From 7ba73742949732e7def11783a9b921d06ad11fcd Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 6 May 2020 15:12:00 +0200
Subject: [PATCH] WIP
---
src/observations.cpp | 4 ++--
src/utils/rcv_position.cpp | 12 +++++++-----
2 files changed, 9 insertions(+), 7 deletions(-)
diff --git a/src/observations.cpp b/src/observations.cpp
index 8e5864c..5569377 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -204,9 +204,9 @@ std::set<int> Observations::filterByEphemeris(const SatellitesPositions& sats_po
// bad or inexistent satellite position (satellite is not included in the discarded list)
if (sats_pos.count(sat_number) == 0 or
sats_pos.at(sat_number).isApprox(Eigen::Vector3d::Zero(), 1e-3) or
- sats_pos.at(sat_number).isApprox(Eigen::Vector3d::Zero(), 1e-3))
+ sats_pos.at(sat_number).norm() < 2.5e7)
{
- //std::cout << "Discarding sat " << sat_number << ": wrong satellite position: \n\t" << sats_pos.at(sat_number).transpose() << std::endl;
+ std::cout << "Discarding sat " << sat_number << ": wrong satellite position: \n\t" << sats_pos.at(sat_number).transpose() << std::endl;
remove_sats.insert(sat_number);
}
}
diff --git a/src/utils/rcv_position.cpp b/src/utils/rcv_position.cpp
index 590c91d..da0d132 100644
--- a/src/utils/rcv_position.cpp
+++ b/src/utils/rcv_position.cpp
@@ -45,10 +45,12 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
// std::cout << "Covariance:\n" << output.pos_covar << "\n";
// XXX: segmentation fault here.
- // if (sol.dtr != NULL)
- // {
- // output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
- // }
+ if (sol.dtr != NULL)
+ {
+ output.rcv_bias = (Eigen::Matrix<double,6,1>() << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5]).finished();
+ //output.rcv_bias = Eigen::Matrix<double, 6,1>(sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5]);
+ //output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
+ }
output.type = sol.type;
output.stat = sol.stat;
output.ns = sol.ns;
@@ -261,4 +263,4 @@ int estposOwn(const obsd_t* obs,
return 0;
}
-} // namespace GnssUtils
\ No newline at end of file
+} // namespace GnssUtils
--
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