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Adding RX clock offset [s] storage in LS PVT class member

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This commit is contained in:
Javier Arribas 2016-03-29 18:12:59 +02:00
parent 500dc59516
commit e37824787e
4 changed files with 25 additions and 26 deletions
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11
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
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@ -57,7 +57,7 @@ galileo_e1_ls_pvt::galileo_e1_ls_pvt(int nchannels, std::string dump_filename, b
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (std::ifstream::failure e) catch (const std::ifstream::failure &e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -164,7 +164,7 @@ bool galileo_e1_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;
mypos = galileo_e1_ls_pvt::leastSquarePos(satpos, obs, W); mypos = leastSquarePos(satpos, obs, W);
// Compute Gregorian time // Compute Gregorian time
utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number); utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
@ -176,7 +176,8 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos; DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos;
galileo_e1_ls_pvt::cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4); cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
d_rx_dt_m = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
//ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km) //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
if (d_height_m > 50000) if (d_height_m > 50000)
{ {
@ -185,10 +186,10 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
} }
DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]"; << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
galileo_e1_ls_pvt::compute_DOP(); compute_DOP();
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if(d_flag_dump_enabled == true)

17
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -58,7 +58,7 @@ gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels, std::string dump_filename, boo
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (std::ifstream::failure e) catch (const std::ifstream::failure &e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -167,11 +167,12 @@ 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;
mypos = gps_l1_ca_ls_pvt::leastSquarePos(satpos, obs, W); mypos = leastSquarePos(satpos, obs, W);
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos; DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos;
gps_l1_ca_ls_pvt::cart2geo(mypos(0), mypos(1), mypos(2), 4); cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
//ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km) //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
if (d_height_m > 50000) if (d_height_m > 50000)
@ -188,10 +189,10 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
LOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(p_time) LOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]"; << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
gps_l1_ca_ls_pvt::compute_DOP(); compute_DOP();
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if(d_flag_dump_enabled == true)
@ -225,14 +226,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
tmp_double = d_height_m; tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
} }
catch (std::ifstream::failure e) catch (const std::ifstream::failure &e)
{ {
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what(); LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
} }
} }
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
gps_l1_ca_ls_pvt::pos_averaging(flag_averaging); pos_averaging(flag_averaging);
} }
else else
{ {

16
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -239,8 +239,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
DLOG(INFO) << "obs="<< obs; DLOG(INFO) << "obs="<< obs;
DLOG(INFO) << "W=" << W; DLOG(INFO) << "W=" << W;
mypos = hybrid_ls_pvt::leastSquarePos(satpos, obs, W); mypos = leastSquarePos(satpos, obs, W);
d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
// Compute GST and Gregorian time // Compute GST and Gregorian time
if( GST != 0.0) if( GST != 0.0)
{ {
@ -257,24 +257,20 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
d_position_UTC_time = p_time; d_position_UTC_time = p_time;
DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos; DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
hybrid_ls_pvt::cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4); cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
//ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km) //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
if (d_height_m > 50000) if (d_height_m > 50000)
{ {
b_valid_position = false; b_valid_position = false;
LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]"; << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << mypos(3) << " [s]";
//std::cout << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
// << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
// << " [deg], Height= " << d_height_m << " [m]" << std::endl;
return false; return false;
} }
LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]"; << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
hybrid_ls_pvt::compute_DOP(); hybrid_ls_pvt::compute_DOP();
@ -318,7 +314,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
} }
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
hybrid_ls_pvt::pos_averaging(flag_averaging); pos_averaging(flag_averaging);
} }
else else
{ {

7
src/algorithms/PVT/libs/pvt_solution.h
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@ -48,9 +48,10 @@ class Pvt_Solution
public: public:
Pvt_Solution(); Pvt_Solution();
double d_latitude_d; double d_latitude_d; //!< RX position Latitude WGS84 [deg]
double d_longitude_d; double d_longitude_d; //!< RX position Longitude WGS84 [deg]
double d_height_m; double d_height_m; //!< RX position height WGS84 [m]
double d_rx_dt_m; //!< RX time offset [s]
boost::posix_time::ptime d_position_UTC_time; boost::posix_time::ptime d_position_UTC_time;