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Fill SNR field in rtklib obs struct

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Fix units in carrier phase
Pass structs and objects by reference instead of by value
const correctness
This commit is contained in:
Carles Fernandez 2017-04-30 12:32:04 +02:00
parent c6ef71d82e
commit b5d3f626f4
2 changed files with 18 additions and 13 deletions
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23
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -31,22 +31,27 @@
#include "rtklib_conversions.h"
#include "rtklib_rtkcmn.h"
obsd_t insert_obs_to_rtklib(obsd_t rtklib_obs, Gnss_Synchro gnss_synchro, int week, int band)
obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band)
{
rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR=gnss_synchro.CN0_dB_hz;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI);
double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
if (CN0_dB_Hz_est > 63.75) CN0_dB_Hz_est = 63.75;
if (CN0_dB_Hz_est < 0.0) CN0_dB_Hz_est = 0.0;
unsigned char CN0_dB_Hz = static_cast<unsigned char>(std::round(CN0_dB_Hz_est / 0.25 ));
rtklib_obs.SNR[band] = CN0_dB_Hz;
rtklib_obs.sat = gnss_synchro.PRN;
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs;
}
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gal_eph.i_satellite_PRN;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
rtklib_sat.M0 = gal_eph.M0_1;
@ -92,10 +97,10 @@ eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
}
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
@ -143,10 +148,10 @@ eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
}
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph)
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;

8
src/algorithms/libs/rtklib/rtklib_conversions.h
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@ -37,10 +37,10 @@
#include "gps_ephemeris.h"
#include "gps_cnav_ephemeris.h"
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph);
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph);
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph);
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
obsd_t insert_obs_to_rtklib(obsd_t rtklib_obs, Gnss_Synchro gnss_synchro, int week, int band);
obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);
#endif /* GNSS_SDR_RTKLIB_CONVERSIONS_H_ */