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ADD: SNR and variance estimation in Vtl_Data

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This commit is contained in:
M.A.Gomez 2022-10-10 11:59:22 +02:00
parent 3c8a4f3d3f
commit 6f404626ff
1 changed files with 13 additions and 3 deletions
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16
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1105,19 +1105,19 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
new_vtl_data.sat_v(n, 0) = rs[3 + 6 * n]; new_vtl_data.sat_v(n, 0) = rs[3 + 6 * n];
new_vtl_data.sat_v(n, 1) = rs[4 + 6 * n]; new_vtl_data.sat_v(n, 1) = rs[4 + 6 * n];
new_vtl_data.sat_v(n, 2) = rs[5 + 6 * n]; new_vtl_data.sat_v(n, 2) = rs[5 + 6 * n];
new_vtl_data.sat_dts(n, 0) = dts[0 + 2 * n]; new_vtl_data.sat_dts(n, 0) = dts[0 + 2 * n];
new_vtl_data.sat_dts(n, 1) = dts[1 + 2 * n]; new_vtl_data.sat_dts(n, 1) = dts[1 + 2 * n];
new_vtl_data.sat_var(n) = var[n]; new_vtl_data.sat_var(n) = var[n];
new_vtl_data.sat_health_flag(n) = svh.at(n); new_vtl_data.sat_health_flag(n) = svh.at(n);
new_vtl_data.sat_CN0_dB_hz(n) = d_obs_data.at(n).SNR[0];
// TODO: first version of VTL works only with ONE frequency band (band #0 is L1) // TODO: first version of VTL works only with ONE frequency band (band #0 is L1)
new_vtl_data.pr_m(n) = d_obs_data.at(n).P[0]; new_vtl_data.pr_m(n) = d_obs_data.at(n).P[0];
new_vtl_data.doppler_hz(n) = d_obs_data.at(n).D[0]; new_vtl_data.doppler_hz(n) = d_obs_data.at(n).D[0];
new_vtl_data.carrier_phase_rads(n) = d_obs_data.at(n).L[0]; new_vtl_data.carrier_phase_rads(n) = d_obs_data.at(n).L[0];
} }
//VTL input data extraction from rtklib structures //VTL input data extraction from rtklib structures
/* Receiver position, velocitie and clock */ /* Receiver position, velocity and clock */
/* position/velocity (m|m/s):{x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */ /* position/velocity (m|m/s):{x,y,z,vx,vy,vz} or {e,n,u,ve,vn,vu} */
new_vtl_data.rx_p(0) =pvt_sol.rr[0]; new_vtl_data.rx_p(0) =pvt_sol.rr[0];
new_vtl_data.rx_p(1) =pvt_sol.rr[1]; new_vtl_data.rx_p(1) =pvt_sol.rr[1];
@ -1125,6 +1125,16 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
new_vtl_data.rx_v(0) =pvt_sol.rr[3] ; new_vtl_data.rx_v(0) =pvt_sol.rr[3] ;
new_vtl_data.rx_v(1) =pvt_sol.rr[4] ; new_vtl_data.rx_v(1) =pvt_sol.rr[4] ;
new_vtl_data.rx_v(2) =pvt_sol.rr[5] ; new_vtl_data.rx_v(2) =pvt_sol.rr[5] ;
/* Receiver position, velocity and clock variances*/
new_vtl_data.rx_pvt_var[0] = pvt_sol.qr[0];
new_vtl_data.rx_pvt_var[1] = pvt_sol.qr[1];
new_vtl_data.rx_pvt_var[2] = pvt_sol.qr[2];
//TODO: get direct estimations for V T variances, instead:
new_vtl_data.rx_pvt_var[3] = pvt_sol.qr[0]*0.1; //in general minor than position.
new_vtl_data.rx_pvt_var[4] = pvt_sol.qr[1]*0.1;
new_vtl_data.rx_pvt_var[5] = pvt_sol.qr[2]*0.1;
new_vtl_data.rx_pvt_var[6] = pvt_sol.qr[0]; //time
new_vtl_data.rx_pvt_var[7] = pvt_sol.qr[0]; //doppler
//receiver clock offset and receiver clock drift //receiver clock offset and receiver clock drift
new_vtl_data.rx_dts(0)=rx_position_and_time[3]; new_vtl_data.rx_dts(0)=rx_position_and_time[3];
new_vtl_data.rx_dts(1)=pvt_sol.dtr[5]; new_vtl_data.rx_dts(1)=pvt_sol.dtr[5];