From e105730a8d868d72dfb06cc89dc11b9b61612534 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 21 Jun 2021 18:55:51 +0200
Subject: [PATCH] default tdcp params
---
include/gnss_utils/gnss_utils.h | 17 ++++++++++++++++-
include/gnss_utils/tdcp.h | 2 +-
2 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index d777221..7d87ea5 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -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 =
{
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 =
D2R*15.0, // min elevation (degrees)
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
- {0} // TDCP options
+ default_tdcp_options // TDCP options
};
// forward declarations
diff --git a/include/gnss_utils/tdcp.h b/include/gnss_utils/tdcp.h
index de5ef4e..5b67886 100644
--- a/include/gnss_utils/tdcp.h
+++ b/include/gnss_utils/tdcp.h
@@ -17,7 +17,7 @@ struct TdcpBatchParams
bool relinearize_jacobian;
int max_iterations;
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
--
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