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Code Issues Releases Wiki Activity

Better handling of RTKLIB options

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This commit is contained in:
Carles Fernandez 2017-05-08 21:26:12 +02:00
parent 41aa5f5e7e
commit bb9346441c
2 changed files with 62 additions and 20 deletions
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71
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -171,12 +171,23 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = configuration->property(role + ".positioning_mode", PMODE_SINGLE); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (positioning_mode < 0) || (positioning_mode > 8) )
int positioning_mode = -1;
std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if( positioning_mode == -1 )
{
//warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
std::cout << "Setting positioning_mode to Single" << std::endl;
positioning_mode = PMODE_SINGLE;
}
@ -205,19 +216,41 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
dynamics_model = 0;
}
int iono_model = configuration->property(role + ".iono_model", 0); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (iono_model < 0) || (iono_model > 8) )
std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1;
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if( iono_model == -1 )
{
//warn user and set the default
iono_model = 0; /* 0: ionosphere option: correction off */
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
std::cout << "iono_model specified value: " << iono_model_str << std::endl;
std::cout << "Setting iono_model to OFF" << std::endl;
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
int trop_model = configuration->property(role + ".trop_model", 0); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (trop_model < 0) || (trop_model > 5) )
std::string default_trop_model("OFF");
int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if( trop_model == -1 )
{
//warn user and set the default
trop_model = 0;
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
std::cout << "trop_model specified value: " << trop_model_str << std::endl;
std::cout << "Setting trop_model to OFF" << std::endl;
trop_model = TROPOPT_OFF;
}
/* RTKLIB positioning options */
@ -242,12 +275,24 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
}
// Settings 2
int integer_ambiguity_resolution_gps = configuration->property(role + ".AR_GPS", 1); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
if( (integer_ambiguity_resolution_gps < 0) || (integer_ambiguity_resolution_gps > 4) )
std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1;
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if( integer_ambiguity_resolution_gps == -1 )
{
//warn user and set the default
integer_ambiguity_resolution_gps = 1;
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
std::cout << "Setting AR_GPS to OFF" << std::endl;
integer_ambiguity_resolution_gps = ARMODE_OFF;
}
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
{

11
src/tests/system-tests/position_test.cc
View File

@ -364,13 +364,10 @@ int Position_Gps_L1_System_Test::configure_receiver()
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("Observables.dump", "false");
config->set_property("Observables.dump_filename", "./observables.dat");
config->set_property("Observables.averaging_depth", std::to_string(100));
// Set PVT
config->set_property("PVT.implementation", "RTKLIB_PVT");
//config->set_property("PVT.implementation", "Hybrid_PVT");
config->set_property("PVT.averaging_depth", std::to_string(averaging_depth));
config->set_property("PVT.flag_averaging", "false");
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
config->set_property("PVT.dump_filename", "./PVT");
@ -382,10 +379,10 @@ int Position_Gps_L1_System_Test::configure_receiver()
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false");
config->set_property("PVT.rinex_version", std::to_string(2));
config->set_property("PVT.positioning_mode", std::to_string(7));
config->set_property("PVT.iono_model", std::to_string(0));
config->set_property("PVT.trop_model", std::to_string(0));
config->set_property("PVT.AR_GPS", std::to_string(4));
config->set_property("PVT.positioning_mode", "PPP_Static");
config->set_property("PVT.iono_model", "OFF");
config->set_property("PVT.trop_model", "OFF");
// config->set_property("PVT.AR_GPS", "PPP-AR");
return 0;
}