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This commit is contained in:
Carles Fernandez
2019-08-18 22:16:13 +02:00
parent 4dd8aa12b4
commit d4bb6e5731
137 changed files with 824 additions and 837 deletions
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4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -283,8 +283,8 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
{
pvt_output_parameters.type_of_receiver = 18;
}
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
// if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
// if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 21; // GPS L1 C/A + Galileo E1B + GPS L2C

18
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@@ -99,7 +99,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
double GST = 0.0;
double secondsperweek = 604800.0;
//double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
// double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
double TX_time_corrected_s = 0.0;
double SV_clock_bias_s = 0.0;
@@ -108,7 +108,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
int valid_obs = 0; // valid observations counter
for (gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end();
@@ -139,7 +139,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix
// store satellite positions in a matrix
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
@@ -149,7 +149,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_M_S - this->get_time_offset_s() * GALILEO_C_M_S;
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; // for GST
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
// SV ECEF DEBUG OUTPUT
@@ -194,7 +194,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix
// store satellite positions in a matrix
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
@@ -247,10 +247,10 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
//std::cout<<"TX time["<<gps_cnav_ephemeris_iter->second.i_satellite_PRN<<"]="<<TX_time_corrected_s<<std::endl;
// std::cout<<"TX time["<<gps_cnav_ephemeris_iter->second.i_satellite_PRN<<"]="<<TX_time_corrected_s<<std::endl;
double dtr = gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix
// store satellite positions in a matrix
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Y;
@@ -261,7 +261,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_M_S + SV_clock_bias_s * GPS_C_M_S;
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
GPS_week = GPS_week % 1024; // Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
// SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
@@ -386,7 +386,7 @@ bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
}
catch (const std::exception& e)
{
this->set_time_offset_s(0.0); //reset rx time estimation
this->set_time_offset_s(0.0); // reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
this->set_valid_position(false);
}

24
src/algorithms/PVT/libs/ls_pvt.cc
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@@ -181,7 +181,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
int nmbOfSatellites;
nmbOfSatellites = satpos.n_cols; // Armadillo
arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
w.diag() = w_vec; //diagonal weight matrix
w.diag() = w_vec; // diagonal weight matrix
arma::vec rx_pos = this->get_rx_pos();
arma::vec pos = {rx_pos(0), rx_pos(1), rx_pos(2), 0}; // time error in METERS (time x speed)
@@ -206,13 +206,13 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
{
if (iter == 0)
{
//--- Initialize variables at the first iteration --------------
Rot_X = X.col(i); //Armadillo
// --- Initialize variables at the first iteration -------------
Rot_X = X.col(i); // Armadillo
trop = 0.0;
}
else
{
//--- Update equations -----------------------------------------
// --- Update equations ----------------------------------------
rho2 = (X(0, i) - pos(0)) *
(X(0, i) - pos(0)) +
(X(1, i) - pos(1)) *
@@ -221,8 +221,8 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
(X(2, i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_M_S;
//--- Correct satellite position (do to earth rotation) --------
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
// --- Correct satellite position (do to earth rotation) -------
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); // armadillo
//--- Find DOA and range of satellites
double* azim = nullptr;
@@ -232,30 +232,30 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
if (traveltime < 0.1 && nmbOfSatellites > 3)
{
//--- Find receiver's height
// --- Find receiver's height
togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
// Add troposphere correction if the receiver is below the troposphere
if (h > 15000)
{
//receiver is above the troposphere
// receiver is above the troposphere
trop = 0.0;
}
else
{
//--- Find delay due to troposphere (in meters)
// --- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if (trop > 5.0)
{
trop = 0.0; //check for erratic values
trop = 0.0; // check for erratic values
}
}
}
}
//--- Apply the corrections ----------------------------------------
// --- Apply the corrections ----------------------------------------
omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
//--- Construct the A matrix ---------------------------------------
//Armadillo
// Armadillo
A(i, 0) = (-(Rot_X(0) - pos(0))) / obs(i);
A(i, 1) = (-(Rot_X(1) - pos(1))) / obs(i);
A(i, 2) = (-(Rot_X(2) - pos(2))) / obs(i);

2
src/algorithms/PVT/libs/nmea_printer.h
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@@ -74,7 +74,7 @@ private:
std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
std::shared_ptr<Rtklib_Solver> d_PVT_data;
int init_serial(const std::string& serial_device); //serial port control
int init_serial(const std::string& serial_device); // serial port control
void close_serial();
std::string get_GPGGA(); // fix data
std::string get_GPGSV(); // satellite data

4
src/algorithms/PVT/libs/pvt_solution.cc
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@@ -127,7 +127,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
d_latitude_d = phi * 180.0 / GPS_PI;
d_longitude_d = lambda * 180.0 / GPS_PI;
d_height_m = h;
//todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
// todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
return 0;
}
@@ -284,7 +284,7 @@ void Pvt_Solution::perform_pos_averaging()
}
else
{
//int current_depth=d_hist_longitude_d.size();
// int current_depth=d_hist_longitude_d.size();
// Push new values
d_hist_longitude_d.push_front(d_longitude_d);
d_hist_latitude_d.push_front(d_latitude_d);

2
src/algorithms/PVT/libs/pvt_solution.h
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@@ -79,7 +79,7 @@ public:
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
//averaging
// averaging
void perform_pos_averaging();
void set_averaging_depth(int depth); //!< Set length of averaging window
bool is_averaging() const;

186
src/algorithms/PVT/libs/rinex_printer.cc
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@@ -1385,7 +1385,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
{
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
//todo Add here other systems...
// todo Add here other systems...
line += std::string("G: GPS");
line += std::string(14, ' ');
// ...
@@ -1750,7 +1750,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
{
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
//todo: Add here other systems...
// todo: Add here other systems...
line += std::string("F: BDS");
line += std::string(14, ' ');
// ...
@@ -4258,7 +4258,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gal
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.iDot_2, 18, 2);
line += std::string(1, ' ');
//double one = 1.0; // INAV E1-B
// double one = 1.0; // INAV E1-B
std::string iNAVE1B("1000000001");
int32_t data_source_INAV = Rinex_Printer::toInt(iNAVE1B, 10);
line += Rinex_Printer::doub2for(static_cast<double>(data_source_INAV), 18, 2);
@@ -4477,7 +4477,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Glo
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
line += std::string(1, ' ');
//TODO need to define this here. what is nd
// TODO need to define this here. what is nd
line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day_of_week() * 86400, 18, 2);
}
Rinex_Printer::lengthCheck(line);
@@ -8802,7 +8802,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -8817,7 +8817,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -8829,7 +8829,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -8859,8 +8859,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// -------- EPOCH record
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month(timestring, 4, 2);
@@ -9077,7 +9077,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9092,7 +9092,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9104,7 +9104,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9139,7 +9139,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
for (auto iter = ret.first; iter != ret.second; ++iter)
{
/// \todo Need to account for pseudorange correction for glonass
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
// double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
// Loss of lock indicator (LLI)
@@ -9148,7 +9148,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9163,7 +9163,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9175,7 +9175,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9204,8 +9204,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
// -------- EPOCH record
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month(timestring, 4, 2);
@@ -9337,7 +9337,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9352,7 +9352,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9364,7 +9364,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9397,7 +9397,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
for (auto iter = ret.first; iter != ret.second; ++iter)
{
/// \todo Need to account for pseudorange correction for glonass
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
// double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
// Loss of lock indicator (LLI)
@@ -9406,7 +9406,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9421,7 +9421,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9433,7 +9433,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9461,8 +9461,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(galileo_eph, galileo_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_galileo_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double galileo_t = galileo_obs_time;
std::string month(timestring, 4, 2);
@@ -9593,7 +9593,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9608,7 +9608,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9620,7 +9620,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9659,7 +9659,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9674,7 +9674,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9686,7 +9686,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9712,8 +9712,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = obs_time;
std::string month(timestring, 4, 2);
@@ -9805,7 +9805,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9830,12 +9830,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GPS L1 SIGNAL STRENGTH
// GPS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80)
{
@@ -9911,7 +9911,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9926,7 +9926,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -9938,14 +9938,14 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GPS L1 SIGNAL STRENGTH
// GPS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80)
@@ -9965,8 +9965,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = obs_time;
std::string month(timestring, 4, 2);
@@ -10030,7 +10030,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
}
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
// lineObs += std::string(2, ' ');
//GPS L2 PSEUDORANGE
// GPS L2 PSEUDORANGE
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
// Loss of lock indicator (LLI)
@@ -10039,7 +10039,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10054,7 +10054,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10066,14 +10066,14 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GPS L2 SIGNAL STRENGTH
// GPS L2 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80)
@@ -10095,8 +10095,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = obs_time;
std::string month(timestring, 4, 2);
@@ -10279,7 +10279,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10291,7 +10291,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10318,8 +10318,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_galileo_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double galileo_t = obs_time;
std::string month(timestring, 4, 2);
@@ -10510,7 +10510,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10525,7 +10525,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10537,7 +10537,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10565,8 +10565,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month(timestring, 4, 2);
@@ -10716,7 +10716,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10731,7 +10731,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10743,7 +10743,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10782,7 +10782,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10797,7 +10797,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10809,7 +10809,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -10837,8 +10837,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month(timestring, 4, 2);
@@ -11017,7 +11017,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11032,7 +11032,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11044,7 +11044,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11079,7 +11079,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11094,7 +11094,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11106,7 +11106,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11116,7 +11116,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
}
//if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
// if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
@@ -11134,8 +11134,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month(timestring, 4, 2);
@@ -11332,7 +11332,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11347,7 +11347,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11359,7 +11359,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11394,7 +11394,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11409,7 +11409,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11421,7 +11421,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@@ -11431,7 +11431,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
}
//if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
// if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
@@ -11443,8 +11443,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
boost::posix_time::ptime p_bds_time = Rinex_Printer::compute_BDS_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_bds_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
double bds_t = obs_time;
std::string month(timestring, 4, 2);
@@ -11644,10 +11644,10 @@ void Rinex_Printer::to_date_time(int32_t gps_week, int32_t gps_tow, int& year, i
else
{
year = y;
//std::cout << "year: year=" << year << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
// std::cout << "year: year=" << year << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
break;
}
//std::cout << "year: y=" << y << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
// std::cout << "year: y=" << y << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
}
// find month
@@ -11666,10 +11666,10 @@ void Rinex_Printer::to_date_time(int32_t gps_week, int32_t gps_tow, int& year, i
else
{
month = m;
//std::cout << "month: month=" << month << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
// std::cout << "month: month=" << month << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
break;
}
//std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
// std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
}
day = remaining_secs / secs_per_day + 1;
@@ -11683,8 +11683,8 @@ void Rinex_Printer::to_date_time(int32_t gps_week, int32_t gps_tow, int& year, i
}
//void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
//{
// void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
// {
// // line 1: PRN / EPOCH / RCVR
// std::stringstream line1;
//
@@ -11763,7 +11763,7 @@ void Rinex_Printer::to_date_time(int32_t gps_week, int32_t gps_tow, int& year, i
// line3 << std::string(31, ' ');
// lengthCheck(line3.str());
// out << line3.str() << std::endl;
//}
// }
int32_t Rinex_Printer::signalStrength(const double snr)

8
src/algorithms/PVT/libs/rinex_printer.h
View File

@@ -403,7 +403,7 @@ public:
/*!
* \brief Writes raw SBAS messages into the RINEX file
*/
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
// void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream& out, const Gps_Utc_Model& utc_model, const Gps_Iono& gps_iono, const Gps_Ephemeris& eph);
@@ -775,8 +775,8 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
int expAdd = 0;
std::string exp;
int64_t iexp;
//If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false.
// If checkSwitch is false, always redo the exponential. Otherwise,
// set it to false.
bool redoexp = !checkSwitch;
// Check for decimal place within specified boundaries
@@ -852,7 +852,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
aStr.insert(static_cast<std::string::size_type>(0), 1, ' ');
}
//If checkSwitch is false, add on one leading zero to the string
// If checkSwitch is false, add on one leading zero to the string
if (!checkSwitch)
{
aStr.insert(static_cast<std::string::size_type>(1), 1, '0');

8
src/algorithms/PVT/libs/rtcm.cc
View File

@@ -3686,7 +3686,7 @@ uint32_t Rtcm::msm_extended_lock_time_indicator(uint32_t lock_time_period_s)
if( 16777216 <= lock_time_period_s && lock_time_period_s < 33554432 ) return (640 + (lock_time_period_s - 16777216) / 524288 );
if( 33554432 <= lock_time_period_s && lock_time_period_s < 67108864 ) return (672 + (lock_time_period_s - 33554432) / 1048576);
if( 67108864 <= lock_time_period_s ) return (704 );
return 1023; // will never happen
return 1023; // will never happen
}
// clang-format on
@@ -4173,7 +4173,7 @@ int32_t Rtcm::set_DF047(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro&
return 0;
}
//TODO Need to consider frequency channel in this fields
// TODO Need to consider frequency channel in this fields
int32_t Rtcm::set_DF048(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2)
{
const double lambda2 = GLONASS_C_M_S / GLONASS_L2_CA_FREQ_HZ;
@@ -5554,7 +5554,7 @@ int32_t Rtcm::set_DF404(const Gnss_Synchro& gnss_synchro)
}
if ((sig_ == "2C") && (sys_ == "R"))
{
//TODO Need to add slot number and freq number to gnss syncro
// TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_M_S / (GLONASS_L2_CA_FREQ_HZ);
}
double rough_phase_range_rate = std::round(-gnss_synchro.Carrier_Doppler_hz * lambda);
@@ -5641,7 +5641,7 @@ int32_t Rtcm::set_DF406(const Gnss_Synchro& gnss_synchro)
}
if ((sig_ == "2C") && (sys_ == "R"))
{
//TODO Need to add slot number and freq number to gnss syncro
// TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_M_S / (GLONASS_L2_CA_FREQ_HZ);
}
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI) * lambda - rough_range_m;

12
src/algorithms/PVT/libs/rtcm.h
View File

@@ -508,7 +508,7 @@ private:
// Classes for TCP communication
//
uint16_t RTCM_port;
//uint16_t RTCM_Station_ID;
// uint16_t RTCM_Station_ID;
class Rtcm_Message
{
public:
@@ -718,9 +718,9 @@ private:
if (!ec)
{
room_.deliver(read_msg_);
//std::cout << "Delivered message (session): ";
//std::cout.write(read_msg_.body(), read_msg_.body_length());
//std::cout << std::endl;
// std::cout << "Delivered message (session): ";
// std::cout.write(read_msg_.body(), read_msg_.body_length());
// std::cout << std::endl;
do_read_message_header();
}
else
@@ -868,7 +868,7 @@ private:
{
std::string message;
Rtcm_Message msg;
queue_->wait_and_pop(message); //message += '\n';
queue_->wait_and_pop(message); // message += '\n';
if (message == "Goodbye")
{
break;
@@ -1417,7 +1417,7 @@ private:
// Content of message header for MSM1, MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
std::bitset<1> DF393;
int32_t set_DF393(bool more_messages); //1 indicates that more MSMs follow for given physical time and reference station ID
int32_t set_DF393(bool more_messages); // 1 indicates that more MSMs follow for given physical time and reference station ID
std::bitset<64> DF394;
int32_t set_DF394(const std::map<int32_t, Gnss_Synchro>& gnss_synchro);

2
src/algorithms/PVT/libs/rtcm_printer.h
View File

@@ -164,7 +164,7 @@ private:
uint16_t port;
uint16_t station_id;
int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int32_t init_serial(const std::string& serial_device); //serial port control
int32_t init_serial(const std::string& serial_device); // serial port control
void close_serial();
std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string& message);

4
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -678,7 +678,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
break;
}
case 'R': //TODO This should be using rtk lib nomenclature
case 'R': // TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
@@ -967,7 +967,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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!
// 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]