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Code Issues Releases Wiki Activity

Revert "Modify observables history"

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This commit is contained in:
Javier Arribas
2018-04-09 16:45:05 +02:00
committed by GitHub
parent 67ccb5b910
commit f022d49709
5 changed files with 41 additions and 312 deletions
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1
src/algorithms/observables/adapters/CMakeLists.txt
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@@ -26,7 +26,6 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

6
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
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@@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS)
add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
if(MATIO_FOUND)
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
else(MATIO_FOUND)
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(MATIO_FOUND)
target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})

122
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -66,7 +66,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
d_gnss_synchro_history = Gnss_circular_deque<Gnss_Synchro>(200, d_nchannels);
for (unsigned int i = 0; i < d_nchannels; i++)
{
d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
}
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@@ -298,37 +302,15 @@ int hybrid_observables_cc::save_matfile()
}
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
{
if ((ti < d_gnss_synchro_history.front(ch).RX_time) or (ti > d_gnss_synchro_history.back(ch).RX_time))
if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
{
return false;
}
std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
std::deque<Gnss_Synchro>::iterator it;
double m = 0.0;
double c = 0.0;
// CARRIER PHASE INTERPOLATION
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
out.Carrier_phase_rads = m * ti + c;
// CARRIER DOPPLER INTERPOLATION
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
out.Carrier_Doppler_hz = m * ti + c;
// TOW INTERPOLATION
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
out.TOW_at_current_symbol_s = m * ti + c;
return true;
/*
arma::vec t = arma::vec(d_gnss_synchro_history.size(ch));
arma::vec t = arma::vec(data.size());
arma::vec dop = t;
arma::vec cph = t;
arma::vec tow = t;
@@ -354,7 +336,6 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
out.TOW_at_current_symbol_s = result(0);
return result.is_finite();
*/
}
@@ -370,48 +351,6 @@ 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)
{
unsigned int closest = 0;
double dif = std::numeric_limits<double>::max();
double dt = 0.0;
for (unsigned int i = 0; i < d_gnss_synchro_history.size(ch); i++)
{
dt = std::fabs(ti - d_gnss_synchro_history.at(ch, i).RX_time);
if (dt < dif)
{
dif = dt;
closest = i;
}
}
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
{
if (d_gnss_synchro_history.at(ch, closest).RX_time < ti)
{
index1 = closest;
index2 = closest + 1;
}
else
{
index1 = closest - 1;
index2 = closest;
}
}
return std::pair<unsigned int, unsigned int>(index1, index2);
}
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items_required)
@@ -424,13 +363,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
}
void hybrid_observables_cc::clean_history(Gnss_circular_deque<Gnss_Synchro> &data, unsigned int pos)
void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
{
while (data.size(pos) > 0)
while (data.size() > 0)
{
if ((T_rx_s - data.front(pos).RX_time) > max_delta)
if ((T_rx_s - data.front().RX_time) > max_delta)
{
data.pop_front(pos);
data.pop_front();
}
else
{
@@ -515,9 +454,11 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
//////////////////////////////////////////////////////////////////////////
std::vector<std::deque<Gnss_Synchro>>::iterator it;
if (total_input_items > 0)
{
for (unsigned int i = 0; i < d_nchannels; i++)
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (ninput_items[i] > 0)
{
@@ -526,25 +467,26 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (in[i][aux].Flag_valid_word)
{
d_gnss_synchro_history.push_back(i, in[i][aux]);
d_gnss_synchro_history.back(i).RX_time = compute_T_rx_s(in[i][aux]);
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (d_gnss_synchro_history.size(i) > 1)
if (it->size() > 1)
{
if (d_gnss_synchro_history.front(i).PRN != d_gnss_synchro_history.back(i).PRN)
if (it->front().PRN != it->back().PRN)
{
d_gnss_synchro_history.clear(i);
it->clear();
}
}
}
}
consume(i, ninput_items[i]);
}
i++;
}
}
for (i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history.size(i) > 2)
if (d_gnss_synchro_history.at(i).size() > 2)
{
valid_channels[i] = true;
}
@@ -564,8 +506,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (valid_channels[i])
{
clean_history(d_gnss_synchro_history, i);
if (d_gnss_synchro_history.size(i) < 2)
clean_history(d_gnss_synchro_history.at(i));
if (d_gnss_synchro_history.at(i).size() < 2)
{
valid_channels[i] = false;
}
@@ -581,12 +523,13 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
std::vector<Gnss_Synchro> epoch_data;
for (unsigned int i = 0; i < d_nchannels; i++)
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (valid_channels[i])
{
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history.back(i);
if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
Gnss_Synchro interpolated_gnss_synchro = it->back();
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
{
epoch_data.push_back(interpolated_gnss_synchro);
}
@@ -595,6 +538,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
valid_channels[i] = false;
}
}
i++;
}
d_num_valid_channels = valid_channels.count();
if (d_num_valid_channels == 0)
@@ -602,14 +546,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
return 0;
}
correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
for (i = 0; i < d_nchannels; i++)
{
if (valid_channels[i])
{
out[i][0] = (*it);
out[i][0] = (*it2);
out[i][0].Flag_valid_pseudorange = true;
it++;
it2++;
}
else
{

11
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@@ -35,12 +35,12 @@
#define GNSS_SDR_HYBRID_OBSERVABLES_CC_H
#include "gnss_synchro.h"
#include "gnss_circular_deque.h"
#include <gnuradio/block.h>
#include <boost/dynamic_bitset.hpp>
#include <fstream>
#include <string>
#include <utility>
#include <vector>
#include <deque>
class hybrid_observables_cc;
@@ -65,15 +65,14 @@ private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(Gnss_circular_deque<Gnss_Synchro>& data, unsigned int pos);
void clean_history(std::deque<Gnss_Synchro>& data);
double compute_T_rx_s(const Gnss_Synchro& a);
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);
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();
//Tracking observable history
Gnss_circular_deque<Gnss_Synchro> d_gnss_synchro_history;
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
boost::dynamic_bitset<> valid_channels;
double T_rx_s;
double T_rx_step_s;