mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity

Workaround for GPS L2C-alone positioning

This commit is contained in:
Carles Fernandez 2018-06-08 11:01:29 +02:00
parent 0e020253fa
commit 5b00ad1dc1
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
1 changed files with 32 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -154,9 +154,38 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS];
// Workaround for NAV/CNAV clash problem
bool gps_dual_band = false;
bool band1 = false;
bool band2 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) // CHECK INCONSISTENCY when combining GLONASS + other system
++gnss_observables_iter)
{
switch (gnss_observables_iter->second.System)
{
case 'G':
{
std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0)
{
band1 = true;
}
if (sig_.compare("2S") == 0)
{
band2 = true;
}
}
default:
{
}
}
}
if (band1 == true and band2 == true) gps_dual_band = true;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system
{
switch (gnss_observables_iter->second.System)
{
@ -255,8 +284,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
}
// GPS L2 (ephemeris disabled due to an incompatibility with RTKLIB solver)
if (sig_.compare("2S_disabled") == 0)
// GPS L2 (todo: solve NAV/CNAV clash)
if ((sig_.compare("2S") == 0) and (gps_dual_band == false))
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())