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Commit 1bdee2fa authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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new SBAS options for iono and eph

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Subproject commit f37a58057ce5ca45d46c492dacd8105f6f9e4d70
Subproject commit 0260d91932df0ca0691842aa99b39acde5d49c45
include/gnss_utils/gnss_utils.h
+ 11
− 11
View file @ 1bdee2fa
......@@ -113,15 +113,15 @@ struct TdcpOptions
struct Options
{
int sateph; // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris
int ionoopt; // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode
int tropopt; // troposphere option: TROPOPT_OFF(0):correction off, TROPOPT_SAAS(1):Saastamoinen model, TROPOPT_SBAS(2):SBAS model, TROPOPT_EST(3):troposphere option: ZTD estimation, TROPOPT_ESTG(4):ZTD+grad estimation, TROPOPT_ZTD(5):ZTD correction,6:ZTD+grad correction
int sbascorr; // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
int raim; // RAIM removed sats
double elmin; // min elevation (degrees)
double maxgdop; // maxgdop: reject threshold of gdop
int sateph; // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(2 if possible, otherwise 6), EPHOPT_SBAS4(8):broadcast + SBAS(2 if possible, otherwise 0)
int ionoopt; // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode
int tropopt; // troposphere option: TROPOPT_OFF(0):correction off, TROPOPT_SAAS(1):Saastamoinen model, TROPOPT_SBAS(2):SBAS model, TROPOPT_EST(3):troposphere option: ZTD estimation, TROPOPT_ESTG(4):ZTD+grad estimation, TROPOPT_ZTD(5):ZTD correction,6:ZTD+grad correction
int sbascorr; // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
int raim; // RAIM removed sats
double elmin; // min elevation (degrees)
double maxgdop; // maxgdop: reject threshold of gdop
bool GPS,SBS,GLO,GAL,QZS,CMP,IRN,LEO; // constellations used
TdcpOptions tdcp; // TDCP options
TdcpOptions tdcp; // TDCP options
// compute navsys int
int getNavSys() const
......@@ -152,10 +152,10 @@ struct Options
const Options default_options =
{
EPHOPT_BRDC, // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris
IONOOPT_BRDC, // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode
EPHOPT_SBAS2, // satellite ephemeris option: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
IONOOPT_SBAS2, // ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
TROPOPT_SAAS, // troposphere option: TROPOPT_OFF(0):correction off, TROPOPT_SAAS(1):Saastamoinen model, TROPOPT_SBAS(2):SBAS model, TROPOPT_EST(3):troposphere option: ZTD estimation, TROPOPT_ESTG(4):ZTD+grad estimation, TROPOPT_ZTD(5):ZTD correction,6:ZTD+grad correction
0, // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
15, // SBAS correction options (can be added): SBSOPT_LCORR(1): long term correction, SBSOPT_FCORR(2): fast correction, SBSOPT_ICORR(4): ionosphere correction, SBSOPT_RANGE(8): ranging
1, // RAIM enabled
D2R*15.0, // min elevation (degrees)
30.0, // maxgdop: reject threshold of gdop
......
include/gnss_utils/utils/satellite.h
+ 0
− 1
View file @ 1bdee2fa
......@@ -35,7 +35,6 @@ namespace GnssUtils
double clock_bias;
double clock_drift;
int svh;
int eph_mode;
};
} // namespace GnssUtils
......
src/utils/satellite.cpp
+ 9
− 49
View file @ 1bdee2fa
......@@ -39,9 +39,7 @@ Satellites computeSatellites(const Observations& obs,
const int& eph_opt)
{
double rs[6 * obs.size()], dts[2 * obs.size()], var[obs.size()];
double rs_brdc[6 * obs.size()], dts_brdc[2 * obs.size()], var_brdc[obs.size()];
int svh[obs.size()];
int svh_brdc[obs.size()];
// std::cout << "computing position of sats: ";
// for (auto&& obs_ref : obs.getObservations())
......@@ -49,68 +47,30 @@ Satellites computeSatellites(const Observations& obs,
// std::cout << std::endl;
// compute positions
// first compute all broadcasted ephemeris
satposs(obs.getObservations().front().time,
obs.data(),
obs.size(),
&nav.getNavigation(),
0,
rs_brdc,
dts_brdc,
var_brdc,
svh_brdc);
/* DEBUG
std::cout << "Sats positions with broadcasted ephemeris: \n";
for (int i = 0; i < obs.size(); i++)
{
if (rs_brdc[6*i] == 0 and rs_brdc[6*i+1] == 0 and rs_brdc[6*i+2] == 0)
std::cout << "\tsat: " << (int)obs.getObservationByIdx(i).sat << " ephemeris not available" << std::endl;
else
{
std::cout << "\tsat: " << (int)obs.getObservationByIdx(i).sat << std::endl
<< "\t\tpos: " << rs_brdc[6*i] << " " << rs_brdc[6*i+1] << " " << rs_brdc[6*i+2] << std::endl
<< "\t\tvel: " << rs_brdc[6*i+3] << " " << rs_brdc[6*i+4] << " " << rs_brdc[6*i+5] << std::endl
<< "\t\tvar: " << var_brdc[i] << std::endl
<< "\t\tclock bias: " << dts_brdc[2*i] << std::endl
<< "\t\tclock drift: " << dts_brdc[2*i+1] << std::endl
<< "\t\tsvh: " << svh_brdc[i] << std::endl;
}
}
//*/
// compute SBAS ephemeris
if (eph_opt != 0)
satposs(obs.getObservations().front().time,
obs.data(),
obs.size(),
&nav.getNavigation(),
eph_opt,
rs,
dts,
var,
svh);
eph_opt,
rs,
dts,
var,
svh);
// fill Satellites
Satellites sats;
//std::cout << "computeSatellites: filling satellites: \n";
for (int i = 0; i < obs.size(); i++)
{
bool brdc_eph = eph_opt == 0 or (rs[6*i] == 0 and rs[6*i+1] == 0 and rs[6*i+2] == 0);
auto sat_pair = sats.emplace(obs.getObservationByIdx(i).sat, // Key
Satellite({satsys(obs.getObservationByIdx(i).sat,NULL),
obs.getObservationByIdx(i).sat, // Constructor...
brdc_eph ?
(Eigen::Vector3d() << rs_brdc[6*i],rs_brdc[6*i+1],rs_brdc[6*i+2]).finished() :
(Eigen::Vector3d() << rs[6*i],rs[6*i+1],rs[6*i+2]).finished(),
brdc_eph ?
(Eigen::Vector3d() << rs_brdc[6*i+3], rs_brdc[6*i+4], rs_brdc[6*i+5]).finished() :
(Eigen::Vector3d() << rs[6*i+3], rs[6*i+4], rs[6*i+5]).finished() ,
brdc_eph ? var_brdc[i] : var[i],
brdc_eph ? dts_brdc[2*i] : dts[2*i],
brdc_eph ? dts_brdc[2*i+1] : dts[2*i+1],
brdc_eph ? svh_brdc[i] : svh[i],
brdc_eph ? 0 : 2}));
var[i],
dts[2*i],
dts[2*i+1],
svh[i]}));
assert(sat_pair.second && "satellite already computed");
......
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