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This commit is contained in:
Carles Fernandez 2017-04-21 16:14:46 +02:00
parent 9c6ff1df9b
commit 417dc1daf1
5 changed files with 45 additions and 45 deletions
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2
conf/gnss-sdr_Hybrid_byte_sim.conf
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@ -17,7 +17,7 @@ SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE ;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE
SignalSource.filename=/home/javier/git/gnss-sdr/build/signal_out.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte

48
src/algorithms/libs/rtklib/rtklib_ephemeris.cc
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@ -90,18 +90,18 @@ double var_uraeph(int ura)
2.4, 3.4, 4.85, 6.85, 9.65, 13.65, 24.0, 48.0, 96.0, 192.0, 384.0, 768.0, 1536.0, 2.4, 3.4, 4.85, 6.85, 9.65, 13.65, 24.0, 48.0, 96.0, 192.0, 384.0, 768.0, 1536.0,
3072.0, 6144.0 3072.0, 6144.0
}; };
return ura < 0 || 15 < ura ? std::pow(2, 6144.0) : std::pow(2, ura_value[ura]); return ura < 0 || 15 < ura ? std::pow(2.0, 6144.0) : std::pow(2.0, ura_value[ura]);
} }
/* variance by ura ssr (ref [4]) ---------------------------------------------*/ /* variance by ura ssr (ref [4]) ---------------------------------------------*/
double var_urassr(int ura) double var_urassr(int ura)
{ {
double std; double std_;
if (ura <= 0) return std::pow(2, DEFURASSR); if (ura <= 0) return std::pow(2.0, DEFURASSR);
if (ura >= 63) return std::pow(2, 5.4665); if (ura >= 63) return std::pow(2.0, 5.4665);
std = (pow(3.0, (ura >> 3) & 7) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3; std_ = (std::pow(3.0, (ura >> 3) & 7) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3;
return std::pow(2, std); return std::pow(2.0, std_);
} }
@ -134,7 +134,7 @@ void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts)
for (n = 0, E = M, Ek = 0.0; fabs(E - Ek) > RTOL_KEPLER && n < MAX_ITER_KEPLER; n++) for (n = 0, E = M, Ek = 0.0; fabs(E - Ek) > RTOL_KEPLER && n < MAX_ITER_KEPLER; n++)
{ {
Ek = E; Ek = E;
E -= (E-alm->e * sin(E) - M) / (1.0 - alm->e * cos(E)); E -= (E - alm->e * sin(E) - M) / (1.0 - alm->e * cos(E));
} }
if (n >= MAX_ITER_KEPLER) if (n >= MAX_ITER_KEPLER)
{ {
@ -275,7 +275,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
*dts = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk; *dts = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk;
/* relativity correction */ /* relativity correction */
*dts -= 2.0 * sqrt(mu * eph->A) * eph-> e* sinE / std::pow(2, SPEED_OF_LIGHT); *dts -= 2.0 * sqrt(mu * eph->A) * eph-> e* sinE / std::pow(2.0, SPEED_OF_LIGHT);
/* position and clock error variance */ /* position and clock error variance */
*var = var_uraeph(eph->sva); *var = var_uraeph(eph->sva);
@ -285,7 +285,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
/* glonass orbit differential equations --------------------------------------*/ /* glonass orbit differential equations --------------------------------------*/
void deq(const double *x, double *xdot, const double *acc) void deq(const double *x, double *xdot, const double *acc)
{ {
double a, b, c, r2 = dot(x, x, 3), r3 = r2 * sqrt(r2), omg2 = std::pow(2, OMGE_GLO); double a, b, c, r2 = dot(x, x, 3), r3 = r2 * sqrt(r2), omg2 = std::pow(2.0, OMGE_GLO);
if (r2 <= 0.0) if (r2 <= 0.0)
{ {
@ -293,7 +293,7 @@ void deq(const double *x, double *xdot, const double *acc)
return; return;
} }
/* ref [2] A.3.1.2 with bug fix for xdot[4],xdot[5] */ /* ref [2] A.3.1.2 with bug fix for xdot[4],xdot[5] */
a = 1.5 * J2_GLO * MU_GLO * std::pow(2, RE_GLO) / r2 / r3; /* 3/2*J2*mu*Ae^2/r^5 */ a = 1.5 * J2_GLO * MU_GLO * std::pow(2.0, RE_GLO) / r2 / r3; /* 3/2*J2*mu*Ae^2/r^5 */
b = 5.0 * x[2] * x[2] / r2; /* 5*z^2/r^2 */ b = 5.0 * x[2] * x[2] / r2; /* 5*z^2/r^2 */
c = -MU_GLO / r3 - a * (1.0 - b); /* -mu/r^3-a(1-b) */ c = -MU_GLO / r3 - a * (1.0 - b); /* -mu/r^3-a(1-b) */
xdot[0] = x[3]; xdot[0] = x[3];
@ -336,9 +336,9 @@ double geph2clk(gtime_t time, const geph_t *geph)
for (i = 0; i < 2; i++) for (i = 0; i < 2; i++)
{ {
t-=-geph->taun + geph->gamn*t; t -= -geph->taun + geph->gamn * t;
} }
return -geph->taun + geph->gamn*t; return -geph->taun + geph->gamn * t;
} }
@ -362,21 +362,21 @@ void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts,
t = timediff(time, geph->toe); t = timediff(time, geph->toe);
*dts=-geph->taun+geph->gamn*t; *dts = -geph->taun + geph->gamn * t;
for (i = 0;i<3;i++) for (i = 0; i < 3; i++)
{ {
x[i ] = geph->pos[i]; x[i ] = geph->pos[i];
x[i+3] = geph->vel[i]; x[i+3] = geph->vel[i];
} }
for (tt = t<0.0?-TSTEP:TSTEP;fabs(t)>1E-9;t-=tt) for (tt = t < 0.0 ? - TSTEP : TSTEP; fabs(t) > 1e-9; t -= tt)
{ {
if (fabs(t)<TSTEP) tt = t; if (fabs(t) < TSTEP) tt = t;
glorbit(tt, x, geph->acc); glorbit(tt, x, geph->acc);
} }
for (i = 0;i<3;i++) rs[i] = x[i]; for (i = 0; i < 3; i++) rs[i] = x[i];
*var = std::pow(2, ERREPH_GLO); *var = std::pow(2.0, ERREPH_GLO);
} }
@ -858,7 +858,7 @@ void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
{ {
if (!ephclk(time[i], teph, obs[i].sat, nav, dts + i * 2)) continue; if (!ephclk(time[i], teph, obs[i].sat, nav, dts + i * 2)) continue;
dts[1 + i * 2] = 0.0; dts[1 + i * 2] = 0.0;
*var = std::pow(2, STD_BRDCCLK); *var = std::pow(2.0, STD_BRDCCLK);
} }
} }
for (i = 0; i < n && i < MAXOBS; i++) for (i = 0; i < n && i < MAXOBS; i++)

32
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -56,11 +56,11 @@
/* pseudorange measurement error variance ------------------------------------*/ /* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys) double varerr(const prcopt_t *opt, double el, int sys)
{ {
double fact,varr; double fact, varr;
fact = sys == SYS_GLO ? EFACT_GLO : (sys == SYS_SBS ? EFACT_SBS : EFACT_GPS); fact = sys == SYS_GLO ? EFACT_GLO : (sys == SYS_SBS ? EFACT_SBS : EFACT_GPS);
varr = std::pow(2, opt->err[0]) * (std::pow(2, opt->err[1]) + std::pow(2, opt->err[2]) / sin(el)); varr = std::pow(2.0, opt->err[0]) * (std::pow(2.0, opt->err[1]) + std::pow(2.0, opt->err[2]) / sin(el));
if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2, 3.0); /* iono-free */ if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2.0, 3.0); /* iono-free */
return std::pow(2, fact) * varr; return std::pow(2.0, fact) * varr;
} }
@ -95,7 +95,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */ /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (NFREQ>=3&&(sys&(SYS_GAL|SYS_SBS))) j = 2; if (NFREQ >= 3 && (sys & (SYS_GAL | SYS_SBS))) j = 2;
if (NFREQ<2 || lam[i] == 0.0 || lam[j] == 0.0) if (NFREQ<2 || lam[i] == 0.0 || lam[j] == 0.0)
{ {
@ -105,7 +105,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
/* test snr mask */ /* test snr mask */
if (iter>0) if (iter > 0)
{ {
if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask)) if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask))
{ {
@ -122,7 +122,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
} }
} }
gamma = std::pow(2, lam[j]) / std::pow(2, lam[i]); /* f1^2/f2^2 */ gamma = std::pow(2.0, lam[j]) / std::pow(2.0, lam[i]); /* f1^2/f2^2 */
P1 = obs->P[i]; P1 = obs->P[i];
P2 = obs->P[j]; P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat-1][0]; P1_P2 = nav->cbias[obs->sat-1][0];
@ -153,7 +153,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */ if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */
*var = std::pow(2, ERR_CBIAS); *var = std::pow(2.0, ERR_CBIAS);
return PC; return PC;
} }
@ -182,7 +182,7 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
if (ionoopt == IONOOPT_BRDC) if (ionoopt == IONOOPT_BRDC)
{ {
*ion = ionmodel(time, nav->ion_gps, pos, azel); *ion = ionmodel(time, nav->ion_gps, pos, azel);
*var = SQR(*ion*ERR_BRDCI); *var = std::pow(2.0, *ion*ERR_BRDCI);
return 1; return 1;
} }
/* sbas ionosphere model */ /* sbas ionosphere model */
@ -196,10 +196,10 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
return iontec(time, nav, pos, azel, 1, ion, var); return iontec(time, nav, pos, azel, 1, ion, var);
} }
/* qzss broadcast model */ /* qzss broadcast model */
if (ionoopt == IONOOPT_QZS && norm(nav->ion_qzs, 8)>0.0) if (ionoopt == IONOOPT_QZS && norm(nav->ion_qzs, 8) > 0.0)
{ {
*ion = ionmodel(time, nav->ion_qzs, pos, azel); *ion = ionmodel(time, nav->ion_qzs, pos, azel);
*var = std::pow(2, *ion * ERR_BRDCI); *var = std::pow(2.0, *ion * ERR_BRDCI);
return 1; return 1;
} }
/* lex ionosphere model */ /* lex ionosphere model */
@ -207,7 +207,7 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
// return lexioncorr(time, nav, pos, azel, ion, var); // return lexioncorr(time, nav, pos, azel, ion, var);
//} //}
*ion = 0.0; *ion = 0.0;
*var = ionoopt == IONOOPT_OFF ? std::pow(2, ERR_ION) : 0.0; *var = ionoopt == IONOOPT_OFF ? std::pow(2.0, ERR_ION) : 0.0;
return 1; return 1;
} }
@ -234,7 +234,7 @@ int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
if (tropopt == TROPOPT_SAAS || tropopt == TROPOPT_EST || tropopt == TROPOPT_ESTG) if (tropopt == TROPOPT_SAAS || tropopt == TROPOPT_EST || tropopt == TROPOPT_ESTG)
{ {
*trp = tropmodel(time, pos, azel, REL_HUMI); *trp = tropmodel(time, pos, azel, REL_HUMI);
*var = SQR(ERR_SAAS / (sin(azel[1]) + 0.1)); *var = std::pow(2.0, ERR_SAAS / (sin(azel[1]) + 0.1));
return 1; return 1;
} }
/* sbas troposphere model */ /* sbas troposphere model */
@ -245,7 +245,7 @@ int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
} }
/* no correction */ /* no correction */
*trp = 0.0; *trp = 0.0;
*var = tropopt == TROPOPT_OFF ? std::pow(2, ERR_TROP) : 0.0; *var = tropopt == TROPOPT_OFF ? std::pow(2.0, ERR_TROP) : 0.0;
return 1; return 1;
} }
@ -314,7 +314,7 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
/* GPS-L1 -> L1/B1 */ /* GPS-L1 -> L1/B1 */
if ((lam_L1 = nav->lam[obs[i].sat - 1][0]) > 0.0) if ((lam_L1 = nav->lam[obs[i].sat - 1][0]) > 0.0)
{ {
dion *= pow(2, lam_L1 / lam_carr[0]); dion *= pow(2.0, lam_L1 / lam_carr[0]);
} }
/* tropospheric corrections */ /* tropospheric corrections */
if (!tropcorr(obs[i].time, nav, pos, azel + i*2, if (!tropcorr(obs[i].time, nav, pos, azel + i*2,
@ -517,7 +517,7 @@ int raim_fde(const obsd_t *obs, int n, const double *rs,
for (j = nvsat = 0, rms_e = 0.0; j < n - 1; j++) for (j = nvsat = 0, rms_e = 0.0; j < n - 1; j++)
{ {
if (!vsat_e[j]) continue; if (!vsat_e[j]) continue;
rms_e += std::pow(2, resp_e[j]); rms_e += std::pow(2.0, resp_e[j]);
nvsat++; nvsat++;
} }
if (nvsat < 5) if (nvsat < 5)

2
src/algorithms/libs/rtklib/rtklib_pntpos.h
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@ -60,7 +60,7 @@
/* constants -----------------------------------------------------------------*/ /* constants -----------------------------------------------------------------*/
#define SQR(x) ((x)*(x)) //#define SQR(x) ((x)*(x))
#define NX (4+3) /* # of estimated parameters */ #define NX (4+3) /* # of estimated parameters */

6
src/core/system_parameters/MATH_CONSTANTS.h
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@ -102,12 +102,12 @@ const double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38 const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23 const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
const double D2R = (PI/180.0); //!< deg to rad */ const double D2R = (PI/180.0); //!< deg to rad
const double R2D = (180.0/PI); //!< rad to deg */ const double R2D = (180.0/PI); //!< rad to deg
const double SC2RAD = 3.1415926535898; //!< semi-circle to radian (IS-GPS) const double SC2RAD = 3.1415926535898; //!< semi-circle to radian (IS-GPS)
const double AS2R = (D2R / 3600.0); //!< arc sec to radian const double AS2R = (D2R / 3600.0); //!< arc sec to radian
const double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Default Earth rotation rate, [rad/s] const double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Default Earth rotation rate, [rad/s]
const double SPEED_OF_LIGHT = 299792458.0; //!< [m/s] const double SPEED_OF_LIGHT = 299792458.0; //!< [m/s]
const double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun. const double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun.