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Expose more RTKLIB configuration parameters

This commit is contained in:
Carles Fernandez 2017-05-23 09:44:48 +02:00
parent 44bca3cb6f
commit 35c2b0248a
1 changed files with 8 additions and 2 deletions
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10
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -350,6 +350,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = { {}, {{},{}} };
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
@ -379,8 +385,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */
{100.0,100.0,100.0}, /* eratio[NFREQ] code/phase error ratio */
{100.0,0.003,0.003,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{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) */