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Merge pull request #154 from antonioramosdet/fix_observables

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Improve performance
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Javier Arribas 2018-04-11 17:48:02 +02:00 committed by GitHub
commit d764c43aa3
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2 changed files with 25 additions and 26 deletions
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55
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -67,7 +67,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
d_latency = 0.08; // 80 ms d_latency = 0.08; // 80 ms
valid_channels.resize(d_nchannels, false); valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0; d_num_valid_channels = 0;
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels); d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0 * 2.0), d_nchannels);
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump) if (d_dump)
@ -306,21 +306,18 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
{ {
return false; return false;
} }
std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti); find_interp_elements(ch, ti);
//Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1) //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
// CARRIER PHASE INTERPOLATION // CARRIER PHASE INTERPOLATION
out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, 1).Carrier_phase_rads - d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
// CARRIER DOPPLER INTERPOLATION // CARRIER DOPPLER INTERPOLATION
out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, 1).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
// TOW INTERPOLATION // TOW INTERPOLATION
out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
return true; return true;
} }
@ -338,38 +335,40 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
} }
} }
std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti) void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
{ {
unsigned int closest = 0; unsigned int closest = 0;
double dif = std::numeric_limits<double>::max(); double dif = std::numeric_limits<double>::max();
double dt = 0.0; double dt = 0.0;
for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++) for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++)
{ {
dt = ti - d_gnss_synchro_history->at(ch, i).RX_time; dt = std::fabs(ti - d_gnss_synchro_history->at(ch, i).RX_time);
if (dt < dif and dt > 0.0) if (dt < dif)
{ {
dif = dt;
closest = i; closest = i;
} dif = dt;
}
unsigned int index1;
unsigned int index2;
if (closest == 0)
{
index1 = 0;
index2 = 1;
}
else if (closest == (d_gnss_synchro_history->size(ch) - 1))
{
index1 = d_gnss_synchro_history->size(ch) - 2;
index2 = d_gnss_synchro_history->size(ch) - 1;
} }
else else
{ {
index1 = closest; break;
index2 = closest + 1; }
}
if (ti > d_gnss_synchro_history->at(ch, closest).RX_time)
{
while (closest > 0)
{
d_gnss_synchro_history->pop_front(ch);
closest--;
}
}
else
{
while (closest > 1)
{
d_gnss_synchro_history->pop_front(ch);
closest--;
}
} }
return std::pair<unsigned int, unsigned int>(index1, index2);
} }

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
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@ -68,7 +68,7 @@ private:
void clean_history(unsigned int pos); void clean_history(unsigned int pos);
double compute_T_rx_s(const Gnss_Synchro& a); double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti); void find_interp_elements(const unsigned int& ch, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data); void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile(); int save_matfile();