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Fix initialization

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This commit is contained in:
Carles Fernandez 2017-08-19 20:26:30 +02:00
parent eecfd10875
commit 6e65705b47
1 changed files with 7 additions and 10 deletions

17
src/algorithms/PVT/libs/ls_pvt.cc

@ -188,7 +188,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
//=== Initialization =======================================================
int nmbOfIterations = 10; // TODO: include in config
int nmbOfSatellites;
nmbOfSatellites = satpos.n_cols; //Armadillo
nmbOfSatellites = satpos.n_cols; // Armadillo
arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
w.diag() = w_vec; //diagonal weight matrix
@ -196,12 +196,8 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
arma::vec pos = {rx_pos(0), rx_pos(1), rx_pos(2), 0}; // time error in METERS (time x speed)
arma::mat A;
arma::mat omc;
arma::mat az;
arma::mat el;
A = arma::zeros(nmbOfSatellites, 4);
omc = arma::zeros(nmbOfSatellites, 1);
az = arma::zeros(1, nmbOfSatellites);
el = arma::zeros(1, nmbOfSatellites);
arma::mat X = satpos;
arma::vec Rot_X;
double rho2;
@ -210,7 +206,6 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
double dlambda;
double dphi;
double h;
arma::mat mat_tmp;
arma::vec x;
//=== Iteratively find receiver position ===================================
@ -237,10 +232,12 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites
double *az, *el, *dist;
Ls_Pvt::topocent(az, el, dist, pos.subvec(0,2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *az);
this->set_visible_satellites_El(i, *el);
double * azim = 0;
double * elev = 0;
double * dist = 0;
Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0,2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *azim);
this->set_visible_satellites_El(i, *elev);
this->set_visible_satellites_Distance(i, *dist);
if(traveltime < 0.1 && nmbOfSatellites > 3)