From 764656831453e5633654ac6e024070be0e2692f1 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Mon, 5 Mar 2018 11:05:58 +0100 Subject: [PATCH] debug4 --- src/algorithms/libs/rtklib/rtklib_pntpos.cc | 43 +++++++++++++++------ 1 file changed, 31 insertions(+), 12 deletions(-) diff --git a/src/algorithms/libs/rtklib/rtklib_pntpos.cc b/src/algorithms/libs/rtklib/rtklib_pntpos.cc index 01f6f7b4b..3b951189f 100644 --- a/src/algorithms/libs/rtklib/rtklib_pntpos.cc +++ b/src/algorithms/libs/rtklib/rtklib_pntpos.cc @@ -54,6 +54,8 @@ #include "rtklib_ephemeris.h" #include "rtklib_ionex.h" #include "rtklib_sbas.h" +#include +#include /* pseudorange measurement error variance ------------------------------------*/ double varerr(const prcopt_t *opt, double el, int sys) @@ -84,8 +86,16 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, int iter, const prcopt_t *opt, double *var) { const double *lam = nav->lam[obs->sat - 1]; - double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma_; - int i = 0, j = 1, sys; + double PC; + double P1; + double P2; + double P1_P2; + double P1_C1; + double P2_C2; + double gamma_ = 0.0; + int i = 0; + int j = 1; + int sys; *var = 0.0; @@ -133,15 +143,22 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */ if(sys == SYS_GPS or sys == SYS_GAL) { - gamma_ = std::pow(lam[i], 2.0) / std::pow(lam[j], 2.0); + gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); } - P1 = obs->P[i]; P2 = obs->P[j]; P1_P2 = nav->cbias[obs->sat-1][0]; P1_C1 = nav->cbias[obs->sat-1][1]; P2_C2 = nav->cbias[obs->sat-1][2]; - + std::string d_dump_filename = "/home/antonio/data/dump_prange.dat"; + std::ofstream d_file; + d_file.exceptions (std::ifstream::failbit | std::ifstream::badbit ); + d_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + d_file.write(reinterpret_cast(&P1), sizeof(double)); + d_file.write(reinterpret_cast(&P2), sizeof(double)); + d_file.write(reinterpret_cast(&P1_P2), sizeof(double)); + d_file.write(reinterpret_cast(&P1_C1), sizeof(double)); + d_file.write(reinterpret_cast(&P2_C2), sizeof(double)); /* if no P1-P2 DCB, use TGD instead */ if(P1_P2 == 0.0 and sys == SYS_GPS) { @@ -151,7 +168,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, { //TODO } - + d_file.write(reinterpret_cast(&P1_P2), sizeof(double)); if (opt->ionoopt == IONOOPT_IFLC) { /* dual-frequency */ @@ -166,17 +183,18 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, { /* single-frequency */ if((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)) { return 0.0; } - else if((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE)) + else if((obs->code[i] != CODE_NONE) and (obs->code[j] == CODE_NONE)) {//CHECK!! P1 += P1_C1; /* C1->P1 */ - PC = P1 - P1_P2 / (1.0 - gamma_); + PC = P1 + P1_P2 / (gamma_ - 1.0); } - else if((obs->code[i] == CODE_NONE) && (obs->code[j] != CODE_NONE)) + else if((obs->code[i] == CODE_NONE) and (obs->code[j] != CODE_NONE)) { if(sys == SYS_GPS) {//CHECK!! P2 += P2_C2; /* C2->P2 */ - PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_); + //PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_); + PC = P2 + gamma_ * P1_P2 / (gamma_ - 1.0); } else if(sys == SYS_GAL) { @@ -190,7 +208,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, { P1 += P1_C1; P2 += P2_C2; - PC = (P2 - gamma_ * P1) / (1 - gamma_) - P1_P2 / (gamma_ - 1); + PC = (P2 - gamma_ * P1) / (1.0 - gamma_) - P1_P2 / (gamma_ - 1.0); } else if(sys == SYS_GAL) { @@ -198,10 +216,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, } } } + d_file.write(reinterpret_cast(&PC), sizeof(double)); if (opt->sateph == EPHOPT_SBAS) { PC -= P1_C1; } /* sbas clock based C1 */ *var = std::pow(ERR_CBIAS, 2.0); - + d_file.close(); return PC; }