mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2026-10-10 17:51:49 +00:00
Code Issues Releases Wiki Activity

Report az/el for satellites excluded from the PVT fix, not just used ones

Browse Source 
rescode() (rtklib_pntpos.cc) computes each satellite's azimuth/elevation via
satazel() before checking it against PVT.elevation_mask, and pntpos() copies
that azel into ssat[] unconditionally -- only ssat[].vs is gated by the mask
(the same applies to a satellite dropped by RAIM FDE). The used_satellites
loop in rtklib_solver.cc was keying its entire per-satellite entry on vs, so
a tracked satellite excluded from the fix (below the elevation mask, or by
RAIM) disappeared from MonitorPvt entirely -- indistinguishable from a
genuine tracking problem.

Key entries on whether azel was actually computed this epoch instead, and
add a separate `used` flag (default true) reflecting vs. A satellite that
is tracked but excluded from the fix now still reports its real az/el, with
used = false.
This commit is contained in:
joebre
2026-09-07 18:11:12 +02:00
parent 09a42eb5dc
commit 7c8dfbbb79
4 changed files with 34 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/protobuf/monitor_pvt.proto
+9 -5
View File
@@ -53,11 +53,14 @@ message MonitorPvt {
uint32 galhas_status = 35; // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not available
string geohash = 36; // Encoded geographic location. See https://en.wikipedia.org/wiki/Geohash
// One satellite/signal used in this fix, with its azimuth/elevation and
// whether it was combined with another signal of the same satellite (e.g.
// Galileo E1+E5a iono-free combination). Signals are listed individually,
// not merged: a combined satellite appears as two entries, both with
// combined = true.
// One tracked satellite/signal with its azimuth/elevation, whether it was
// combined with another signal of the same satellite (e.g. Galileo E1+E5a
// iono-free combination), and whether it was actually used in this fix.
// Signals are listed individually, not merged: a combined satellite
// appears as two entries, both with combined = true. A satellite can have
// azimuth_deg/elevation_deg populated with used = false when it was
// tracked and had az/el computed but excluded from the fix itself (e.g.
// below PVT.elevation_mask, or by RAIM FDE).
message UsedSatellite {
uint32 prn = 1;
string system = 2; // "G" GPS, "E" Galileo, "R" GLONASS, "C" BeiDou, "S" SBAS, "J" QZSS
@@ -65,6 +68,7 @@ message MonitorPvt {
double azimuth_deg = 4;
double elevation_deg = 5;
bool combined = 6;
bool used = 7;
}
repeated UsedSatellite used_satellites = 37;
}