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Disable eph update when L1 + L2

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This commit is contained in:
Antonio Ramos 2018-03-09 13:05:25 +01:00
parent ab7cabc8e8
commit ecb4a4970a
4 changed files with 151 additions and 123 deletions
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17
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -127,12 +127,12 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS]; obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS]; geph_t geph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) //CHECK INCONSISTENCY when combining GLONASS + other system gnss_observables_iter++) //CHECK INCONSISTENCY when combining GLONASS + other system
{ {
switch (gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
@ -247,17 +247,19 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
{ {
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_t eph_aux = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
eph_data[i].tgd = eph_aux.tgd;
eph_data[i].isc = eph_aux.isc;
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, eph_data[i].week,
1); //Band 2 (L2) 1); //Band 2 (L2)
break; break;
} }
} }
} }
else else
{ { /*
// 3. If not found, insert the GPS L2 ephemeris and the observation // 3. If not found, insert the GPS L2 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
@ -271,6 +273,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1); //Band 2 (L2) 1); //Band 2 (L2)
valid_obs++; valid_obs++;
*/
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV

238
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -125,15 +125,15 @@ double getiscl5q(int sat, const nav_t *nav)
double prange(const obsd_t *obs, const nav_t *nav, const double *azel, double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var) int iter, const prcopt_t *opt, double *var)
{ {
const double* lam = nav->lam[obs->sat - 1]; const double *lam = nav->lam[obs->sat - 1];
double PC = 0.0; double PC = 0.0;
double P1 = 0.0; double P1 = 0.0;
double P2 = 0.0; double P2 = 0.0;
double P1_P2 = 0.0; double P1_P2 = 0.0;
double P1_C1 = 0.0; double P1_C1 = 0.0;
double P2_C2 = 0.0; double P2_C2 = 0.0;
double ISCl1 = 0.0; double ISCl1 = 0.0;
double ISCl2 = 0.0; double ISCl2 = 0.0;
double ISCl5i = 0.0; double ISCl5i = 0.0;
double ISCl5q = 0.0; double ISCl5q = 0.0;
double gamma_ = 0.0; double gamma_ = 0.0;
@ -142,52 +142,61 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int sys = satsys(obs->sat, NULL); int sys = satsys(obs->sat, NULL);
*var = 0.0; *var = 0.0;
if(sys == SYS_NONE) if (sys == SYS_NONE)
{ {
trace(4, "prange: satsys NULL\n"); trace(4, "prange: satsys NULL\n");
return 0.0; return 0.0;
} }
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */ /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if(sys == SYS_GAL or sys == SYS_SBS) {j = 2;} if (sys == SYS_GAL or sys == SYS_SBS)
if(sys == SYS_GPS)
{
if(obs->code[1] != CODE_NONE) {j = 1;}
else if(obs->code[2] != CODE_NONE) {j = 2;}
}
if(lam[i] == 0.0 or lam[j] == 0.0)
{
trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n");
printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]);
return 0.0;
}
/* test snr mask */
if(iter > 0)
{
if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask))
{ {
trace(4, "snr mask: %s sat=%2d el=%.1f snr=%.1f\n", j = 2;
time_str(obs->time, 0), obs->sat, azel[1] * R2D, obs->SNR[i] * 0.25); }
if (sys == SYS_GPS)
{
if (obs->code[1] != CODE_NONE)
{
j = 1;
}
else if (obs->code[2] != CODE_NONE)
{
j = 2;
}
}
if (lam[i] == 0.0 or lam[j] == 0.0)
{
trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n");
printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]);
return 0.0; return 0.0;
} }
if (opt->ionoopt == IONOOPT_IFLC)
/* test snr mask */
if (iter > 0)
{ {
if (testsnr(0, j, azel[1], obs->SNR[j] * 0.25, &opt->snrmask)) if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask))
{ {
trace(4, "prange: testsnr error\n"); trace(4, "snr mask: %s sat=%2d el=%.1f snr=%.1f\n",
return 0.0; time_str(obs->time, 0), obs->sat, azel[1] * R2D, obs->SNR[i] * 0.25);
} return 0.0;
}
if (opt->ionoopt == IONOOPT_IFLC)
{
if (testsnr(0, j, azel[1], obs->SNR[j] * 0.25, &opt->snrmask))
{
trace(4, "prange: testsnr error\n");
return 0.0;
}
}
} }
}
/* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */ /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
if(sys == SYS_GPS or sys == SYS_GAL) if (sys == SYS_GPS or sys == SYS_GAL)
{ {
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
} }
P1 = obs->P[i]; P1 = obs->P[i];
P2 = obs->P[j]; P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat - 1][0]; P1_P2 = nav->cbias[obs->sat - 1][0];
@ -196,86 +205,103 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
std::string d_dump_filename = "/home/aramos/dump_prange.dat"; std::string d_dump_filename = "/home/aramos/dump_prange.dat";
std::ofstream d_file; std::ofstream d_file;
d_file.exceptions (std::ifstream::failbit | std::ifstream::badbit ); d_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary | std::ios::app); d_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary | std::ios::app);
double tmp_double = static_cast<double>(obs->sat); double tmp_double = static_cast<double>(obs->sat);
d_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P1), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P1), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P2), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P2), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P1_P2), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P1_C1), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P1_C1), sizeof(double));
d_file.write(reinterpret_cast<char*>(&P2_C2), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P2_C2), sizeof(double));
/* if no P1-P2 DCB, use TGD instead */ /* if no P1-P2 DCB, use TGD instead */
if(P1_P2 == 0.0) { P1_P2 = gettgd(obs->sat, nav); } if (P1_P2 == 0.0)
{
P1_P2 = gettgd(obs->sat, nav);
}
if(sys == SYS_GPS) if (sys == SYS_GPS)
{ {
ISCl1 = getiscl1(obs->sat, nav); ISCl1 = getiscl1(obs->sat, nav);
ISCl2 = getiscl2(obs->sat, nav); ISCl2 = getiscl2(obs->sat, nav);
ISCl5i = getiscl5i(obs->sat, nav); ISCl5i = getiscl5i(obs->sat, nav);
ISCl5q = getiscl5q(obs->sat, nav); ISCl5q = getiscl5q(obs->sat, nav);
d_file.write(reinterpret_cast<char*>(&ISCl1), sizeof(double)); d_file.write(reinterpret_cast<char *>(&ISCl1), sizeof(double));
d_file.write(reinterpret_cast<char*>(&ISCl2), sizeof(double)); d_file.write(reinterpret_cast<char *>(&ISCl2), sizeof(double));
d_file.write(reinterpret_cast<char*>(&ISCl5i), sizeof(double)); d_file.write(reinterpret_cast<char *>(&ISCl5i), sizeof(double));
d_file.write(reinterpret_cast<char*>(&ISCl5q), sizeof(double)); d_file.write(reinterpret_cast<char *>(&ISCl5q), sizeof(double));
} }
d_file.write(reinterpret_cast<char*>(&P1_P2), sizeof(double)); d_file.write(reinterpret_cast<char *>(&P1_P2), sizeof(double));
//CHECK IF IT IS STILL NEEDED //CHECK IF IT IS STILL NEEDED
if(opt->ionoopt == IONOOPT_IFLC) if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */ { /* dual-frequency */
if (P1 == 0.0 || P2 == 0.0) { return 0.0; } if (P1 == 0.0 || P2 == 0.0)
if (obs->code[i] == CODE_L1C) { P1 += P1_C1; } /* C1->P1 */ {
if (obs->code[j] == CODE_L2C) { P2 += P2_C2; } /* C2->P2 */ return 0.0;
}
if (obs->code[i] == CODE_L1C)
{
P1 += P1_C1;
} /* C1->P1 */
if (obs->code[j] == CODE_L2C)
{
P2 += P2_C2;
} /* C2->P2 */
/* iono-free combination */ /* iono-free combination */
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0); PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
} }
//////////////////////////////////////////// ////////////////////////////////////////////
else else
{ /* single-frequency */ { /* single-frequency */
if(obs->code[i] == CODE_NONE and obs->code[j] == CODE_NONE) { return 0.0; } if (obs->code[i] == CODE_NONE and obs->code[j] == CODE_NONE)
{
return 0.0;
}
else if(obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE) else if (obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE)
{//CHECK!! { //CHECK!!
P1 += P1_C1; /* C1->P1 */ P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2; PC = P1 + P1_P2;
}
else if (obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE)
{
if (sys == SYS_GPS)
{ //CHECK!!
P2 += P2_C2; /* C2->P2 */
//PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
PC = P2 + P1_P2 - ISCl2;
}
else if (sys == SYS_GAL)
{
//TODO
}
}
/* dual-frequency */
else if (sys == SYS_GPS)
{
if (obs->code[j] == CODE_L2S) /* L1 + L2 */
{
PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
}
if (obs->code[j] == CODE_L5X) /* L1 + L5 */
{
}
}
else if (sys == SYS_GAL) /* E1 + E5a */
{
//TODO
}
} }
else if(obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE) d_file.write(reinterpret_cast<char *>(&PC), sizeof(double));
{
if(sys == SYS_GPS)
{//CHECK!!
P2 += P2_C2; /* C2->P2 */
//PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
PC = P2 + P1_P2 - ISCl2;
}
else if(sys == SYS_GAL)
{
//TODO
}
}
/* dual-frequency */
else if(sys == SYS_GPS)
{
if(obs->code[j] == CODE_L2S) /* L1 + L2 */
{
PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
}
if(obs->code[j] == CODE_L5X) /* L1 + L5 */
{
}
}
else if(sys == SYS_GAL) /* E1 + E5a */
{
//TODO
}
}
d_file.write(reinterpret_cast<char*>(&PC), sizeof(double));
d_file.close(); d_file.close();
if(opt->sateph == EPHOPT_SBAS) { PC -= P1_C1; } /* sbas clock based C1 */ if (opt->sateph == EPHOPT_SBAS)
{
PC -= P1_C1;
} /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0); *var = std::pow(ERR_CBIAS, 2.0);
return PC; return PC;
} }

17
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -253,12 +253,11 @@ const unsigned int tbl_CRC24Q[] = {
0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538}; 0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538};
extern "C" extern "C" {
{ void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *); extern void dgetrf_(int *, int *, double *, int *, int *, int *);
extern void dgetrf_(int *, int *, double *, int *, int *, int *); extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
extern void dgetri_(int *, double *, int *, int *, double *, int *, int *); extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
} }
@ -1388,10 +1387,10 @@ double time2gpst(gtime_t t, int *week)
{ {
gtime_t t0 = epoch2time(gpst0); gtime_t t0 = epoch2time(gpst0);
time_t sec = t.time - t0.time; time_t sec = t.time - t0.time;
int w = (int)(sec / (86400 * 7)); int w = static_cast<int>(sec / 604800);
if (week) *week = w; if (week) *week = w;
return (double)(sec - (double)w * 86400 * 7) + t.sec; return (static_cast<double>(sec - static_cast<time_t>(w * 604800)) + t.sec);
} }
@ -2993,7 +2992,7 @@ int readnav(const char *file, nav_t *nav)
{ {
FILE *fp; FILE *fp;
eph_t eph0 = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, eph_t eph0 = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 }; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0}; geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0};
char buff[4096], *p; char buff[4096], *p;
long toe_time, tof_time, toc_time, ttr_time; long toe_time, tof_time, toc_time, ttr_time;

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -410,7 +410,7 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
double TOW_ref = std::numeric_limits<double>::lowest(); double TOW_ref = std::numeric_limits<double>::lowest();
for (it = data.begin(); it != data.end(); it++) for (it = data.begin(); it != data.end(); it++)
{ {
if (it->TOW_at_current_symbol_s > TOW_ref and it->Signal[0] != '2') if (it->TOW_at_current_symbol_s > TOW_ref)
{ {
TOW_ref = it->TOW_at_current_symbol_s; TOW_ref = it->TOW_at_current_symbol_s;
} }