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Code Issues Releases Wiki Activity

Minor fixes

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This commit is contained in:
Carles Fernandez 2017-04-23 00:36:57 +02:00
parent 979377a632
commit c6349eccd1
5 changed files with 73 additions and 75 deletions
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62
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -46,7 +46,9 @@
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtklib_conversions.h"
@ -58,7 +60,7 @@ obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week)
rtklib_obs.L[0] = gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR = gnss_synchro.CN0_dB_hz;
rtklib_obs.sat = gnss_synchro.PRN;
rtklib_obs.time = gpst2time(adjgpsweek(week),gnss_synchro.RX_time);
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;
}
@ -68,7 +70,7 @@ eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
{
eph_t rtklib_sat = {};
rtklib_sat.sat = gal_eph.i_satellite_PRN;
rtklib_sat.A = gal_eph.A_1*gal_eph.A_1;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
rtklib_sat.M0 = gal_eph.M0_1;
rtklib_sat.deln = gal_eph.delta_n_3;
rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
@ -95,18 +97,18 @@ eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1;
rtklib_sat.toc = gpst2time(rtklib_sat.week,gal_eph.t0c_4);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,gal_eph.TOW_5);
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.t0c_4);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.TOW_5);
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
@ -116,7 +118,7 @@ eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
{
eph_t rtklib_sat = {};
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A*gps_eph.d_sqrt_A;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
rtklib_sat.deln = gps_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
@ -143,18 +145,18 @@ eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week,gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,gps_eph.d_TOW);
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
//printf("EPHEMERIS TIME [%i]: %s,%f\n\r",rtklib_sat.sat,time_str(rtklib_sat.toe,3),rtklib_sat.toe.sec);
@ -173,7 +175,7 @@ eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph)
rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200H pp. 164
double d_OMEGA_DOT = OMEGA_DOT_REF*GPS_L2_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
double d_OMEGA_DOT = OMEGA_DOT_REF * GPS_L2_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd = d_OMEGA_DOT;
rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
rtklib_sat.i0 = gps_cnav_eph.d_i_0;
@ -202,13 +204,13 @@ eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph)
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week,tow);
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}

19
src/algorithms/libs/rtklib/rtklib_pntpos.h
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@ -59,18 +59,15 @@
#include "rtklib_ionex.h"
/* constants -----------------------------------------------------------------*/
const int NX = 4 + 3; //!< # of estimated parameters
//#define SQR(x) ((x)*(x))
#define NX (4+3) /* # of estimated parameters */
#define MAXITR 10 /* max number of iteration for point pos */
#define ERR_ION 5.0 /* ionospheric delay std (m) */
#define ERR_TROP 3.0 /* tropspheric delay std (m) */
#define ERR_SAAS 0.3 /* saastamoinen model error std (m) */
#define ERR_BRDCI 0.5 /* broadcast iono model error factor */
#define ERR_CBIAS 0.3 /* code bias error std (m) */
#define REL_HUMI 0.7 /* relative humidity for saastamoinen model */
const int MAXITR = 10; //!< max number of iteration for point pos
const double ERR_ION = 5.0; //!< ionospheric delay std (m)
const double ERR_TROP = 3.0; //!< tropspheric delay std (m)
const double ERR_SAAS = 0.3; //!< saastamoinen model error std (m)
const double ERR_BRDCI = 0.5; //!< broadcast iono model error factor
const double ERR_CBIAS = 0.3; //!< code bias error std (m)
const double REL_HUMI = 0.7; //!< relative humidity for saastamoinen model
/* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys);

4
src/algorithms/libs/rtklib/rtklib_preceph.cc
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@ -213,7 +213,7 @@ void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
if (buff[0] == 'P') { /* position */
if (val != 0.0 && fabs(val - 999999.999999) >= 1e-6)
{
peph.pos[sat-1][j] = val*(j<3?1000.0:1e-6);
peph.pos[sat-1][j] = val*(j < 3 ? 1000.0 : 1e-6);
v = 1; /* valid epoch */
}
if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0)
@ -224,7 +224,7 @@ void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
else if (v) { /* velocity */
if (val != 0.0 && fabs(val - 999999.999999) >= 1e-6)
{
peph.vel[sat-1][j] = val*( j < 3 ? 0.1 : 1e-10);
peph.vel[sat-1][j] = val*(j < 3 ? 0.1 : 1e-10);
}
if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0)
{

39
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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@ -114,7 +114,7 @@ const solopt_t solopt_default = { /* defaults solution output options */
0, 1, 0, 0, 0, 0, /* degf, outhead, outopt, datum, height, geoid */
0, 0, 0, /* solstatic, sstat, trace */
{0.0, 0.0}, /* nmeaintv */
" ","" /* separator/program name */
" ", "", 0 /* separator/program name */
};
@ -2046,10 +2046,10 @@ void eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst)
if (gmst) *gmst = gmst_;
trace(5, "gmst=%.12f gast=%.12f\n", gmst_, gast);
trace(5, "P=\n"); tracemat(5, P, 3, 3, 15, 12);
trace(5, "N=\n"); tracemat(5, N, 3, 3, 15, 12);
trace(5, "W=\n"); tracemat(5, W, 3, 3, 15, 12);
trace(5, "U=\n"); tracemat(5, U, 3, 3, 15, 12);
trace(5, "P=\n"); //tracemat(5, P, 3, 3, 15, 12);
trace(5, "N=\n"); //tracemat(5, N, 3, 3, 15, 12);
trace(5, "W=\n"); //tracemat(5, W, 3, 3, 15, 12);
trace(5, "U=\n"); //tracemat(5, U, 3, 3, 15, 12);
}
@ -3120,10 +3120,10 @@ void freenav(nav_t *nav, int opt)
//}
//#else
void traceopen(const char *file) {}
void traceclose(void) {}
void tracelevel(int level) {}
void trace (int level, const char *format, ...)
//void traceopen(const char *file) {}
//void traceclose(void) {}
//void tracelevel(int level) {}
void trace (int level __attribute__((unused)), const char *format __attribute__((unused)), ...)
{
/* va_list ap;*/
/* print error message to stderr */
@ -3131,15 +3131,15 @@ void trace (int level, const char *format, ...)
va_start(ap,format);
vfprintf(stdout,format,ap); va_end(ap);*/
}
void tracet (int level, const char *format, ...) {}
void tracemat(int level, const double *A, int n, int m, int p, int q) {}
void traceobs(int level, const obsd_t *obs, int n) {}
void tracenav(int level, const nav_t *nav) {}
void tracegnav(int level, const nav_t *nav) {}
void tracehnav(int level, const nav_t *nav) {}
void tracepeph(int level, const nav_t *nav) {}
void tracepclk(int level, const nav_t *nav) {}
void traceb (int level, const unsigned char *p, int n) {}
//void tracet (int level, const char *format, ...) {}
//void tracemat(int level, const double *A, int n, int m, int p, int q) {}
//void traceobs(int level, const obsd_t *obs, int n) {}
//void tracenav(int level, const nav_t *nav) {}
//void tracegnav(int level, const nav_t *nav) {}
//void tracehnav(int level, const nav_t *nav) {}
//void tracepeph(int level, const nav_t *nav) {}
//void tracepclk(int level, const nav_t *nav) {}
//void traceb (int level, const unsigned char *p, int n) {}
//#endif /* TRACE */
@ -3165,8 +3165,7 @@ int execcmd(const char *cmd)
void createdir(const char *path)
{
char buff[1024], *p;
tracet(3, "createdir: path=%s\n", path);
//tracet(3, "createdir: path=%s\n", path);
strcpy(buff, path);
if (!(p = strrchr(buff, FILEPATHSEP))) return;

24
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
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@ -219,19 +219,19 @@ int savenav(const char *file, const nav_t *nav);
void freeobs(obs_t *obs);
void freenav(nav_t *nav, int opt);
void traceopen(const char *file);
void traceclose(void);
void tracelevel(int level);
//void traceopen(const char *file);
//void traceclose(void);
//void tracelevel(int level);
void trace (int level, const char *format, ...);
void tracet (int level, const char *format, ...);
void tracemat(int level, const double *A, int n, int m, int p, int q);
void traceobs(int level, const obsd_t *obs, int n);
void tracenav(int level, const nav_t *nav);
void tracegnav(int level, const nav_t *nav);
void tracehnav(int level, const nav_t *nav);
void tracepeph(int level, const nav_t *nav);
void tracepclk(int level, const nav_t *nav);
void traceb (int level, const unsigned char *p, int n);
//void tracet (int level, const char *format, ...);
//void tracemat(int level, const double *A, int n, int m, int p, int q);
//void traceobs(int level, const obsd_t *obs, int n);
//void tracenav(int level, const nav_t *nav);
//void tracegnav(int level, const nav_t *nav);
//void tracehnav(int level, const nav_t *nav);
//void tracepeph(int level, const nav_t *nav);
//void tracepclk(int level, const nav_t *nav);
//void traceb (int level, const unsigned char *p, int n);
int execcmd(const char *cmd);
void createdir(const char *path);