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style: improve code readability

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This commit is contained in:
pedromiguelcp
2025-08-05 14:54:57 +01:00
committed by Carles Fernandez
parent 62aade740b
commit 85debfea6d
4 changed files with 20 additions and 20 deletions
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2
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -1677,7 +1677,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
vtl_data->obs_prr(ch_id) = -gnss_observables_iter->second.Carrier_Doppler_hz * Lambda_GPS_L1; vtl_data->obs_prr(ch_id) = -gnss_observables_iter->second.Carrier_Doppler_hz * Lambda_GPS_L1;
vtl_data->band(ch_id) = 0; // L1E1 vtl_data->band(ch_id) = 0; // L1E1
} }
else else if (std::string(gnss_observables_iter->second.Signal) == "L5" || std::string(gnss_observables_iter->second.Signal) == "5X")
{ {
vtl_data->obs_prr(ch_id) = -gnss_observables_iter->second.Carrier_Doppler_hz * Lambda_GPS_L5; vtl_data->obs_prr(ch_id) = -gnss_observables_iter->second.Carrier_Doppler_hz * Lambda_GPS_L5;
vtl_data->band(ch_id) = 1; // L5E5 vtl_data->band(ch_id) = 1; // L5E5

7
src/algorithms/PVT/libs/vtl_core.cc
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@@ -277,16 +277,15 @@ void Vtl_Core::update_process(double dt_s)
const double q_pv = vtl_sys_acc_noise_var_m2s4 * T3 / 2; const double q_pv = vtl_sys_acc_noise_var_m2s4 * T3 / 2;
const double q_vv = vtl_sys_acc_noise_var_m2s4 * T2; const double q_vv = vtl_sys_acc_noise_var_m2s4 * T2;
// PVA
arma::mat Q_PV(2, 2, arma::fill::zeros); arma::mat Q_PV(2, 2, arma::fill::zeros);
Q_PV(i_px, i_px) = q_pp; Q_PV(i_px, i_px) = q_pp;
Q_PV(i_px, i_vx) = q_pv; Q_PV(i_px, i_vx) = q_pv;
Q_PV(i_vx, i_px) = q_pv; Q_PV(i_vx, i_px) = q_pv;
Q_PV(i_vx, i_vx) = q_vv; Q_PV(i_vx, i_vx) = q_vv;
// 3 motion axes (x, y, z) // 3 motion axes (x, y, z)
ekf_Q.submat(i_px, i_px, i_vx, i_vx) = vtl_kinematic ? Q_PV : arma::zeros(2, 2); ekf_Q.submat(i_px, i_px, i_vx, i_vx) = vtl_kinematic ? Q_PV : (arma::ones(2, 2) * 1e-10);
ekf_Q.submat(i_py, i_py, i_vy, i_vy) = vtl_kinematic ? Q_PV : arma::zeros(2, 2); ekf_Q.submat(i_py, i_py, i_vy, i_vy) = vtl_kinematic ? Q_PV : (arma::ones(2, 2) * 1e-10);
ekf_Q.submat(i_pz, i_pz, i_vz, i_vz) = vtl_kinematic ? Q_PV : arma::zeros(2, 2); ekf_Q.submat(i_pz, i_pz, i_vz, i_vz) = vtl_kinematic ? Q_PV : (arma::ones(2, 2) * 1e-10);
// Clock // Clock
const double clk_b_noise_var_m2 = S_f + vtl_sys_clk_b_noise_var_m2; const double clk_b_noise_var_m2 = S_f + vtl_sys_clk_b_noise_var_m2;

27
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@@ -624,7 +624,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
d_VTL_pll_en = false; d_VTL_pll_en = false;
d_VTL_dll_en = false; d_VTL_dll_en = false;
d_prn_id = 0; d_prn_id = 0;
d_VTL_dll_weight_shift = 0; d_W_shift_vtl = 0;
} }
@@ -688,25 +688,26 @@ void dll_pll_veml_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
// DLL // DLL
d_code_freq_hz_VTL = cmd->dll_vtl_freq_hz; d_code_freq_hz_VTL = cmd->dll_vtl_freq_hz;
if (d_signal_type == "1B" || d_signal_type == "1C") if (d_signal_type == "1C" || d_signal_type == "1B")
{ {
d_code_freq_hz_s_VTL = cmd->carrier_freq_rate_hz_s / GPS_L1_FREQ_HZ / GPS_L1_CA_CODE_RATE_CPS; d_code_freq_hz_s_VTL = cmd->carrier_freq_rate_hz_s / GPS_L1_FREQ_HZ / GPS_L1_CA_CODE_RATE_CPS;
} }
else else if (d_signal_type == "L5" || d_signal_type == "5X")
{ {
d_code_freq_hz_s_VTL = cmd->carrier_freq_rate_hz_s / GPS_L5_FREQ_HZ / GPS_L5I_CODE_RATE_CPS; d_code_freq_hz_s_VTL = cmd->carrier_freq_rate_hz_s / GPS_L5_FREQ_HZ / GPS_L5I_CODE_RATE_CPS;
} }
d_G_vtl = 1; // start with 100% weight to VTL feedback d_W_vtl = 1; // start with 100% weight to VTL feedback
if (d_signal_type == "1B") if (d_signal_type == "1B")
{ {
d_VTL_dll_weight_shift = 0.2; // shift 20% to traditional tracking each epoch d_W_shift_vtl = 0.2; // shift 20% to traditional tracking each epoch
} }
else else if (d_signal_type == "1C" || d_signal_type == "L5" || d_signal_type == "5X")
{ {
d_VTL_dll_weight_shift = 0.05; // shift 5% d_W_shift_vtl = 0.05; // shift 5%
} }
if (d_VTL_dll_en && (cmd->enable_dll_vtl_feedack == false)) if (d_VTL_dll_en && (cmd->enable_dll_vtl_feedack == false))
{ {
d_code_loop_filter.initialize(); d_code_loop_filter.initialize();
@@ -1196,7 +1197,7 @@ void dll_pll_veml_tracking::run_dll_pll()
if (d_VTL_pll_en) if (d_VTL_pll_en)
{ {
double delta_t_s = static_cast<double>(this->nitems_read(0) - d_sample_counter_VTL) / d_trk_parameters.fs_in; double delta_t_s = static_cast<double>(this->nitems_read(0) - d_sample_counter_VTL) / d_trk_parameters.fs_in;
d_carrier_doppler_hz = d_carr_freq_hz_VTL + delta_t_s * d_carr_freq_hz_s_VTL; d_carrier_doppler_hz = d_W_vtl * (d_carr_freq_hz_VTL + delta_t_s * d_carr_freq_hz_s_VTL) + (1 - d_W_vtl) * d_carrier_doppler_hz;
} }
// std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << '\n'; // std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << '\n';
@@ -1225,12 +1226,12 @@ void dll_pll_veml_tracking::run_dll_pll()
if (d_VTL_dll_en) if (d_VTL_dll_en)
{ {
double delta_t_s = static_cast<double>(this->nitems_read(0) - d_sample_counter_VTL) / d_trk_parameters.fs_in; double delta_t_s = static_cast<double>(this->nitems_read(0) - d_sample_counter_VTL) / d_trk_parameters.fs_in;
d_code_freq_chips = d_G_vtl * (d_code_freq_hz_VTL + delta_t_s * d_code_freq_hz_s_VTL) + (1 - d_G_vtl) * d_code_freq_chips; d_code_freq_chips = d_W_vtl * (d_code_freq_hz_VTL + delta_t_s * d_code_freq_hz_s_VTL) + (1 - d_W_vtl) * d_code_freq_chips;
}
if (d_G_vtl > 0) if (d_W_vtl > 0)
{ {
d_G_vtl -= d_VTL_dll_weight_shift; d_W_vtl -= d_W_shift_vtl;
}
} }
// Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler // Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@@ -132,7 +132,7 @@ private:
double d_code_freq_hz_VTL; double d_code_freq_hz_VTL;
double d_code_freq_hz_s_VTL; double d_code_freq_hz_s_VTL;
double d_sample_counter_VTL; double d_sample_counter_VTL;
double d_G_vtl; double d_W_vtl;
double d_carrier_doppler_hz; double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad; double d_acc_carrier_phase_rad;
double d_rem_code_phase_chips; double d_rem_code_phase_chips;
@@ -216,7 +216,7 @@ private:
bool d_VTL_pll_en; bool d_VTL_pll_en;
bool d_VTL_dll_en; bool d_VTL_dll_en;
uint32_t d_prn_id; uint32_t d_prn_id;
float d_VTL_dll_weight_shift; float d_W_shift_vtl;
}; };