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Added Dilution Of Precision (DOP) values computation in the Least Squares PVT solver.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@232 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2012-08-24 10:18:21 +00:00
parent 5333c314bf
commit c6c5decf9c
3 changed files with 29 additions and 0 deletions
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2
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@@ -223,6 +223,8 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time) std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d << " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl; << " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is HDOP = " << d_ls_pvt->d_HDOP << " and VDOP = " << d_ls_pvt->d_VDOP << std::endl;
} }
if(d_dump == true) if(d_dump == true)

18
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@@ -216,6 +216,24 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
//--- Apply position update -------------------------------------------- //--- Apply position update --------------------------------------------
pos = pos + x; pos = pos + x;
} }
try{
//-- compute the Dilution Of Precision values
arma::mat Q;
Q = arma::inv(arma::htrans(A)*A);
d_GDOP = sqrt(arma::trace(Q)); // GDOP
d_PDOP = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); // PDOP
d_HDOP = sqrt(Q(1,1) + Q(2,2)); // HDOP
d_VDOP = sqrt(Q(3,3)); // VDOP
d_TDOP = sqrt(Q(4,4)); // TDOP
}catch(std::exception e)
{
d_GDOP = -1;
d_PDOP = -1;
d_HDOP = -1;
d_VDOP = -1;
d_TDOP = -1;
}
return pos; return pos;
} }

9
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
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@@ -68,6 +68,7 @@ public:
double d_latitude_d; //! Latitude in degrees double d_latitude_d; //! Latitude in degrees
double d_longitude_d; //! Longitude in degrees double d_longitude_d; //! Longitude in degrees
double d_height_m; //! Height [m] double d_height_m; //! Height [m]
//averaging //averaging
std::deque<double> d_hist_latitude_d; std::deque<double> d_hist_latitude_d;
std::deque<double> d_hist_longitude_d; std::deque<double> d_hist_longitude_d;
@@ -82,6 +83,14 @@ public:
double d_y_m; double d_y_m;
double d_z_m; double d_z_m;
// DOP estimations
double d_GDOP;
double d_PDOP;
double d_HDOP;
double d_VDOP;
double d_TDOP;
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;