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Carles Fernandez 2019-08-17 14:23:35 +02:00
parent c31d9dea40
commit afc7f1031c
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3 changed files with 78 additions and 78 deletions
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24
src/algorithms/libs/geofunctions.cc
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@ -516,18 +516,18 @@ void cart2utm(const arma::vec &r_eb_e, int zone, arma::vec &r_enu)
// Erster Band, Springer Verlag
//
// Explanation of variables used:
// f flattening of ellipsoid
// a semi major axis in m
// m0 1 - scale at central meridian; for UTM 0.0004
// Q_n normalized meridian quadrant
// E0 Easting of central meridian
// L0 Longitude of central meridian
// bg constants for ellipsoidal geogr. to spherical geogr.
// gb constants for spherical geogr. to ellipsoidal geogr.
// gtu constants for ellipsoidal N, E to spherical N, E
// utg constants for spherical N, E to ellipoidal N, E
// tolutm tolerance for utm, 1.2E-10*meridian quadrant
// tolgeo tolerance for geographical, 0.00040 second of arc
// r flattening of ellipsoid
// a semi major axis in m
// m0 1 - scale at central meridian; for UTM 0.0004
// Q_n normalized meridian quadrant
// E0 Easting of central meridian
// L0 Longitude of central meridian
// bg constants for ellipsoidal geogr. to spherical geogr.
// gb constants for spherical geogr. to ellipsoidal geogr.
// gtu constants for ellipsoidal N, E to spherical N, E
// utg constants for spherical N, E to ellipoidal N, E
// tolutm tolerance for utm, 1.2E-10*meridian quadrant
// tolgeo tolerance for geographical, 0.00040 second of arc
//
// B, L refer to latitude and longitude. Southern latitude is negative
// International ellipsoid of 1924, valid for ED50

118
src/algorithms/libs/opencl/fft_base_kernels.h
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@ -112,38 +112,38 @@ static string baseKernels = string(
"\n"
"#define fftKernel8(a,dir) \\\n"
"{ \\\n"
" const float2 w1 = (float2)(0x1.6a09e6p-1f, dir*0x1.6a09e6p-1f); \\\n"
" const float2 w3 = (float2)(-0x1.6a09e6p-1f, dir*0x1.6a09e6p-1f); \\\n"
" float2 c; \\\n"
" fftKernel2S((a)[0], (a)[4], dir); \\\n"
" fftKernel2S((a)[1], (a)[5], dir); \\\n"
" fftKernel2S((a)[2], (a)[6], dir); \\\n"
" fftKernel2S((a)[3], (a)[7], dir); \\\n"
" (a)[5] = complexMul(w1, (a)[5]); \\\n"
" (a)[6] = (float2)(dir)*(conjTransp((a)[6])); \\\n"
" (a)[7] = complexMul(w3, (a)[7]); \\\n"
" fftKernel2S((a)[0], (a)[2], dir); \\\n"
" fftKernel2S((a)[1], (a)[3], dir); \\\n"
" fftKernel2S((a)[4], (a)[6], dir); \\\n"
" fftKernel2S((a)[5], (a)[7], dir); \\\n"
" (a)[3] = (float2)(dir)*(conjTransp((a)[3])); \\\n"
" (a)[7] = (float2)(dir)*(conjTransp((a)[7])); \\\n"
" fftKernel2S((a)[0], (a)[1], dir); \\\n"
" fftKernel2S((a)[2], (a)[3], dir); \\\n"
" fftKernel2S((a)[4], (a)[5], dir); \\\n"
" fftKernel2S((a)[6], (a)[7], dir); \\\n"
" bitreverse8((a)); \\\n"
" const float2 w1 = (float2)(0x1.6a09e6p-1f, dir*0x1.6a09e6p-1f); \\\n"
" const float2 w3 = (float2)(-0x1.6a09e6p-1f, dir*0x1.6a09e6p-1f); \\\n"
" float2 c; \\\n"
" fftKernel2S((a)[0], (a)[4], dir); \\\n"
" fftKernel2S((a)[1], (a)[5], dir); \\\n"
" fftKernel2S((a)[2], (a)[6], dir); \\\n"
" fftKernel2S((a)[3], (a)[7], dir); \\\n"
" (a)[5] = complexMul(w1, (a)[5]); \\\n"
" (a)[6] = (float2)(dir)*(conjTransp((a)[6])); \\\n"
" (a)[7] = complexMul(w3, (a)[7]); \\\n"
" fftKernel2S((a)[0], (a)[2], dir); \\\n"
" fftKernel2S((a)[1], (a)[3], dir); \\\n"
" fftKernel2S((a)[4], (a)[6], dir); \\\n"
" fftKernel2S((a)[5], (a)[7], dir); \\\n"
" (a)[3] = (float2)(dir)*(conjTransp((a)[3])); \\\n"
" (a)[7] = (float2)(dir)*(conjTransp((a)[7])); \\\n"
" fftKernel2S((a)[0], (a)[1], dir); \\\n"
" fftKernel2S((a)[2], (a)[3], dir); \\\n"
" fftKernel2S((a)[4], (a)[5], dir); \\\n"
" fftKernel2S((a)[6], (a)[7], dir); \\\n"
" bitreverse8((a)); \\\n"
"}\n"
"\n"
"#define bitreverse4x4(a) \\\n"
"{ \\\n"
" float2 c; \\\n"
" c = (a)[1]; (a)[1] = (a)[4]; (a)[4] = c; \\\n"
" c = (a)[2]; (a)[2] = (a)[8]; (a)[8] = c; \\\n"
" c = (a)[3]; (a)[3] = (a)[12]; (a)[12] = c; \\\n"
" c = (a)[6]; (a)[6] = (a)[9]; (a)[9] = c; \\\n"
" c = (a)[7]; (a)[7] = (a)[13]; (a)[13] = c; \\\n"
" c = (a)[11]; (a)[11] = (a)[14]; (a)[14] = c; \\\n"
" float2 c; \\\n"
" c = (a)[1]; (a)[1] = (a)[4]; (a)[4] = c; \\\n"
" c = (a)[2]; (a)[2] = (a)[8]; (a)[8] = c; \\\n"
" c = (a)[3]; (a)[3] = (a)[12]; (a)[12] = c; \\\n"
" c = (a)[6]; (a)[6] = (a)[9]; (a)[9] = c; \\\n"
" c = (a)[7]; (a)[7] = (a)[13]; (a)[13] = c; \\\n"
" c = (a)[11]; (a)[11] = (a)[14]; (a)[14] = c; \\\n"
"}\n"
"\n"
"#define fftKernel16(a,dir) \\\n"
@ -227,21 +227,21 @@ static string twistKernelInterleaved = string(
" float2 a, w; \\\n"
" float ang; \\\n"
" unsigned int j; \\\n"
" unsigned int i = get_global_id(0); \\\n"
" unsigned int startIndex = i; \\\n"
" \\\n"
" if(i < numCols) \\\n"
" { \\\n"
" for(j = 0; j < numRowsToProcess; j++) \\\n"
" { \\\n"
" a = in[startIndex]; \\\n"
" ang = 2.0f * M_PI * dir * i * (startRow + j) / N; \\\n"
" w = (float2)(native_cos(ang), native_sin(ang)); \\\n"
" a = complexMul(a, w); \\\n"
" in[startIndex] = a; \\\n"
" startIndex += numCols; \\\n"
" } \\\n"
" } \\\n"
" unsigned int i = get_global_id(0); \\\n"
" unsigned int startIndex = i; \\\n"
" \\\n"
" if(i < numCols) \\\n"
" { \\\n"
" for(j = 0; j < numRowsToProcess; j++) \\\n"
" { \\\n"
" a = in[startIndex]; \\\n"
" ang = 2.0f * M_PI * dir * i * (startRow + j) / N; \\\n"
" w = (float2)(native_cos(ang), native_sin(ang)); \\\n"
" a = complexMul(a, w); \\\n"
" in[startIndex] = a; \\\n"
" startIndex += numCols; \\\n"
" } \\\n"
" } \\\n"
"} \\\n");
static string twistKernelPlannar = string(
@ -251,22 +251,22 @@ static string twistKernelPlannar = string(
" float2 a, w; \\\n"
" float ang; \\\n"
" unsigned int j; \\\n"
" unsigned int i = get_global_id(0); \\\n"
" unsigned int startIndex = i; \\\n"
" \\\n"
" if(i < numCols) \\\n"
" { \\\n"
" for(j = 0; j < numRowsToProcess; j++) \\\n"
" { \\\n"
" a = (float2)(in_real[startIndex], in_imag[startIndex]); \\\n"
" ang = 2.0f * M_PI * dir * i * (startRow + j) / N; \\\n"
" w = (float2)(native_cos(ang), native_sin(ang)); \\\n"
" a = complexMul(a, w); \\\n"
" in_real[startIndex] = a.x; \\\n"
" in_imag[startIndex] = a.y; \\\n"
" startIndex += numCols; \\\n"
" } \\\n"
" } \\\n"
" unsigned int i = get_global_id(0); \\\n"
" unsigned int startIndex = i; \\\n"
" \\\n"
" if(i < numCols) \\\n"
" { \\\n"
" for(j = 0; j < numRowsToProcess; j++) \\\n"
" { \\\n"
" a = (float2)(in_real[startIndex], in_imag[startIndex]); \\\n"
" ang = 2.0f * M_PI * dir * i * (startRow + j) / N; \\\n"
" w = (float2)(native_cos(ang), native_sin(ang)); \\\n"
" a = complexMul(a, w); \\\n"
" in_real[startIndex] = a.x; \\\n"
" in_imag[startIndex] = a.y; \\\n"
" startIndex += numCols; \\\n"
" } \\\n"
" } \\\n"
"} \\\n");

14
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -110,16 +110,16 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
// Mote that BeiDou week numbers do not need adjustment for foreseeable future. Consider change
// to more elegant solution
// if(gnss_synchro.System == 'C')
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// else
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
//
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
//account for the TOW crossover transitory in the first 18 seconds where the week is not yet updated!
// account for the TOW crossover transitory in the first 18 seconds where the week is not yet updated!
if (gnss_synchro.RX_time < 18.0)
{
//p_time += boost::posix_time::seconds(604800);