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no more GPS_L1_PI, GPS_L2_PI, etc. Values are written in a single point.
This commit is contained in:
Carles Fernandez
2020-07-05 20:20:02 +02:00
parent 6395eecf95
commit d3b7557dcf
79 changed files with 629 additions and 697 deletions
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50
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -1825,42 +1825,42 @@ void rtklib_pvt_gs::apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observabl
{
// all observables in the map are valid
observables_iter->second.RX_time -= rx_clock_offset_s;
observables_iter->second.Pseudorange_m -= rx_clock_offset_s * SPEED_OF_LIGHT;
observables_iter->second.Pseudorange_m -= rx_clock_offset_s * SPEED_OF_LIGHT_M_S;
switch (d_mapStringValues[observables_iter->second.Signal])
{
case evGPS_1C:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGPS_L5:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * TWO_PI;
break;
case evSBAS_1C:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGAL_1B:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGAL_5X:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * TWO_PI;
break;
case evGPS_2S:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2 * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2 * TWO_PI;
break;
case evBDS_B3:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ3_BDS * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ3_BDS * TWO_PI;
break;
case evGLO_1G:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_GLO * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_GLO * TWO_PI;
break;
case evGLO_2G:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_GLO * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_GLO * TWO_PI;
break;
case evBDS_B1:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_BDS * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1_BDS * TWO_PI;
break;
case evBDS_B2:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_BDS * PI_2;
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ2_BDS * TWO_PI;
break;
default:
break;
@@ -1932,43 +1932,43 @@ void rtklib_pvt_gs::initialize_and_apply_carrier_phase_offset()
switch (d_mapStringValues[observables_iter->second.Signal])
{
case evGPS_1C:
wavelength_m = SPEED_OF_LIGHT / FREQ1;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGPS_L5:
wavelength_m = SPEED_OF_LIGHT / FREQ5;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ5;
break;
case evSBAS_1C:
wavelength_m = SPEED_OF_LIGHT / FREQ1;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGAL_1B:
wavelength_m = SPEED_OF_LIGHT / FREQ1;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGAL_5X:
wavelength_m = SPEED_OF_LIGHT / FREQ5;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ5;
break;
case evGPS_2S:
wavelength_m = SPEED_OF_LIGHT / FREQ2;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2;
break;
case evBDS_B3:
wavelength_m = SPEED_OF_LIGHT / FREQ3_BDS;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ3_BDS;
break;
case evGLO_1G:
wavelength_m = SPEED_OF_LIGHT / FREQ1_GLO;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1_GLO;
break;
case evGLO_2G:
wavelength_m = SPEED_OF_LIGHT / FREQ2_GLO;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2_GLO;
break;
case evBDS_B1:
wavelength_m = SPEED_OF_LIGHT / FREQ1_BDS;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1_BDS;
break;
case evBDS_B2:
wavelength_m = SPEED_OF_LIGHT / FREQ2_BDS;
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2_BDS;
break;
default:
break;
}
double wrap_carrier_phase_rad = fmod(observables_iter->second.Carrier_phase_rads, PI_2);
d_initial_carrier_phase_offset_estimation_rads.at(observables_iter->second.Channel_ID) = PI_2 * round(observables_iter->second.Pseudorange_m / wavelength_m) - observables_iter->second.Carrier_phase_rads + wrap_carrier_phase_rad;
double wrap_carrier_phase_rad = fmod(observables_iter->second.Carrier_phase_rads, TWO_PI);
d_initial_carrier_phase_offset_estimation_rads.at(observables_iter->second.Channel_ID) = TWO_PI * round(observables_iter->second.Pseudorange_m / wavelength_m) - observables_iter->second.Carrier_phase_rads + wrap_carrier_phase_rad;
d_channel_initialized.at(observables_iter->second.Channel_ID) = true;
DLOG(INFO) << "initialized carrier phase at channel " << observables_iter->second.Channel_ID;
}