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Remove Armadillo from Pvt_Solution API

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Some API cleaning. The user does not need to call cart2geo anymore. Armadillo stuff moved to old ls_pvt solution
This commit is contained in:
Carles Fernandez
2020-07-12 12:42:06 +02:00
parent c097300106
commit c178d9a8a6
8 changed files with 291 additions and 285 deletions
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43
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -31,12 +31,7 @@
* -----------------------------------------------------------------------*/
#include "rtklib_solver.h"
#include "Beidou_B1I.h"
#include "Beidou_B3I.h"
#include "Beidou_DNAV.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "rtklib_conversions.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solution.h"
@@ -546,14 +541,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, d_pre_2009_file);
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, this->is_pre_2009());
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week,
0,
d_pre_2009_file);
this->is_pre_2009());
valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -944,24 +939,24 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
dops(index_aux, azel.data(), 0.0, dop_.data());
}
this->set_valid_position(true);
arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
std::array<double, 4> rx_position_and_time{};
rx_position_and_time[0] = pvt_sol.rr[0]; // [m]
rx_position_and_time[1] = pvt_sol.rr[1]; // [m]
rx_position_and_time[2] = pvt_sol.rr[2]; // [m]
// todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE)
{
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[0] + pvt_sol.dtr[2];
rx_position_and_time[3] = pvt_sol.dtr[0] + pvt_sol.dtr[2];
}
else
{
// the receiver clock offset is expressed in [meters], so we convert it into [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
rx_position_and_time(3) = pvt_sol.dtr[2] + pvt_sol.dtr[0] / SPEED_OF_LIGHT_M_S;
rx_position_and_time[3] = pvt_sol.dtr[2] + pvt_sol.dtr[0] / SPEED_OF_LIGHT_M_S;
}
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
this->set_rx_pos({rx_position_and_time[0], rx_position_and_time[1], rx_position_and_time[2]}); // save ECEF position for the next iteration
// compute Ground speed and COG
double ground_speed_ms = 0.0;
@@ -981,7 +976,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
this->set_course_over_ground(new_cog);
}
this->set_time_offset_s(rx_position_and_time(3));
this->set_time_offset_s(rx_position_and_time[3]);
DLOG(INFO) << "RTKLIB Position at RX TOW = " << gnss_observables_map.begin()->second.RX_time
<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
@@ -989,13 +984,12 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity)
// Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); // uncorrected rx time
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time[3]); // uncorrected rx time
gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)
this->set_position_UTC_time(p_time);
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
@@ -1006,11 +1000,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
// WEEK
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, d_pre_2009_file);
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
// PVT GPS time
monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time;
// User clock offset [s]
monitor_pvt.user_clk_offset = rx_position_and_time(3);
monitor_pvt.user_clk_offset = rx_position_and_time[3];
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
monitor_pvt.pos_x = pvt_sol.rr[0];
@@ -1052,12 +1046,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
arma::vec rx_vel_enu(3);
rx_vel_enu(0) = enuv[0];
rx_vel_enu(1) = enuv[1];
rx_vel_enu(2) = enuv[2];
this->set_rx_vel(rx_vel_enu);
this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
@@ -1077,13 +1066,13 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// WEEK
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, d_pre_2009_file);
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
tmp_double = rx_position_and_time[3];
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)