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Add configuration parameter PVT.bancroft_init, by default to true, to opt-out for Bancroft initialization in the first iteration of PVT computation

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Carles Fernandez 2023-04-03 13:36:54 +02:00
parent 3def3c36cd
commit 51418850bb
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8 changed files with 19 additions and 7 deletions
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7
docs/CHANGELOG.md
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@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
) )
[comment]: # ( [comment]: # (
SPDX-FileCopyrightText: 2011-2022 Carles Fernandez-Prades <carles.fernandez@cttc.es> SPDX-FileCopyrightText: 2011-2023 Carles Fernandez-Prades <carles.fernandez@cttc.es>
) )
<!-- prettier-ignore-end --> <!-- prettier-ignore-end -->
@ -30,6 +30,11 @@ All notable changes to GNSS-SDR will be documented in this file.
- Improved non-coherent acquisition when `Acquisition_XX.blocking=false`. - Improved non-coherent acquisition when `Acquisition_XX.blocking=false`.
- Implemented processing of BeiDou PRN 34 up to PRN 63 signals. - Implemented processing of BeiDou PRN 34 up to PRN 63 signals.
- Implemented Hamming code correction for Glonass navigation message. - Implemented Hamming code correction for Glonass navigation message.
- Now the first iteration of the PVT computation is initialized by the Bancroft
method. This allows to get PVT fixes in some unusual geometries (_e.g._,
GNSS-like signals transmitted by LEO satellites). This initialization is
performed by default. You can opt-out by setting `PVT.bancroft_init=false` in
your configuration file.
### Improvements in Interoperability: ### Improvements in Interoperability:

5
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -764,6 +764,8 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
const double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); const double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
const double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); const double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
const bool bancroft_init = configuration->property(role + ".bancroft_init", true);
snrmask_t snrmask = {{}, {{}, {}}}; snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = { prcopt_t rtklib_configuration_options = {
@ -822,7 +824,8 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {}, /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
bancroft_init /* enable Bancroft initialization for the first iteration of the PVT computation, useful in some geometries */
}; };
rtkinit(&rtk, &rtklib_configuration_options); rtkinit(&rtk, &rtklib_configuration_options);

1
src/algorithms/libs/rtklib/rtklib.h
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@ -1000,6 +1000,7 @@ typedef struct
exterr_t exterr; /* extended receiver error model */ exterr_t exterr; /* extended receiver error model */
int freqopt; /* disable L2-AR */ int freqopt; /* disable L2-AR */
char pppopt[256]; /* ppp option */ char pppopt[256]; /* ppp option */
bool bancroft_init; /* enable Bancroft initialization for the first iteration of the PVT computation */
} prcopt_t; } prcopt_t;

2
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -714,7 +714,7 @@ int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
} }
// Rough first estimation to initialize the algorithm // Rough first estimation to initialize the algorithm
if (std::sqrt(x[0] * x[0] + x[1] * x[1] + x[2] * x[2]) < 0.1) if (opt->bancroft_init && (std::sqrt(x[0] * x[0] + x[1] * x[1] + x[2] * x[2]) < 0.1))
{ {
arma::mat B = arma::mat(n, 4, arma::fill::zeros); arma::mat B = arma::mat(n, 4, arma::fill::zeros);
for (i = 0; i < n; i++) for (i = 0; i < n; i++)

2
src/algorithms/libs/rtklib/rtklib_rtksvr.h
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@ -65,7 +65,7 @@ const prcopt_t PRCOPT_DEFAULT = { /* defaults processing options */
{}, {}, {}, /* baseline, ru, rb */ {}, {}, {}, /* baseline, ru, rb */
{"", ""}, /* anttype */ {"", ""}, /* anttype */
{}, {}, {}, /* antdel, pcv, exsats */ {}, {}, {}, /* antdel, pcv, exsats */
0, 0, 0, {"", ""}, {}, 0, {{}, {}}, {{}, {{}, {}}, {{}, {}}, {}, {}}, 0, {}}; 0, 0, 0, {"", ""}, {}, 0, {{}, {}}, {{}, {{}, {}}, {{}, {}}, {}, {}}, 0, {}, true};
void writesolhead(stream_t *stream, const solopt_t *solopt); void writesolhead(stream_t *stream, const solopt_t *solopt);

3
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
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@ -133,7 +133,8 @@ void NmeaPrinterTest::conf()
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {}, /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
true /* enable Bancroft initialization for the first iteration of the PVT computation, useful in some geometries */
}; };
rtkinit(&rtk, &rtklib_configuration_options); rtkinit(&rtk, &rtklib_configuration_options);

3
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
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@ -132,7 +132,8 @@ void RinexPrinterTest::conf()
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {}, /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
true /* enable Bancroft initialization for the first iteration of the PVT computation, useful in some geometries */
}; };
rtkinit(&rtk, &rtklib_configuration_options); rtkinit(&rtk, &rtklib_configuration_options);

3
src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
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@ -363,7 +363,8 @@ rtk_t configure_rtklib_options()
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {}, /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
true /* enable Bancroft initialization for the first iteration of the PVT computation, useful in some geometries */
}; };
rtk_t rtk; rtk_t rtk;