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Merge branch 'iono-free' into next

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This commit is contained in:
Carles Fernandez
2026-03-14 08:06:47 +01:00
parent ace5050b1f a3687bddf1
commit 72076809e9
2 changed files with 7 additions and 94 deletions
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src/algorithms/PVT/libs/rtklib_solver.cc
+4 -89
View File
@@ -836,41 +836,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
std::vector<eph_t> eph_data(MAXOBS);
std::vector<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)
{
switch (gnss_observables_iter->second.System)
{
case 'G':
case 'J':
{
const std::string sig_(gnss_observables_iter->second.Signal, 2);
if ((sig_ == "1C") || (sig_ == "J1"))
{
band1 = true;
}
if (sig_ == "2S")
{
band2 = true;
}
}
break;
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
@@ -1079,57 +1044,7 @@ 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 (todo: solve NAV/CNAV clash)
if (is_l2 && (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())
{
// 1. Find the same satellite in GPS L1 band
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{
/* By the moment, GPS L2 observables are not used in pseudorange computations if GPS L1 is available
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
eph_data[i].week,
d_rtklib_band_index[sig_]);
break;
}
}
*/
}
else
{
// 3. If not found, insert the GPS L2 ephemeris and the observation
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
d_rtklib_band_index[rtklib_sig]);
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// GPS/QZSS L5
if (is_l5)
if (is_l2 || is_l5)
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@@ -1140,7 +1055,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == sat)
{
// 2. If found, attach the L5 observation to the existing observation in RTKLIB structure
// 2. If found, attach the L2/L5 observation to the existing observation in RTKLIB structure
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
d_has_obs_corr_map,
@@ -1152,7 +1067,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
if (!found_existing_obs)
{
// 3. If not found, insert the GPS L5 ephemeris and the observation
// 3. If not found, insert the L2/L5 ephemeris and the observation
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
@@ -1175,7 +1090,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
break;
}
case 'R': // TODO This should be using rtk lib nomenclature
case 'R':
{
const std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
src/algorithms/libs/rtklib/rtklib_pntpos.cc
+3 -5
View File
@@ -284,17 +284,15 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
{
if (obs->code[j] == CODE_L2S) /* L1 + L2 */
{
// By the moment, GPS L2 pseudoranges are not used
// PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
// PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
}
else if (obs->code[j] == CODE_L5X) /* L1 + L5 */
{
// By the moment, GPS L5 pseudoranges are not used
// PC = (P2 + ISCl5i - gamma_ * (P1 + ISCl5i)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
// PC = P1 + P1_P2;
PC = (P2 + ISCl5i - gamma_ * (P1 + ISCl5i)) / (1.0 - gamma_) - P1_P2;
}
}
else if (sys == SYS_GAL || sys == SYS_GLO || sys == SYS_BDS) /* E1 + E5a */