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Improve robustness against code outliers

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This commit is contained in:
Carles Fernandez
2026-08-22 10:11:55 +02:00
parent 2f5322c20e
commit cb7366d2d9
2 changed files with 66 additions and 4 deletions
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src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+8 -4
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@@ -1981,12 +1981,16 @@ int ddres(rtk_t *rtk, const obsd_t *obs, const nav_t *nav, double dt, const doub
if (opt->maxinno[f < nf ? 0 : 1] > 0.0 &&
fabs(v[nv]) > opt->maxinno[f < nf ? 0 : 1] * threshadj)
{
/* charge the outlier only to the non-reference
/* charge phase outliers only to the non-reference
satellite (demo5): the reference is part of every
pair and would otherwise reach the rejc-based bias
reset from rejections it did not cause */
rtk->ssat[sat[j] - 1].vsat[frq] = 0;
rtk->ssat[sat[j] - 1].rejc[frq]++;
reset from rejections it did not cause. Code
outliers must not modify carrier-phase state */
if (f < nf)
{
rtk->ssat[sat[j] - 1].vsat[frq] = 0;
rtk->ssat[sat[j] - 1].rejc[frq]++;
}
errmsg(rtk, "outlier rejected (sat=%3d-%3d %s%d v=%.3f)\n",
sat[i], sat[j], f < nf ? "L" : "P", f % nf + 1, v[nv]);
continue;
tests/unit-tests/signal-processing-blocks/pvt/rtklib_fixed_base_test.cc
+58
View File
@@ -1281,6 +1281,64 @@ TEST_F(RtklibFixedBaseTest, AFreshlyResetBiasIsAdmittedThroughTheWidenedInnovati
}
TEST_F(RtklibFixedBaseTest, CodeOutliersDoNotCorruptCarrierPhaseState)
{
using namespace rtklib_fixed_base_test_detail;
const double base_position_geodetic[3] = {45.0 * D2R, 8.0 * D2R, 100.0};
double base_position_ecef[3]{};
pos2ecef(base_position_geodetic, base_position_ecef);
const double baseline_enu_m[3] = {8.0, 4.0, 1.0};
double baseline_ecef_m[3]{};
enu2ecef(base_position_geodetic, baseline_enu_m, baseline_ecef_m);
const double rover_position_ecef[3] = {
base_position_ecef[0] + baseline_ecef_m[0],
base_position_ecef[1] + baseline_ecef_m[1],
base_position_ecef[2] + baseline_ecef_m[2]};
prcopt_t options = fixed_base_options();
options.modear = ARMODE_OFF;
options.maxout = 50;
auto solver = make_solver_with_options(options);
const std::vector<unsigned int> satellites = select_relative_satellites(
base_position_ecef, rover_position_ecef);
ASSERT_GE(satellites.size(), 6U);
/* Corrupt only an L2 pseudorange after the filter has converged. The L2
carrier and the L1 code used by the single-point seed remain clean. */
const unsigned int corrupted_prn = satellites.back();
constexpr int OUTLIER_EPOCH = 6;
constexpr double CODE_ERROR_M = 300.0;
for (int epoch_index = 0; epoch_index <= OUTLIER_EPOCH; ++epoch_index)
{
Synthetic_Relative_Epoch epoch = make_relative_epoch(
*solver, epoch_index, base_position_ecef, rover_position_ecef, satellites);
if (epoch_index == OUTLIER_EPOCH)
{
const auto observation = epoch.rover_observations.find(
static_cast<int>(corrupted_prn * 2U + 1U));
ASSERT_NE(epoch.rover_observations.end(), observation);
observation->second.Pseudorange_m += CODE_ERROR_M;
}
SCOPED_TRACE(::testing::Message() << "epoch=" << epoch_index);
ASSERT_TRUE(solve(*solver, epoch.rover_observations, &epoch.base_snapshot));
}
bool rejected_code_row = false;
for (const unsigned int prn : satellites)
{
const auto& state = solver->pvt_ssat[prn - 1U];
rejected_code_row = rejected_code_row ||
std::fabs(state.resp[1]) > options.maxinno[1];
EXPECT_EQ(0U, state.rejc[1]);
EXPECT_NE(0U, state.vsat[1]);
EXPECT_EQ(0U, state.outc[1]);
}
EXPECT_TRUE(rejected_code_row);
}
TEST_F(RtklibFixedBaseTest, ATransientOutlierDoesNotChargeTheReferenceSatellite)
{
using namespace rtklib_fixed_base_test_detail;