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Fix DOP computation

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This commit is contained in:
Carles Fernandez 2018-05-07 14:34:53 +02:00
parent 632bceb653
commit a23e6644ac
1 changed files with 17 additions and 5 deletions
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22
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -459,14 +459,26 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
{
this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol;
// TODO: Reduce the number of satellites in DOP computation
double azel[MAXSAT * 2] = {0.0};
// DOP computation
unsigned int used_sats = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
azel[2 * i] = rtk_.ssat[i].azel[0];
azel[2 * i + 1] = rtk_.ssat[i].azel[1];
if (int vsat = rtk_.ssat[i].vsat[0] == 1) used_sats++;
}
dops(MAXSAT, azel, 0.0, dop_);
double azel[used_sats * 2];
unsigned int index_aux = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
if (int vsat = rtk_.ssat[i].vsat[0] == 1)
{
azel[2 * index_aux] = rtk_.ssat[i].azel[0];
azel[2 * index_aux + 1] = rtk_.ssat[i].azel[1];
index_aux++;
}
}
if (index_aux > 0) dops(index_aux, azel, 0.0, dop_);
this->set_valid_position(true);
arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0];