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Cleaning the code and adding a flag to deactivate the tropospheric correction (activated by default)

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This commit is contained in:
Carles Fernandez 2014-08-26 14:56:32 +02:00
parent fc33e86913
commit d6bba768eb
1 changed files with 16 additions and 13 deletions
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29
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -27,14 +27,16 @@
*
* -------------------------------------------------------------------------
*/
#define GLOG_NO_ABBREVIATED_SEVERITIES
#include "gps_l1_ca_ls_pvt.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage;
DEFINE_bool(tropo, true, "Apply tropospheric correction");
gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file)
{
@ -179,18 +181,19 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
topocent(&d_visible_satellites_Az[i], &d_visible_satellites_El[i],
&d_visible_satellites_Distance[i], pos.subvec(0,2), Rot_X - pos.subvec(0,2));
//--- Find receiver's height
togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
//--- Find delay due to troposphere (in meters)
if(rho2 < 1.0e+17 && nmbOfSatellites > 3)
if(FLAGS_tropo)
{
//std::cout << h << " h " << iter << " iter" <<std::endl;
//std::cout << d_visible_satellites_El[i] << " d_visible_satellites_El[i]" << std::endl;
tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 100.0 ) trop = 0.0;
//std::cout << rho2 << " rho2" << std::endl;
std::cout << trop << " trop " << i << "i" << std::endl;
if(traveltime < 0.1 && nmbOfSatellites > 3)
{
//--- Find receiver's height
togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
//--- Find delay due to troposphere (in meters)
tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 50.0 ) trop = 0.0;
}
}
}
@ -790,7 +793,7 @@ void gps_l1_ca_ls_pvt::tropo(double *ddr_m, double sinel, double hsta_km, double
}
arma::rowvec alpha = {2 * a, 2*pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b),
arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b),
pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3,
pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};