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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2018-10-19 10:52:32 +02:00
commit 51d6ae2c73
3 changed files with 12 additions and 8 deletions
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10
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -739,6 +739,7 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
{ {
double lam, rate, pos[3], E[9], a[3], e[3], vs[3], cosel; double lam, rate, pos[3], E[9], a[3], e[3], vs[3], cosel;
int i, j, nv = 0; int i, j, nv = 0;
int band = 0;
trace(3, "resdop : n=%d\n", n); trace(3, "resdop : n=%d\n", n);
@ -747,9 +748,12 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
for (i = 0; i < n && i < MAXOBS; i++) for (i = 0; i < n && i < MAXOBS; i++)
{ {
lam = nav->lam[obs[i].sat - 1][0]; if (obs[i].code[0] != CODE_NONE) band = 0;
if (obs[i].code[1] != CODE_NONE) band = 1;
if (obs[i].code[2] != CODE_NONE) band = 2;
lam = nav->lam[obs[i].sat - 1][band];
if (obs[i].D[0] == 0.0 || lam == 0.0 || !vsat[i] || norm_rtk(rs + 3 + i * 6, 3) <= 0.0) if (obs[i].D[band] == 0.0 || lam == 0.0 || !vsat[i] || norm_rtk(rs + 3 + i * 6, 3) <= 0.0)
{ {
continue; continue;
} }
@ -767,7 +771,7 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
rate = dot(vs, e, 3) + DEFAULT_OMEGA_EARTH_DOT / SPEED_OF_LIGHT * (rs[4 + i * 6] * rr[0] + rs[1 + i * 6] * x[0] - rs[3 + i * 6] * rr[1] - rs[i * 6] * x[1]); rate = dot(vs, e, 3) + DEFAULT_OMEGA_EARTH_DOT / SPEED_OF_LIGHT * (rs[4 + i * 6] * rr[0] + rs[1 + i * 6] * x[0] - rs[3 + i * 6] * rr[1] - rs[i * 6] * x[1]);
/* doppler residual */ /* doppler residual */
v[nv] = -lam * obs[i].D[0] - (rate + x[3] - SPEED_OF_LIGHT * dts[1 + i * 2]); v[nv] = -lam * obs[i].D[band] - (rate + x[3] - SPEED_OF_LIGHT * dts[1 + i * 2]);
/* design matrix */ /* design matrix */
for (j = 0; j < 4; j++) H[j + nv * 4] = j < 3 ? -e[j] : 1.0; for (j = 0; j < 4; j++) H[j + nv * 4] = j < 3 ? -e[j] : 1.0;

8
src/core/receiver/control_thread.cc
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@ -221,7 +221,7 @@ bool ControlThread::read_assistance_from_XML()
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend(); gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
gps_eph_iter++) gps_eph_iter++)
{ {
std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->first) << std::endl; std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second); std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
} }
@ -235,7 +235,7 @@ bool ControlThread::read_assistance_from_XML()
gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend(); gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend();
gal_eph_iter++) gal_eph_iter++)
{ {
std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->first) << std::endl; std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second); std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
} }
@ -249,7 +249,7 @@ bool ControlThread::read_assistance_from_XML()
gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend(); gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
gps_cnav_eph_iter++) gps_cnav_eph_iter++)
{ {
std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->first) << std::endl; std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second); std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
} }
@ -284,7 +284,7 @@ bool ControlThread::read_assistance_from_XML()
{ {
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(supl_client_acquisition_.gal_utc); std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(supl_client_acquisition_.gal_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read Galileo iono parameters." << std::endl; std::cout << "From XML file: Read Galileo UTC parameters." << std::endl;
ret = true; ret = true;
} }

2
src/utils/rinex2assist/main.cc
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@ -281,7 +281,7 @@ int main(int argc, char** argv)
if (gps_utc_model.valid) if (gps_utc_model.valid)
{ {
std::ofstream ofs3; std::ofstream ofs3;
xml_filename = "gps_UTC.xml"; xml_filename = "gps_utc.xml";
try try
{ {
ofs3.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out); ofs3.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);