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Expose more RTKLIB parameters

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This commit is contained in:
Carles Fernandez
2017-05-02 07:28:54 +02:00
parent 29efbd895b
commit 5581b2f888
2 changed files with 29 additions and 23 deletions
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22
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -231,7 +231,6 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
The excluded satellite is selected to indicate the minimum SSE. */
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
@@ -263,12 +262,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
integer_ambiguity_resolution_bds = 1;
}
//int max_iter_resolve_ambiguity = configuration->property(role + ".max_iter_resolve_ambiguity", 1);
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum eveation (deg) to fix integer ambiguity.
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
@@ -279,6 +279,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */
/// Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0);
@@ -319,11 +325,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
trop_model, /* troposphere option (TROPOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
0, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
1, /* number of filter iteration */
number_filter_iter, /* number of filter iteration */
0, /* code smoothing window size (0:none) */
0, /* interpolate reference obs (for post mission) */
0, /* sbssat_t sbssat SBAS correction options */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
{}, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* rover position for fixed mode */
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
@@ -333,7 +339,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{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) */
{3.0,0.9999,0.25,0.1,0.05}, /* thresar[8]: AR validation threshold */
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
@@ -343,8 +349,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */