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ADD: rtklib usr_clk_drift to pvv_raw_vtl dump file

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This commit is contained in:
M.A. Gomez 2023-04-05 15:35:24 +02:00
parent 2f17b5c5e0
commit adfa9db282
1 changed files with 13 additions and 3 deletions
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16
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -236,7 +236,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
{ {
// READ DUMP FILE // READ DUMP FILE
const std::string dump_filename = d_vtl_dump_filename; const std::string dump_filename = d_vtl_dump_filename;
const int32_t number_of_double_vars = 28; const int32_t number_of_double_vars = 29;
const int32_t number_of_uint32_vars = 2; const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 1; const int32_t number_of_uint8_vars = 1;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars + const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars +
@ -272,6 +272,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
auto RX_time = std::vector<double>(num_epoch); auto RX_time = std::vector<double>(num_epoch);
auto user_clk_offset = std::vector<double>(num_epoch); auto user_clk_offset = std::vector<double>(num_epoch);
auto user_clk_offset_drift = std::vector<double>(num_epoch); auto user_clk_offset_drift = std::vector<double>(num_epoch);
auto rtklib_user_clk_offset_drift = std::vector<double>(num_epoch);
auto pos_x = std::vector<double>(num_epoch); auto pos_x = std::vector<double>(num_epoch);
auto pos_y = std::vector<double>(num_epoch); auto pos_y = std::vector<double>(num_epoch);
auto pos_z = std::vector<double>(num_epoch); auto pos_z = std::vector<double>(num_epoch);
@ -310,6 +311,7 @@ bool Rtklib_Solver::save_vtl_matfile() const
dump_file.read(reinterpret_cast<char *>(&RX_time[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&RX_time[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&user_clk_offset[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&user_clk_offset[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&user_clk_offset_drift[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&user_clk_offset_drift[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&rtklib_user_clk_offset_drift[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_x[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&pos_x[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_y[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&pos_y[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&pos_z[i]), sizeof(double)); dump_file.read(reinterpret_cast<char *>(&pos_z[i]), sizeof(double));
@ -376,6 +378,10 @@ bool Rtklib_Solver::save_vtl_matfile() const
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
matvar = Mat_VarCreate("rtklib_user_clk_offset_drift", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), rtklib_user_clk_offset_drift.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0); matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
@ -2102,13 +2108,17 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// PVT GPS time // PVT GPS time
tmp_double = gnss_observables_map.cbegin()->second.RX_time; tmp_double = gnss_observables_map.cbegin()->second.RX_time;
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// User clock offset [s] // VTL filtered User clock offset [s]
tmp_double = vtl_engine.get_user_clock_offset_s(); tmp_double = vtl_engine.get_user_clock_offset_s();
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// User clock offset drift[s/s] // VTL filtered User clock offset drift[s/s]
tmp_double = vtl_engine.get_user_clock_offset_drift_s_s(); tmp_double = vtl_engine.get_user_clock_offset_drift_s_s();
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// rtklib User clock offset drift[s/s]
tmp_double = pvt_sol.dtr[5] / 1e6; // [ppm] to [s]
d_vtl_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] + ECEF ACC X,Y,X [m/s] (9 x double) // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] + ECEF ACC X,Y,X [m/s] (9 x double)
std::vector<double> p_vec_m = vtl_engine.get_position_ecef_m(); std::vector<double> p_vec_m = vtl_engine.get_position_ecef_m();
tmp_double = p_vec_m[0]; tmp_double = p_vec_m[0];