debug 5

src/algorithms/libs/rtklib/rtklib.h

@@ -464,6 +464,7 @@ typedef struct {        /* GPS/QZS/GAL broadcast ephemeris type */
                         /* GPS/QZS:tgd[0]=TGD */
                         /* GAL    :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
                         /* BDS    :tgd[0]=BGD1,tgd[1]=BGD2 */
+    double isc[4];      /* GPS    :isc[0]=ISCL1, isc[1]=ISCL2, isc[2]=ISCL5I, isc[3]=ISCL5Q */
     double Adot,ndot;   /* Adot,ndot for CNAV */
 } eph_t;
 

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -117,7 +117,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glon
 eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
     //Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
     rtklib_sat.sat = gal_eph.i_satellite_PRN+NSATGPS+NSATGLO;
     rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
@@ -167,7 +167,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
 eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
     rtklib_sat.sat = gps_eph.i_satellite_PRN;
     rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
     rtklib_sat.M0 = gps_eph.d_M_0;
@@ -216,7 +216,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
 eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
 {
     eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
-        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
+        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
     rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
     const double A_REF = 26559710.0; // See IS-GPS-200H,  pp. 170
     rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
@@ -245,9 +245,13 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
     rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
     rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
     rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
-    rtklib_sat.tgd[1] = 0;
+    rtklib_sat.tgd[1] = 0.0;
-    rtklib_sat.tgd[2] = 0;
+    rtklib_sat.tgd[2] = 0.0;
-    rtklib_sat.tgd[3] = 0;
+    rtklib_sat.tgd[3] = 0.0;
+    rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
+    rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
+    rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
+    rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
     rtklib_sat.toes = gps_cnav_eph.d_Toe1;
     rtklib_sat.toc = gpst2time(rtklib_sat.week,gps_cnav_eph.d_Toc);
     rtklib_sat.ttr = gpst2time(rtklib_sat.week,gps_cnav_eph.d_TOW);

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -80,6 +80,50 @@ double gettgd(int sat, const nav_t *nav)
     return 0.0;
 }
 
+/* get isc parameter (m) -----------------------------------------------------*/
+double getiscl1(int sat, const nav_t *nav)
+{
+    int i;
+    for (i = 0; i < nav->n; i++)
+        {
+            if (nav->eph[i].sat != sat) continue;
+            return SPEED_OF_LIGHT * nav->eph[i].isc[0];
+        }
+    return 0.0;
+}
+
+double getiscl2(int sat, const nav_t *nav)
+{
+    int i;
+    for (i = 0; i < nav->n; i++)
+        {
+            if (nav->eph[i].sat != sat) continue;
+            return SPEED_OF_LIGHT * nav->eph[i].isc[1];
+        }
+    return 0.0;
+}
+
+double getiscl5i(int sat, const nav_t *nav)
+{
+    int i;
+    for (i = 0; i < nav->n; i++)
+        {
+            if (nav->eph[i].sat != sat) continue;
+            return SPEED_OF_LIGHT * nav->eph[i].isc[2];
+        }
+    return 0.0;
+}
+
+double getiscl5q(int sat, const nav_t *nav)
+{
+    int i;
+    for (i = 0; i < nav->n; i++)
+        {
+            if (nav->eph[i].sat != sat) continue;
+            return SPEED_OF_LIGHT * nav->eph[i].isc[3];
+        }
+    return 0.0;
+}
 
 /* psendorange with code bias correction -------------------------------------*/
 double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
@@ -92,6 +136,10 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
     double P1_P2;
     double P1_C1;
     double P2_C2;
+    double ISCl1  = 0.0;
+    double ISCl2  = 0.0;
+    double ISCl5i = 0.0;
+    double ISCl5q = 0.0;
     double gamma_ = 0.0;
     int i = 0;
     int j = 1;
@@ -150,10 +198,13 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
     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.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary | std::ios::app);
+    double tmp_double = static_cast<double>(obs->sat);
+    d_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
     d_file.write(reinterpret_cast<char*>(&P1), sizeof(double));
     d_file.write(reinterpret_cast<char*>(&P2), sizeof(double));
     d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double));
@@ -168,6 +219,14 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
     {
         //TODO
     }
+
+    if(sys == SYS_GPS)
+    {
+        ISCl1  = getiscl1(obs->sat, nav);
+        ISCl2  = getiscl2(obs->sat, nav);
+        ISCl5i = getiscl5i(obs->sat, nav);
+        ISCl5q = getiscl5q(obs->sat, nav);
+    }
     d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double));
     if (opt->ionoopt == IONOOPT_IFLC)
     { /* dual-frequency */
@@ -208,7 +267,10 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
             {
                 P1 += P1_C1;
                 P2 += P2_C2;
-                PC = (P2 - gamma_ * P1) / (1.0 - gamma_) - P1_P2 / (gamma_ - 1.0);
+                if(obs->code[j] == CODE_L2S)
+                {
+                    PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2 / (gamma_ - 1.0);
+                }
             }
             else if(sys == SYS_GAL)
             {

src/algorithms/libs/rtklib/rtklib_pntpos.h

@@ -69,6 +69,12 @@ double varerr(const prcopt_t *opt, double el, int sys);
 /* get tgd parameter (m) -----------------------------------------------------*/
 double gettgd(int sat, const nav_t *nav);
 
+/* get isc parameter (m) -----------------------------------------------------*/
+double getiscl1(int sat, const nav_t *nav);
+double getiscl2(int sat, const nav_t *nav);
+double getiscl5i(int sat, const nav_t *nav);
+double getiscl5q(int sat, const nav_t *nav);
+
 /* psendorange with code bias correction -------------------------------------*/
 double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                      int iter, const prcopt_t *opt, double *var);

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -2825,7 +2825,7 @@ int readnav(const char *file, nav_t *nav)
 {
     FILE *fp;
     eph_t eph0 = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
-    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
     geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0};
     char buff[4096], *p;
     long toe_time, tof_time, toc_time, ttr_time;