offset drift[s/s]
tmp_double = vtl_engine.get_user_clock_offset_drift_s_s();
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] + ECEF ACC X,Y,X [m/s] (9 x double)
std::vector<double> p_vec_m = vtl_engine.get_position_ecef_m();

8
src/algorithms/PVT/libs/vtl_engine.cc
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@ -3278,3 +3278,11 @@ double Vtl_Engine::get_user_clock_offset_s()
return temp;
}
double Vtl_Engine::get_user_clock_offset_drift_s_s()
{
double temp = 0;
temp = kf_x[10];
return temp;
}

1
src/algorithms/PVT/libs/vtl_engine.h
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@ -57,6 +57,7 @@ public:
double get_longitude(); // get_longitude
double get_height(); // get_height
double get_user_clock_offset_s(); // get_user_clock_offset_s;
double get_user_clock_offset_drift_s_s(); // get_user_clock_offset_drift_s/s;
private:
Vtl_Conf config;