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[WIP] Adding velocity and clock drift

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This commit is contained in:
Cillian O'Driscoll 2019-11-04 12:04:46 +00:00
parent f9f7884d05
commit 828d3cd525
5 changed files with 19 additions and 12 deletions
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11
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -28,7 +28,6 @@
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt_gs.h"
#include "MATH_CONSTANTS.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
@ -61,6 +60,7 @@
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_pvt_gs.h"
#include "rtklib_solver.h"
#include <boost/any.hpp> // for any_cast, any
#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
@ -4168,6 +4168,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
std::cout
<< TEXT_BOLD_GREEN
<< "Velocity: " << std::fixed << std::setprecision(3)
<< "East: " << d_user_pvt_solver->get_rx_vel()[0] << " [m/s], North: " << d_user_pvt_solver->get_rx_vel()[1]
<< " [m/s], Up = " << d_user_pvt_solver->get_rx_vel()[2] << " [m/s]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock drift: " << d_user_pvt_solver->get_clock_drift_ppm() << " [ppm]";
// boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_user_pvt_solver->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);

2
src/algorithms/PVT/libs/pvt_solution.cc
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@ -419,7 +419,7 @@ arma::vec Pvt_Solution::get_rx_pos() const
return d_rx_pos;
}
void Pvt_Solution::set_rx_vel(arma::vec vel)
void Pvt_Solution::set_rx_vel(const arma::vec &vel)
{
d_rx_vel = vel;
}

3
src/algorithms/PVT/libs/pvt_solution.h
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@ -72,6 +72,9 @@ public:
void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
arma::vec get_rx_pos() const;
void set_rx_vel(const arma::vec &vel); //!< Set velocity: East [m/s], North [m/s], Up [m/s]
arma::vec get_rx_vel() const;
bool is_valid_position() const;
void set_valid_position(bool is_valid);

14
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -1071,21 +1071,15 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
double vel_enu[3];
double pos[3];
pos[0] = rx_position_and_time(0);
pos[1] = rx_position_and_time(1);
pos[2] = rx_position_and_time(2);
ecef2enu(pos, &pvt_sol.rr[3], vel_enu);
arma::vec rx_vel_enu(3);
rx_vel_enu(0) = vel_enu[0];
rx_vel_enu(1) = vel_enu[1];
rx_vel_enu(2) = vel_enu[2];
rx_vel_enu(0) = enuv[0];
rx_vel_enu(1) = enuv[1];
rx_vel_enu(2) = enuv[2];
this->set_rx_vel(rx_vel_enu);
double clock_drift_ppm = pvt_sol.dtr[5] / GPS_C_m_s * 1e6;
double clock_drift_ppm = pvt_sol.dtr[5] / GPS_C_M_S * 1e6;
this->set_clock_drift_ppm(clock_drift_ppm);

1
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -972,6 +972,7 @@ void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
{
sol->rr[i + 3] = x[i];
}
sol->dtr[5] = x[3];
break;
}
}