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Code cleaning

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This commit is contained in:
Carles Fernandez 2017-02-06 19:24:17 +01:00
parent f03d869def
commit dbe08ade8c
4 changed files with 659 additions and 657 deletions
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10
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
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@ -164,7 +164,8 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
DLOG(INFO) << "satpos=" << satpos; DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs="<< obs; DLOG(INFO) << "obs="<< obs;
DLOG(INFO) << "W=" << W; DLOG(INFO) << "W=" << W;
try{ try
{
// check if this is the initial position computation // check if this is the initial position computation
if (d_rx_dt_s == 0) if (d_rx_dt_s == 0)
{ {
@ -239,10 +240,11 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
galileo_e1_ls_pvt::pos_averaging(flag_averaging); galileo_e1_ls_pvt::pos_averaging(flag_averaging);
}catch(const std::exception & e) }
catch(const std::exception & e)
{ {
d_rx_dt_s=0;//reset rx time estimation d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
b_valid_position = false; b_valid_position = false;
} }
} }

10
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -165,7 +165,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
DLOG(INFO) << "obs=" << obs; DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W; DLOG(INFO) << "W=" << W;
try{ try
{
// check if this is the initial position computation // check if this is the initial position computation
if (d_rx_dt_s == 0) if (d_rx_dt_s == 0)
{ {
@ -241,10 +242,11 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
pos_averaging(flag_averaging); pos_averaging(flag_averaging);
}catch(const std::exception & e) }
catch(const std::exception & e)
{ {
d_rx_dt_s=0;//reset rx time estimation d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
b_valid_position = false; b_valid_position = false;
} }
} }

14
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -132,15 +132,12 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y; satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z; satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - d_rx_dt_s * GALILEO_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - d_rx_dt_s * GALILEO_C_m_s;
d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN; d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz; d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
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); GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
@ -153,7 +150,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
@ -288,7 +284,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "satpos=" << satpos; DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs=" << obs; DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W; DLOG(INFO) << "W=" << W;
try{ try
{
// check if this is the initial position computation // check if this is the initial position computation
if (d_rx_dt_s == 0) if (d_rx_dt_s == 0)
{ {
@ -374,10 +371,11 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
pos_averaging(flag_averaging); pos_averaging(flag_averaging);
}catch(const std::exception & e) }
catch(const std::exception & e)
{ {
d_rx_dt_s=0;//reset rx time estimation d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
b_valid_position = false; b_valid_position = false;
} }
} }

14
src/algorithms/PVT/libs/ls_pvt.cc
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@ -144,9 +144,9 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
double omc = obs(j) - calc; double omc = obs(j) - calc;
abs_omc(i) = std::abs(omc); abs_omc(i) = std::abs(omc);
} }
}// % j-loop } // % j-loop
//discrimination between roots // discrimination between roots
if (abs_omc(0) > abs_omc(1)) if (abs_omc(0) > abs_omc(1))
{ {
pos = possible_pos.col(1); pos = possible_pos.col(1);
@ -155,7 +155,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
pos = possible_pos.col(0); pos = possible_pos.col(0);
} }
}// % iter loop } // % iter loop
return pos; return pos;
} }
@ -164,7 +164,7 @@ double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
{ {
// LORENTZ Calculates the Lorentz inner product of the two // LORENTZ Calculates the Lorentz inner product of the two
// 4 by 1 vectors x and y // 4 by 1 vectors x and y
// Based ob code by: // Based on code by:
// Kai Borre 04-22-95 // Kai Borre 04-22-95
// Copyright (c) by Kai Borre // Copyright (c) by Kai Borre
// $Revision: 1.0 $ $Date: 1997/09/26 $ // $Revision: 1.0 $ $Date: 1997/09/26 $
@ -182,7 +182,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
* Inputs: * Inputs:
* satpos - Satellites positions in ECEF system: [X; Y; Z;] * satpos - Satellites positions in ECEF system: [X; Y; Z;]
* obs - Observations - the pseudorange measurements to each satellite * obs - Observations - the pseudorange measurements to each satellite
* w - weigths vector * w - weight vector
* *
* Returns: * Returns:
* pos - receiver position and receiver clock error * pos - receiver position and receiver clock error
@ -289,9 +289,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
d_Q = arma::inv(arma::htrans(A) * A); d_Q = arma::inv(arma::htrans(A) * A);
// check the consistency of the PVT solution // check the consistency of the PVT solution
if (((fabs(pos(3))*1000.0)/ GPS_C_m_s)>GPS_STARTOFFSET_ms*2) if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2)
{ {
LOG(WARNING)<<"Receiver time offset out of range! Estimated RX Time error [s]:"<<pos(3)/ GPS_C_m_s; LOG(WARNING) << "Receiver time offset out of range! Estimated RX Time error [s]:" << pos(3) / GPS_C_m_s;
throw std::runtime_error("Receiver time offset out of range!"); throw std::runtime_error("Receiver time offset out of range!");
} }
return pos; return pos;