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Final bug fix for the observables clock correction jumps

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This commit is contained in:
Javier Arribas 2019-08-01 18:11:36 +02:00
parent 12aae85f3c
commit f2becaa7b9
6 changed files with 671 additions and 602 deletions
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1219
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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5
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -208,8 +208,11 @@ private:
bool d_kml_output_enabled; bool d_kml_output_enabled;
bool d_nmea_output_file_enabled; bool d_nmea_output_file_enabled;
std::shared_ptr<Rtklib_Solver> d_pvt_solver; std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
int32_t max_obs_block_rx_clock_offset_ms;
bool d_waiting_obs_block_rx_clock_offset_correction_msg;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
std::map<int, Gnss_Synchro> gnss_observables_map_t0; std::map<int, Gnss_Synchro> gnss_observables_map_t0;
std::map<int, Gnss_Synchro> gnss_observables_map_t1; std::map<int, Gnss_Synchro> gnss_observables_map_t1;

1
src/algorithms/PVT/libs/pvt_conf.cc
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@ -40,6 +40,7 @@ Pvt_Conf::Pvt_Conf()
geojson_rate_ms = 1000; geojson_rate_ms = 1000;
nmea_rate_ms = 1000; nmea_rate_ms = 1000;
max_obs_block_rx_clock_offset_ms = 40;
rinex_version = 0; rinex_version = 0;
rinexobs_rate_ms = 0; rinexobs_rate_ms = 0;

2
src/algorithms/PVT/libs/pvt_conf.h
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@ -73,6 +73,8 @@ public:
bool xml_output_enabled; bool xml_output_enabled;
bool rtcm_output_file_enabled; bool rtcm_output_file_enabled;
int32_t max_obs_block_rx_clock_offset_ms;
std::string output_path; std::string output_path;
std::string rinex_output_path; std::string rinex_output_path;
std::string gpx_output_path; std::string gpx_output_path;

29
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -93,8 +93,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
d_dump_filename = std::move(dump_filename); d_dump_filename = std::move(dump_filename);
d_nchannels_out = nchannels_out; d_nchannels_out = nchannels_out;
d_nchannels_in = nchannels_in; d_nchannels_in = nchannels_in;
T_rx_offset_ms = 0; d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(500, d_nchannels_out);
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump) if (d_dump)
@ -141,7 +140,6 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
} }
} }
T_rx_TOW_ms = 0U; T_rx_TOW_ms = 0U;
T_rx_remnant_to_20ms = 0;
T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!! T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_TOW_set = false; T_rx_TOW_set = false;
T_status_report_timer_ms = 0; T_status_report_timer_ms = 0;
@ -197,16 +195,14 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
{ {
double new_rx_clock_offset_s; double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg)); new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
T_rx_offset_ms = new_rx_clock_offset_s * 1000.0; T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer // d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
d_gnss_synchro_history->clear(n); d_gnss_synchro_history->clear(n);
} }
LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]"; LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
} }
} }
catch (boost::bad_any_cast &e) catch (boost::bad_any_cast &e)
@ -489,8 +485,7 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
} }
} }
} }
T_rx_TOW_ms = TOW_ref - (TOW_ref % 20); T_rx_TOW_ms = TOW_ref;
T_rx_remnant_to_20ms = 0;
} }
else else
{ {
@ -509,7 +504,7 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
// std::cout.precision(17); // std::cout.precision(17);
// std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl; // std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
std::vector<Gnss_Synchro>::iterator it; std::vector<Gnss_Synchro>::iterator it;
double current_T_rx_TOW_ms = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms)); double current_T_rx_TOW_ms = static_cast<double>(T_rx_TOW_ms);
double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0; double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
for (it = data.begin(); it != data.end(); it++) for (it = data.begin(); it != data.end(); it++)
{ {
@ -582,9 +577,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
Gnss_Synchro interpolated_gnss_synchro{}; Gnss_Synchro interpolated_gnss_synchro{};
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
uint32_t T_rx_remnant_to_20ms_samples = T_rx_remnant_to_20ms * in[d_nchannels_in - 1][0].fs / 1000;
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() - T_rx_remnant_to_20ms_samples))
{ {
// Produce an empty observation // Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro(); interpolated_gnss_synchro = Gnss_Synchro();
@ -666,7 +659,17 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
d_dump = false; d_dump = false;
} }
} }
if (n_valid > 0)
{
// LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug;
// old_time_debug = out[0][0].RX_time * 1000.0;
return 1; return 1;
} }
else
{
return 0;
}
}
return 0; return 0;
} }

3
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@ -87,12 +87,11 @@ private:
bool d_dump; bool d_dump;
bool d_dump_mat; bool d_dump_mat;
uint32_t T_rx_TOW_ms; uint32_t T_rx_TOW_ms;
uint32_t T_rx_remnant_to_20ms;
uint32_t T_rx_step_ms; uint32_t T_rx_step_ms;
uint32_t T_status_report_timer_ms; uint32_t T_status_report_timer_ms;
uint32_t d_nchannels_in; uint32_t d_nchannels_in;
uint32_t d_nchannels_out; uint32_t d_nchannels_out;
double T_rx_offset_ms; //double T_rx_offset_ms;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history