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Removing unused code, improving ref satellite selection in observables and partial correction of the gps L2 TOW offset bug

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This commit is contained in:
Javier Arribas
2017-03-30 19:25:46 +02:00
parent b745ebf0a8
commit e0b0605545
9 changed files with 436 additions and 441 deletions
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16
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -100,7 +100,14 @@ hybrid_observables_cc::~hybrid_observables_cc()
bool Hybrid_pairCompare_gnss_synchro_d_TOW_at_current_symbol(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
if (a.second.d_TOW_at_current_symbol==b.second.d_TOW_at_current_symbol)
{
return (a.second.Prn_timestamp_ms/1000.0) > (b.second.Prn_timestamp_ms/1000.0);
}else{
return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
}
}
@@ -179,6 +186,7 @@ int hybrid_observables_cc::general_work (int noutput_items,
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
//std::cout<<"OBS SV REF SAT: "<<gnss_synchro_iter->second.PRN<<std::endl;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
// Now compute RX time differences due to the PRN alignment in the correlators
@@ -196,6 +204,10 @@ int hybrid_observables_cc::general_work (int noutput_items,
+ GPS_STARTOFFSET_ms;
//convert to meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
//std::cout<<"["<<gnss_synchro_iter->second.PRN<<"] delta_rx_t: "<<delta_rx_time_ms
// <<" [ms] delta_TOW_ms: "<<(d_TOW_reference - gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0
// <<" Pr: "<<pseudorange_m<<" [m]"
// <<std::endl;
// update the pseudorange object
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
@@ -246,6 +258,8 @@ int hybrid_observables_cc::general_work (int noutput_items,
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = current_gnss_synchro[i].RX_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;