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labrobotica
algorithms
RTKLIB
Commits
953a8a7c
Commit
953a8a7c
authored
4 years ago
by
Joan Vallvé Navarro
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WIP
parent
98083193
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1 merge request
!3
Debug sbas
Changes
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3 changed files
src/ephemeris.c
+3
-0
3 additions, 0 deletions
src/ephemeris.c
src/rtklib.h
+1
-0
1 addition, 0 deletions
src/rtklib.h
src/sbas.c
+39
-0
39 additions, 0 deletions
src/sbas.c
with
43 additions
and
0 deletions
src/ephemeris.c
+
3
−
0
View file @
953a8a7c
...
...
@@ -759,7 +759,10 @@ extern void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
trace
(
3
,
"satposs : teph=%s n=%d ephopt=%d
\n
"
,
time_str
(
teph
,
3
),
n
,
ephopt
);
if
(
ephopt
==
2
)
{
printf
(
"====satposs : teph=%s n=%d ephopt=%d
\n
"
,
time_str
(
teph
,
3
),
n
,
ephopt
);
print_sbassat
(
&
nav
->
sbssat
);
}
for
(
i
=
0
;
i
<
n
&&
i
<
2
*
MAXOBS
;
i
++
)
{
for
(
j
=
0
;
j
<
6
;
j
++
)
rs
[
j
+
i
*
6
]
=
0
.
0
;
...
...
This diff is collapsed.
Click to expand it.
src/rtklib.h
+
1
−
0
View file @
953a8a7c
...
...
@@ -1821,6 +1821,7 @@ EXPORT int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
const
double
*
azel
,
double
*
delay
,
double
*
var
);
EXPORT
double
sbstropcorr
(
gtime_t
time
,
const
double
*
pos
,
const
double
*
azel
,
double
*
var
);
EXPORT
void
print_sbassat
(
const
sbssat_t
*
sbssat
);
/* options functions ---------------------------------------------------------*/
EXPORT
opt_t
*
searchopt
(
const
char
*
name
,
const
opt_t
*
opts
);
...
...
This diff is collapsed.
Click to expand it.
src/sbas.c
+
39
−
0
View file @
953a8a7c
...
...
@@ -123,6 +123,45 @@ static double degfcorr(int ai)
};
return
0
<
ai
&&
ai
<=
15
?
degf
[
ai
]
:
0
.
005
8
;
}
/* print sbsfcorr_t (JV) -------------------------------------------------------*/
static
void
print_sbsfcorr
(
const
sbsfcorr_t
*
sbsfcorr
)
{
printf
(
"
\t\t
iodf: %d, udre: %d, [%f, %f, %f, %d]
\n
"
,
sbsfcorr
->
iodf
,
sbsfcorr
->
udre
,
sbsfcorr
->
prc
,
sbsfcorr
->
rrc
,
sbsfcorr
->
dt
,
sbsfcorr
->
ai
);
}
/* print sbslcorr_t (JV) -------------------------------------------------------*/
static
void
print_sbslcorr
(
const
sbslcorr_t
*
sbslcorr
)
{
printf
(
"
\t\t
iode: %d, [[%f, %f, %f], [%f, %f, %f], %f, %f]
\n
"
,
sbslcorr
->
iode
,
sbslcorr
->
dpos
[
0
],
sbslcorr
->
dpos
[
1
],
sbslcorr
->
dpos
[
2
],
sbslcorr
->
dvel
[
0
],
sbslcorr
->
dvel
[
1
],
sbslcorr
->
dvel
[
2
],
sbslcorr
->
daf0
,
sbslcorr
->
daf1
);
}
/* print sbssatp_t (JV) -------------------------------------------------------*/
static
void
print_sbssatp
(
const
sbssatp_t
*
sbssatp
)
{
printf
(
"
\t
sat: %d
\n
"
,
sbssatp
->
sat
);
/* satellite number */
printf
(
"
\t
fcorr:
\n
"
);
print_sbsfcorr
(
&
sbssatp
->
fcorr
);
/* fast correction */
printf
(
"
\t
lcorr:
\n
"
);
print_sbslcorr
(
&
sbssatp
->
lcorr
);
/* long term correction */
}
/* print sbssat_t (JV) -------------------------------------------------------*/
extern
void
print_sbassat
(
const
sbssat_t
*
sbssat
)
{
printf
(
"iodp: %d
\n
"
,
sbssat
->
iodp
);
/* IODP (issue of date mask) */
printf
(
"tlat: %d
\n
"
,
sbssat
->
tlat
);
/* system latency (s) */
printf
(
"nsat: %d
\n
"
,
sbssat
->
nsat
);
/* number of satellites */
printf
(
"sat:
\n
"
);
for
(
int
i
=
0
;
i
<
sbssat
->
nsat
;
i
++
)
print_sbssatp
(
&
sbssat
->
sat
[
i
]);
}
/* decode type 1: prn masks --------------------------------------------------*/
static
int
decode_sbstype1
(
const
sbsmsg_t
*
msg
,
sbssat_t
*
sbssat
)
{
...
...
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