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labrobotica
algorithms
gnss_utils
Commits
e105730a
Commit
e105730a
authored
4 years ago
by
Joan Vallvé Navarro
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default tdcp params
parent
72d3de65
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include/gnss_utils/gnss_utils.h
+16
-1
16 additions, 1 deletion
include/gnss_utils/gnss_utils.h
include/gnss_utils/tdcp.h
+1
-1
1 addition, 1 deletion
include/gnss_utils/tdcp.h
with
17 additions
and
2 deletions
include/gnss_utils/gnss_utils.h
+
16
−
1
View file @
e105730a
...
@@ -150,6 +150,21 @@ struct Options
...
@@ -150,6 +150,21 @@ struct Options
}
}
};
};
const
TdcpOptions
default_tdcp_options
=
{
false
,
//bool enabled; // TDCP enabled
false
,
//bool batch; // precompute global displacement between 2 epochs
true
,
//bool corr_iono; // apply correction also in TDCP
true
,
//bool corr_tropo; // apply correction also in TDCP
true
,
//bool corr_clock;
false
,
//bool loss_function; // apply loss function in TDCP factors
0.1
,
//double sigma_atm;
0.1
,
//double sigma_carrier;
true
,
//bool use_old_nav;
false
,
//bool multi_freq;
300
//double time_window; // window of time in which we perform TDCP
};
const
Options
default_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, 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)
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, 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)
...
@@ -160,7 +175,7 @@ const Options default_options =
...
@@ -160,7 +175,7 @@ const Options default_options =
D2R
*
15.0
,
// min elevation (degrees)
D2R
*
15.0
,
// min elevation (degrees)
30.0
,
// maxgdop: reject threshold of gdop
30.0
,
// maxgdop: reject threshold of gdop
true
,
false
,
true
,
true
,
false
,
false
,
false
,
false
,
//GPS,SBS,GLO,GAL,QZS,CMP,IRN,LEO; // constellations used
true
,
false
,
true
,
true
,
false
,
false
,
false
,
false
,
//GPS,SBS,GLO,GAL,QZS,CMP,IRN,LEO; // constellations used
{
0
}
// TDCP options
default_tdcp_options
// TDCP options
};
};
// forward declarations
// forward declarations
...
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include/gnss_utils/tdcp.h
+
1
−
1
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e105730a
...
@@ -17,7 +17,7 @@ struct TdcpBatchParams
...
@@ -17,7 +17,7 @@ struct TdcpBatchParams
bool
relinearize_jacobian
;
bool
relinearize_jacobian
;
int
max_iterations
;
int
max_iterations
;
int
residual_opt
;
// 0: Normalized RMS of residual vector. 1: Max residual in Mahalanobis squared distance
int
residual_opt
;
// 0: Normalized RMS of residual vector. 1: Max residual in Mahalanobis squared distance
int
sagnac_correction
;
// 0 deactivated, 1/2 substraction/addition
int
sagnac_correction
;
// 0 deactivated, 1/2 substraction/addition
};
};
struct
TdcpOutput
struct
TdcpOutput
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