mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-06-26 15:12:51 +00:00
Code Issues Releases Wiki Activity

Small fixes

Browse Source
This commit is contained in:
Carles Fernandez 2017-04-21 13:31:29 +02:00
parent a2d2aa016e
commit 9c6ff1df9b
2 changed files with 74 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/algorithms/libs/rtklib/rtklib.h
View File

@ -193,6 +193,7 @@ const unsigned int MAXPRNIRN = 0;
const unsigned int NSATIRN = 0; const unsigned int NSATIRN = 0;
const unsigned int NSYSIRN = 0; const unsigned int NSYSIRN = 0;
#endif #endif
#ifdef ENALEO #ifdef ENALEO
const unsigned int MINPRNLEO = 1; //!< min satellite sat number of LEO const unsigned int MINPRNLEO = 1; //!< min satellite sat number of LEO
const unsigned int NSATLEO = 10; //!< max satellite sat number of LEO const unsigned int NSATLEO = 10; //!< max satellite sat number of LEO
@ -270,7 +271,6 @@ const double EFACT_BDS = 1.0; //!< error factor: BeiDou
const double EFACT_IRN = 1.5; //!< error factor: IRNSS const double EFACT_IRN = 1.5; //!< error factor: IRNSS
const double EFACT_SBS = 3.0; //!< error factor: SBAS const double EFACT_SBS = 3.0; //!< error factor: SBAS
const unsigned int MAXEXFILE = 1024; //!< max number of expanded files const unsigned int MAXEXFILE = 1024; //!< max number of expanded files
const double MAXSBSAGEF = 30.0; //!< max age of SBAS fast correction (s) const double MAXSBSAGEF = 30.0; //!< max age of SBAS fast correction (s)
const double MAXSBSAGEL = 1800.0; //!< max age of SBAS long term corr (s) const double MAXSBSAGEL = 1800.0; //!< max age of SBAS long term corr (s)

146
src/algorithms/libs/rtklib/rtklib_sbas.cc
View File

@ -78,7 +78,7 @@ double varfcorr(int udre)
0.052, 0.0924, 0.1444, 0.283, 0.4678, 0.8315, 1.2992, 1.8709, 2.5465, 3.326, 0.052, 0.0924, 0.1444, 0.283, 0.4678, 0.8315, 1.2992, 1.8709, 2.5465, 3.326,
5.1968, 20.7870, 230.9661, 2078.695 5.1968, 20.7870, 230.9661, 2078.695
}; };
return 0<udre && udre<=14?var[udre-1]:0.0; return 0 < udre && udre <= 14 ? var[udre-1] : 0.0;
} }
@ -89,7 +89,7 @@ double varicorr(int give)
0.0084, 0.0333, 0.0749, 0.1331, 0.2079, 0.2994, 0.4075, 0.5322, 0.6735, 0.8315, 0.0084, 0.0333, 0.0749, 0.1331, 0.2079, 0.2994, 0.4075, 0.5322, 0.6735, 0.8315,
1.1974, 1.8709, 3.326, 20.787, 187.0826 1.1974, 1.8709, 3.326, 20.787, 187.0826
}; };
return 0<give && give<=15?var[give-1]:0.0; return 0 < give && give <= 15 ? var[give-1] : 0.0;
} }
@ -100,7 +100,7 @@ double degfcorr(int ai)
0.00000, 0.00005, 0.00009, 0.00012, 0.00015, 0.00020, 0.00030, 0.00045, 0.00000, 0.00005, 0.00009, 0.00012, 0.00015, 0.00020, 0.00030, 0.00045,
0.00060, 0.00090, 0.00150, 0.00210, 0.00270, 0.00330, 0.00460, 0.00580 0.00060, 0.00090, 0.00150, 0.00210, 0.00270, 0.00330, 0.00460, 0.00580
}; };
return 0<ai && ai<=15?degf[ai]:0.0058; return 0 < ai && ai <= 15 ? degf[ai] : 0.0058;
} }
@ -148,24 +148,24 @@ int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
type = getbitu(msg->msg, 8, 6); type = getbitu(msg->msg, 8, 6);
iodf = getbitu(msg->msg, 14, 2); iodf = getbitu(msg->msg, 14, 2);
for (i = 0;i<13;i++) for (i = 0; i < 13; i++)
{ {
if ((j = 13*((type==0?2:type)-2)+i)>=sbssat->nsat) break; if ((j = 13 * ((type == 0 ? 2 : type) - 2) + i) >= sbssat->nsat) break;
udre = getbitu(msg->msg, 174+4*i, 4); udre = getbitu(msg->msg, 174+4*i, 4);
t0 = sbssat->sat[j].fcorr.t0; t0 = sbssat->sat[j].fcorr.t0;
prc = sbssat->sat[j].fcorr.prc; prc = sbssat->sat[j].fcorr.prc;
sbssat->sat[j].fcorr.t0 = gpst2time(msg->week, msg->tow); sbssat->sat[j].fcorr.t0 = gpst2time(msg->week, msg->tow);
sbssat->sat[j].fcorr.prc = getbits(msg->msg, 18+i*12, 12)*0.125f; sbssat->sat[j].fcorr.prc = getbits(msg->msg, 18 + i * 12, 12) * 0.125f;
sbssat->sat[j].fcorr.udre = udre+1; sbssat->sat[j].fcorr.udre = udre + 1;
dt = timediff(sbssat->sat[j].fcorr.t0, t0); dt = timediff(sbssat->sat[j].fcorr.t0, t0);
if (t0.time==0||dt<=0.0||18.0<dt||sbssat->sat[j].fcorr.ai==0) if (t0.time == 0||dt <= 0.0 || 18.0 < dt || sbssat->sat[j].fcorr.ai == 0)
{ {
sbssat->sat[j].fcorr.rrc = 0.0; sbssat->sat[j].fcorr.rrc = 0.0;
sbssat->sat[j].fcorr.dt = 0.0; sbssat->sat[j].fcorr.dt = 0.0;
} }
else else
{ {
sbssat->sat[j].fcorr.rrc = (sbssat->sat[j].fcorr.prc-prc)/dt; sbssat->sat[j].fcorr.rrc = (sbssat->sat[j].fcorr.prc-prc) / dt;
sbssat->sat[j].fcorr.dt = dt; sbssat->sat[j].fcorr.dt = dt;
} }
sbssat->sat[j].fcorr.iodf = iodf; sbssat->sat[j].fcorr.iodf = iodf;
@ -188,7 +188,7 @@ int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
} }
for (i = 0;i<sbssat->nsat && i<MAXSAT;i++) for (i = 0;i<sbssat->nsat && i<MAXSAT;i++)
{ {
if (sbssat->sat[i].fcorr.iodf!=iodf[i/13]) continue; if (sbssat->sat[i].fcorr.iodf != iodf[i/13]) continue;
udre = getbitu(msg->msg, 22+i*4, 4); udre = getbitu(msg->msg, 22+i*4, 4);
sbssat->sat[i].fcorr.udre = udre+1; sbssat->sat[i].fcorr.udre = udre+1;
} }
@ -303,7 +303,7 @@ int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
trace(4, "decode_longcorr0:\n"); trace(4, "decode_longcorr0:\n");
if (n==0||n>MAXSAT) return 0; if (n == 0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8); sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8);
@ -328,7 +328,7 @@ int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
trace(4, "decode_longcorr1:\n"); trace(4, "decode_longcorr1:\n");
if (n==0||n>MAXSAT) return 0; if (n == 0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8); sbssat->sat[n-1].lcorr.iode = getbitu(msg->msg, p+6, 8);
@ -354,14 +354,14 @@ int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{ {
trace(4, "decode_longcorrh:\n"); trace(4, "decode_longcorrh:\n");
if (getbitu(msg->msg, p, 1)==0) { /* vel code=0 */ if (getbitu(msg->msg, p, 1) == 0) { /* vel code=0 */
if (sbssat->iodp==(int)getbitu(msg->msg, p+103, 2)) if (sbssat->iodp == (int)getbitu(msg->msg, p+103, 2))
{ {
return decode_longcorr0(msg, p+ 1, sbssat) && return decode_longcorr0(msg, p+ 1, sbssat) &&
decode_longcorr0(msg, p+52, sbssat); decode_longcorr0(msg, p+52, sbssat);
} }
} }
else if (sbssat->iodp==(int)getbitu(msg->msg, p+104, 2)) else if (sbssat->iodp == (int)getbitu(msg->msg, p+104, 2))
{ {
return decode_longcorr1(msg, p+1, sbssat); return decode_longcorr1(msg, p+1, sbssat);
} }
@ -496,7 +496,7 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
} }
while (fgets(buff, sizeof(buff), fp)) while (fgets(buff, sizeof(buff), fp))
{ {
if (sscanf(buff, "%d %lf %d", &week, &tow, &prn)==3 && (p = strstr(buff, ": "))) if (sscanf(buff, "%d %lf %d", &week, &tow, &prn) == 3 && (p = strstr(buff, ": ")))
{ {
p+=2; /* rtklib form */ p+=2; /* rtklib form */
} }
@ -534,9 +534,9 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
if (sbs->n>=sbs->nmax) if (sbs->n>=sbs->nmax)
{ {
sbs->nmax = sbs->nmax == 0 ? 1024 : sbs->nmax * 2; sbs->nmax = sbs->nmax == 0 ? 1024 : sbs->nmax * 2;
if (!(sbs_msgs = (sbsmsg_t *)realloc(sbs->msgs,sbs->nmax*sizeof(sbsmsg_t)))) if (!(sbs_msgs = (sbsmsg_t *)realloc(sbs->msgs, sbs->nmax * sizeof(sbsmsg_t))))
{ {
trace(1,"readsbsmsg malloc error: nmax=%d\n",sbs->nmax); trace(1, "readsbsmsg malloc error: nmax=%d\n", sbs->nmax);
free(sbs->msgs); sbs->msgs = NULL; sbs->n = sbs->nmax = 0; free(sbs->msgs); sbs->msgs = NULL; sbs->n = sbs->nmax = 0;
return; return;
} }
@ -545,10 +545,10 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
sbs->msgs[sbs->n].week = week; sbs->msgs[sbs->n].week = week;
sbs->msgs[sbs->n].tow = (int)(tow + 0.5); sbs->msgs[sbs->n].tow = (int)(tow + 0.5);
sbs->msgs[sbs->n].prn = prn; sbs->msgs[sbs->n].prn = prn;
for (i = 0;i<29;i++) sbs->msgs[sbs->n].msg[i] = 0; for (i = 0; i < 29; i++) sbs->msgs[sbs->n].msg[i] = 0;
for (i = 0; *(p-1) && *p && i < 29; p += 2,i++) for (i = 0; *(p-1) && *p && i < 29; p += 2, i++)
{ {
if (sscanf(p,"%2X",&b) == 1) sbs->msgs[sbs->n].msg[i] = (unsigned char)b; if (sscanf(p, "%2X", &b) == 1) sbs->msgs[sbs->n].msg[i] = (unsigned char)b;
} }
sbs->msgs[sbs->n++].msg[28] &= 0xC0; sbs->msgs[sbs->n++].msg[28] &= 0xC0;
} }
@ -560,8 +560,8 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
int cmpmsgs(const void *p1, const void *p2) int cmpmsgs(const void *p1, const void *p2)
{ {
sbsmsg_t *q1 = (sbsmsg_t *)p1,*q2 = (sbsmsg_t *)p2; sbsmsg_t *q1 = (sbsmsg_t *)p1,*q2 = (sbsmsg_t *)p2;
return q1->week!=q2->week?q1->week-q2->week: return q1->week != q2->week ? q1->week-q2->week :
(q1->tow<q2->tow?-1:(q1->tow>q2->tow?1:q1->prn-q2->prn)); (q1->tow < q2->tow ? -1 : (q1->tow > q2->tow ? 1 : q1->prn - q2->prn));
} }
@ -588,31 +588,31 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
trace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel); trace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel);
for (i = 0;i<MAXEXFILE;i++) for (i = 0; i < MAXEXFILE ; i++)
{ {
if (!(efiles[i] = (char *)malloc(1024))) if (!(efiles[i] = (char *)malloc(1024)))
{ {
for (i--;i>=0;i--) free(efiles[i]); for (i--; i >= 0; i--) free(efiles[i]);
return 0; return 0;
} }
} }
/* expand wild card in file path */ /* expand wild card in file path */
n = expath(file,efiles,MAXEXFILE); n = expath(file,efiles,MAXEXFILE);
for (i = 0;i<n;i++) for (i = 0; i < n; i++)
{ {
if (!(ext = strrchr(efiles[i],'.'))) continue; if (!(ext = strrchr(efiles[i],'.'))) continue;
if (strcmp(ext,".sbs") && strcmp(ext,".SBS") && if (strcmp(ext, ".sbs") && strcmp(ext, ".SBS") &&
strcmp(ext,".ems") && strcmp(ext,".EMS")) continue; strcmp(ext, ".ems") && strcmp(ext, ".EMS")) continue;
readmsgs(efiles[i],sel,ts,te,sbs); readmsgs(efiles[i], sel, ts, te, sbs);
} }
for (i = 0;i<MAXEXFILE;i++) free(efiles[i]); for (i = 0; i < MAXEXFILE; i++) free(efiles[i]);
/* sort messages */ /* sort messages */
if (sbs->n>0) if (sbs->n >0)
{ {
qsort(sbs->msgs,sbs->n,sizeof(sbsmsg_t),cmpmsgs); qsort(sbs->msgs, sbs->n, sizeof(sbsmsg_t), cmpmsgs);
} }
return sbs->n; return sbs->n;
} }
@ -620,11 +620,11 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
int sbsreadmsg(const char *file, int sel, sbs_t *sbs) int sbsreadmsg(const char *file, int sel, sbs_t *sbs)
{ {
gtime_t ts = {},te = {}; gtime_t ts = {}, te = {};
trace(3,"sbsreadmsg: file=%s sel=%d\n",file,sel); trace(3, "sbsreadmsg: file=%s sel=%d\n", file, sel);
return sbsreadmsgt(file,sel,ts,te,sbs); return sbsreadmsgt(file, sel, ts, te, sbs);
} }
@ -636,12 +636,12 @@ int sbsreadmsg(const char *file, int sel, sbs_t *sbs)
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg) void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg)
{ {
int i,type = sbsmsg->msg[1]>>2; int i, type = sbsmsg->msg[1] >> 2;
trace(4,"sbsoutmsg:\n"); trace(4,"sbsoutmsg:\n");
fprintf(fp,"%4d %6d %3d %2d : ",sbsmsg->week,sbsmsg->tow,sbsmsg->prn,type); fprintf(fp, "%4d %6d %3d %2d : ", sbsmsg->week, sbsmsg->tow, sbsmsg->prn, type);
for (i = 0;i<29;i++) fprintf(fp,"%02X",sbsmsg->msg[i]); for (i = 0; i < 29; i++) fprintf(fp, "%02X", sbsmsg->msg[i]);
fprintf(fp,"\n"); fprintf(fp,"\n");
} }
@ -651,58 +651,58 @@ void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
const sbsigp_t **igp, double *x, double *y) const sbsigp_t **igp, double *x, double *y)
{ {
int i,latp[2],lonp[4]; int i,latp[2],lonp[4];
double lat = pos[0]*R2D,lon = pos[1]*R2D; double lat = pos[0] * R2D,lon = pos[1] * R2D;
const sbsigp_t *p; const sbsigp_t *p;
trace(4,"searchigp: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D); trace(4,"searchigp: pos=%.3f %.3f\n",pos[0] * R2D, pos[1] * R2D);
if (lon>=180.0) lon-=360.0; if (lon >= 180.0) lon -= 360.0;
if (-55.0<=lat && lat<55.0) if (-55.0 <= lat && lat < 55.0)
{ {
latp[0] = (int)floor(lat/5.0)*5; latp[0] = (int)floor(lat / 5.0) * 5;
latp[1] = latp[0]+5; latp[1] = latp[0] + 5;
lonp[0] = lonp[1] = (int)floor(lon/5.0)*5; lonp[0] = lonp[1] = (int)floor(lon / 5.0) * 5;
lonp[2] = lonp[3] = lonp[0]+5; lonp[2] = lonp[3] = lonp[0] + 5;
*x = (lon-lonp[0])/5.0; *x = (lon - lonp[0]) / 5.0;
*y = (lat-latp[0])/5.0; *y = (lat - latp[0]) / 5.0;
} }
else else
{ {
latp[0] = (int)floor((lat-5.0)/10.0)*10+5; latp[0] = (int)floor((lat-5.0) / 10.0) * 10 + 5;
latp[1] = latp[0]+10; latp[1] = latp[0] + 10;
lonp[0] = lonp[1] = (int)floor(lon/10.0)*10; lonp[0] = lonp[1] = (int)floor(lon / 10.0) * 10;
lonp[2] = lonp[3] = lonp[0]+10; lonp[2] = lonp[3] = lonp[0] + 10;
*x = (lon-lonp[0])/10.0; *x = (lon - lonp[0]) / 10.0;
*y = (lat-latp[0])/10.0; *y = (lat - latp[0]) / 10.0;
if (75.0<=lat && lat<85.0) if (75.0 <= lat && lat < 85.0)
{ {
lonp[1] = (int)floor(lon/90.0)*90; lonp[1] = (int)floor(lon / 90.0) * 90;
lonp[3] = lonp[1]+90; lonp[3] = lonp[1] + 90;
} }
else if (-85.0<=lat && lat<-75.0) else if (-85.0 <= lat && lat < -75.0)
{ {
lonp[0] = (int)floor((lon-50.0)/90.0)*90+40; lonp[0] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
lonp[2] = lonp[0]+90; lonp[2] = lonp[0] + 90;
} }
else if (lat>=85.0) else if (lat >= 85.0)
{ {
for (i = 0;i<4;i++) lonp[i] = (int)floor(lon/90.0)*90; for (i = 0; i < 4; i++) lonp[i] = (int)floor(lon / 90.0) * 90;
} }
else if (lat<-85.0) else if (lat < -85.0)
{ {
for (i = 0;i<4;i++) lonp[i] = (int)floor((lon-50.0)/90.0)*90+40; for (i = 0; i < 4; i++) lonp[i] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
} }
} }
for (i = 0;i<4;i++) if (lonp[i]==180) lonp[i]=-180; for (i = 0; i < 4; i++) if (lonp[i] == 180) lonp[i] = -180;
for (i = 0;i<=MAXBAND;i++) for (i = 0; i <= MAXBAND; i++)
{ {
for (p = ion[i].igp;p<ion[i].igp+ion[i].nigp;p++) for (p = ion[i].igp; p < ion[i].igp + ion[i].nigp; p++)
{ {
if (p->t0.time==0) continue; if (p->t0.time == 0) continue;
if (p->lat==latp[0] && p->lon==lonp[0] && p->give>0) igp[0] = p; if (p->lat == latp[0] && p->lon == lonp[0] && p->give > 0) igp[0] = p;
else if (p->lat==latp[1] && p->lon==lonp[1] && p->give>0) igp[1] = p; else if (p->lat == latp[1] && p->lon == lonp[1] && p->give > 0) igp[1] = p;
else if (p->lat==latp[0] && p->lon==lonp[2] && p->give>0) igp[2] = p; else if (p->lat == latp[0] && p->lon == lonp[2] && p->give > 0) igp[2] = p;
else if (p->lat==latp[1] && p->lon==lonp[3] && p->give>0) igp[3] = p; else if (p->lat == latp[1] && p->lon == lonp[3] && p->give > 0) igp[3] = p;
if (igp[0] && igp[1] && igp[2] && igp[3]) return; if (igp[0] && igp[1] && igp[2] && igp[3]) return;
} }
} }
@ -886,7 +886,7 @@ int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
return 1; return 1;
} }
/* if sbas satellite without correction, no correction applied */ /* if sbas satellite without correction, no correction applied */
if (satsys(sat,NULL)==SYS_SBS) return 1; if (satsys(sat,NULL) == SYS_SBS) return 1;
trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat); trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat);
return 0; return 0;