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This commit is contained in:
Antonio Ramos 2018-03-08 18:05:22 +01:00
parent be5139e5f7
commit 93d2fdaf14
7 changed files with 16 additions and 22 deletions
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2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -385,7 +385,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL); msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file //save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_L2CM_L5.xml"; std::string file_name = "eph_GPS_CNAV.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0) if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{ {

4
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -404,7 +404,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
// ********************************************************************** // **********************************************************************
this->set_valid_position(false); this->set_valid_position(false);
if (valid_obs > 0 || glo_valid_obs > 0) if ((valid_obs + glo_valid_obs) > 3)
{ {
int result = 0; int result = 0;
nav_t nav_data; nav_t nav_data;
@ -495,5 +495,5 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
} }
} }
} }
return this->is_valid_position(); return is_valid_position();
} }

12
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -205,15 +205,9 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double)); d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P1_C1), sizeof(double)); d_file.write(reinterpret_cast<char*>(&P1_C1), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P2_C2), sizeof(double)); d_file.write(reinterpret_cast<char*>(&P2_C2), sizeof(double));
/* if no P1-P2 DCB, use TGD instead */ /* if no P1-P2 DCB, use TGD instead */
if(P1_P2 == 0.0 and sys == SYS_GPS) if(P1_P2 == 0.0) { P1_P2 = gettgd(obs->sat, nav); }
{
P1_P2 = gettgd(obs->sat, nav);
}
else if(P1_P2 == 0.0 and sys == SYS_GAL)
{
//TODO
}
if(sys == SYS_GPS) if(sys == SYS_GPS)
{ {
@ -276,7 +270,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
else if(sys == SYS_GAL) /* E1 + E5a */ else if(sys == SYS_GAL) /* E1 + E5a */
{ {
//TODO
} }
} }
d_file.write(reinterpret_cast<char*>(&PC), sizeof(double)); d_file.write(reinterpret_cast<char*>(&PC), sizeof(double));

2
src/algorithms/libs/rtklib/rtklib_rtcm.cc
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@ -69,7 +69,7 @@ int init_rtcm(rtcm_t *rtcm)
obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}}; obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 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, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0}, geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0}; 0.0, 0.0, 0.0};
ssr_t ssr0 = {{{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0'}; ssr_t ssr0 = {{{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0'};

2
src/algorithms/libs/rtklib/rtklib_rtcm2.cc
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@ -219,7 +219,7 @@ int decode_type17(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
int i = 48, week, prn, sat; int i = 48, week, prn, sat;

12
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
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@ -846,7 +846,7 @@ int decode_type1019(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_GPS; int i = 24 + 12, prn, sat, week, sys = SYS_GPS;
@ -1293,7 +1293,7 @@ int decode_type1044(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_QZS; int i = 24 + 12, prn, sat, week, sys = SYS_QZS;
@ -1398,7 +1398,7 @@ int decode_type1045(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL; int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1502,7 +1502,7 @@ int decode_type1046(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL; int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1606,7 +1606,7 @@ int decode_type1047(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
; ;
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
@ -1716,7 +1716,7 @@ int decode_type63(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0}; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_BDS; int i = 24 + 12, prn, sat, week, sys = SYS_BDS;

2
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
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@ -592,7 +592,7 @@ int rtksvrinit(rtksvr_t *svr)
'0', '0', '0', 0, 0, 0}; '0', '0', '0', 0, 0, 0};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 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, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0}, geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0}; 0.0, 0.0, 0.0};
seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0}; seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};