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Improved find_closest algorithm in observables

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This commit is contained in:
Antonio Ramos 2018-02-21 12:56:44 +01:00
parent 5da7a83eeb
commit 98cde65832
2 changed files with 25 additions and 21 deletions
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44
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -352,22 +352,39 @@ void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro>& data)
}
}
unsigned int hybrid_observables_cc::find_closest(std::deque<Gnss_Synchro>& data)
std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::deque<Gnss_Synchro>& data)
{
unsigned int result = 0;
std::pair<Gnss_Synchro, Gnss_Synchro> result;
unsigned int index = 0;
double delta_t = std::numeric_limits<double>::max();
std::deque<Gnss_Synchro>::iterator it;
unsigned int aux = 0;
for(it = data.begin(); it != data.end(); it++)
{
double instant_delta = T_rx_s - it->RX_time;
if((instant_delta > 0) and (instant_delta < delta_t))
double instant_delta = std::fabs(T_rx_s - it->RX_time);
if(instant_delta < delta_t)
{
delta_t = instant_delta;
result = aux;
index = aux;
}
aux++;
}
delta_t = T_rx_s - data.at(index).RX_time;
if((index == (data.size() - 1)) or (delta_t < 0.0))
{
result.first = data.at(index);
result.second = data.at(index - 1);
}
else if(index == 0)
{
result.first = data.at(1);
result.second = data.at(0);
}
else
{
result.first = data.at(index + 1);
result.second = data.at(index);
}
return result;
}
@ -495,21 +512,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if(valid_channels[i])
{
unsigned int index_closest = find_closest(*it);
unsigned int index1;
unsigned int index2;
if(index_closest > 0)
{
index1 = index_closest - 1;
index2 = index_closest;
}
else
{
index1 = 0;
index2 = 1;
}
Gnss_Synchro interpolated_gnss_synchro = it->at(index1);
std::pair<Gnss_Synchro, Gnss_Synchro> gnss_pair(it->at(index2), it->at(index1));
std::pair<Gnss_Synchro, Gnss_Synchro> gnss_pair = find_closest(*it);
Gnss_Synchro interpolated_gnss_synchro = gnss_pair.second;
interpolated_gnss_synchro.Carrier_Doppler_hz = interpolate_data(gnss_pair, T_rx_s, 0);
interpolated_gnss_synchro.Carrier_phase_rads = interpolate_data(gnss_pair, T_rx_s, 1);

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -69,7 +69,7 @@ private:
double compute_T_rx_s(const Gnss_Synchro& a);
double interpolate_data(const std::pair<Gnss_Synchro, Gnss_Synchro>& a, const double& ti, int parameter);
double find_min_RX_time();
unsigned int find_closest(std::deque<Gnss_Synchro>& data);
std::pair<Gnss_Synchro, Gnss_Synchro> find_closest(std::deque<Gnss_Synchro>& data);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
//Tracking observable history