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labrobotica
algorithms
gnss_utils
Commits
e95f57a5
Commit
e95f57a5
authored
5 years ago
by
Joan Vallvé Navarro
Browse files
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more exhaustive navigation print
parent
3786beb7
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2 merge requests
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new tag
,
!19
new tag
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2 changed files
include/gnss_utils/utils/utils.h
+1
-1
1 addition, 1 deletion
include/gnss_utils/utils/utils.h
src/navigation.cpp
+96
-71
96 additions, 71 deletions
src/navigation.cpp
with
97 additions
and
72 deletions
include/gnss_utils/utils/utils.h
+
1
−
1
View file @
e95f57a5
...
@@ -24,7 +24,7 @@ void print(std::string& _msg);
...
@@ -24,7 +24,7 @@ void print(std::string& _msg);
template
<
typename
T
,
size_t
size
>
template
<
typename
T
,
size_t
size
>
void
printArray
(
std
::
string
name
,
T
(
&
array
)[
size
])
void
printArray
(
std
::
string
name
,
T
(
&
array
)[
size
])
{
{
std
::
cout
<<
name
<<
"
:
["
;
std
::
cout
<<
name
<<
"["
;
for
(
int
ii
=
0
;
ii
<
size
;
++
ii
)
for
(
int
ii
=
0
;
ii
<
size
;
++
ii
)
{
{
if
(
std
::
is_same
<
T
,
char
>::
value
or
std
::
is_same
<
T
,
unsigned
char
>::
value
)
if
(
std
::
is_same
<
T
,
char
>::
value
or
std
::
is_same
<
T
,
unsigned
char
>::
value
)
...
...
This diff is collapsed.
Click to expand it.
src/navigation.cpp
+
96
−
71
View file @
e95f57a5
...
@@ -283,25 +283,16 @@ void Navigation::freeNavigationArrays()
...
@@ -283,25 +283,16 @@ void Navigation::freeNavigationArrays()
void
Navigation
::
print
()
void
Navigation
::
print
()
{
{
std
::
cout
<<
"n: "
<<
nav_
.
n
<<
"
\n
"
;
std
::
cout
<<
"n: "
<<
nav_
.
n
<<
"
\t
(nmax: "
<<
nav_
.
nmax
<<
")
\n
"
;
std
::
cout
<<
"ng: "
<<
nav_
.
ng
<<
"
\n
"
;
std
::
cout
<<
"ng: "
<<
nav_
.
ng
<<
"
\t
(nfmax: "
<<
nav_
.
nfmax
<<
")
\n
"
;
std
::
cout
<<
"ns: "
<<
nav_
.
ns
<<
"
\n
"
;
std
::
cout
<<
"ns: "
<<
nav_
.
ns
<<
"
\t
(nsmax: "
<<
nav_
.
nsmax
<<
")
\n
"
;
std
::
cout
<<
"ne: "
<<
nav_
.
ne
<<
"
\n
"
;
std
::
cout
<<
"ne: "
<<
nav_
.
ne
<<
"
\t
(nemax: "
<<
nav_
.
nemax
<<
")
\n
"
;
std
::
cout
<<
"nc: "
<<
nav_
.
nc
<<
"
\n
"
;
std
::
cout
<<
"nc: "
<<
nav_
.
nc
<<
"
\t
(ncmax: "
<<
nav_
.
ncmax
<<
")
\n
"
;
std
::
cout
<<
"na: "
<<
nav_
.
na
<<
"
\n
"
;
std
::
cout
<<
"na: "
<<
nav_
.
na
<<
"
\t
(namax: "
<<
nav_
.
namax
<<
")
\n
"
;
std
::
cout
<<
"nt: "
<<
nav_
.
nt
<<
"
\n
"
;
std
::
cout
<<
"nt: "
<<
nav_
.
nt
<<
"
\t
(ntmax: "
<<
nav_
.
ntmax
<<
")
\n
"
;
std
::
cout
<<
"nf: "
<<
nav_
.
nf
<<
"
\n
"
;
std
::
cout
<<
"nf: "
<<
nav_
.
nf
<<
"
\t
(nfmax: "
<<
nav_
.
nfmax
<<
")
\n
"
;
std
::
cout
<<
"nmax: "
<<
nav_
.
nmax
<<
"
\n
"
;
// TODO
std
::
cout
<<
"ngmax: "
<<
nav_
.
ngmax
<<
"
\n
"
;
std
::
cout
<<
"nsmax: "
<<
nav_
.
nsmax
<<
"
\n
"
;
std
::
cout
<<
"nemax: "
<<
nav_
.
nemax
<<
"
\n
"
;
std
::
cout
<<
"ncmax: "
<<
nav_
.
ncmax
<<
"
\n
"
;
std
::
cout
<<
"namax: "
<<
nav_
.
namax
<<
"
\n
"
;
std
::
cout
<<
"ntmax: "
<<
nav_
.
ntmax
<<
"
\n
"
;
std
::
cout
<<
"nfmax: "
<<
nav_
.
nfmax
<<
"
\n
"
;
// TODO
// eph_t *eph; /* GPS/QZS/GAL ephemeris */
// eph_t *eph; /* GPS/QZS/GAL ephemeris */
// geph_t *geph; /* GLONASS ephemeris */
// geph_t *geph; /* GLONASS ephemeris */
// seph_t *seph; /* SBAS ephemeris */
// seph_t *seph; /* SBAS ephemeris */
...
@@ -312,68 +303,102 @@ void Navigation::print()
...
@@ -312,68 +303,102 @@ void Navigation::print()
// fcbd_t *fcb; /* satellite fcb data */
// fcbd_t *fcb; /* satellite fcb data */
// double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
// double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_gps
)
>
(
"utc_gps: "
,
nav_
.
utc_gps
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_gps
)
>
(
"utc_gps: "
,
nav_
.
utc_gps
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_glo
)
>
(
"utc_glo: "
,
nav_
.
utc_glo
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_glo
)
>
(
"utc_glo: "
,
nav_
.
utc_glo
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_qzs
)
>
(
"utc_qzs: "
,
nav_
.
utc_qzs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_gal
)
>
(
"utc_gal: "
,
nav_
.
utc_gal
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_cmp
)
>
(
"utc_cmp: "
,
nav_
.
utc_cmp
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_qzs
)
>
(
"utc_qzs: "
,
nav_
.
utc_qzs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_irn
)
>
(
"utc_irn: "
,
nav_
.
utc_irn
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_cmp
)
>
(
"utc_cmp: "
,
nav_
.
utc_cmp
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_sbs
)
>
(
"utc_sbs: "
,
nav_
.
utc_sbs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_irn
)
>
(
"utc_irn: "
,
nav_
.
utc_irn
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_gps
)
>
(
"ion_gps: "
,
nav_
.
ion_gps
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
utc_sbs
)
>
(
"utc_sbs: "
,
nav_
.
utc_sbs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_gal
)
>
(
"ion_gal: "
,
nav_
.
ion_gal
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_gps
)
>
(
"ion_gps: "
,
nav_
.
ion_gps
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_qzs
)
>
(
"ion_qzs: "
,
nav_
.
ion_qzs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_gal
)
>
(
"ion_gal: "
,
nav_
.
ion_gal
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_cmp
)
>
(
"ion_cmp: "
,
nav_
.
ion_cmp
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_qzs
)
>
(
"ion_qzs: "
,
nav_
.
ion_qzs
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_irn
)
>
(
"ion_irn: "
,
nav_
.
ion_irn
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_cmp
)
>
(
"ion_cmp: "
,
nav_
.
ion_cmp
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
ion_irn
)
>
(
"ion_irn: "
,
nav_
.
ion_irn
);
std
::
cout
<<
"leaps: "
<<
nav_
.
leaps
<<
"
\n
"
;
std
::
cout
<<
"leaps: "
<<
nav_
.
leaps
<<
"
\n
"
;
std
::
cout
<<
"sbssat:
\n
"
;
std
::
cout
<<
"
\t
iodp: "
<<
nav_
.
sbssat
.
iodp
<<
"
\n
"
;
std
::
cout
<<
"lam:
\n
"
;
std
::
cout
<<
"
\t
nsat: "
<<
nav_
.
sbssat
.
nsat
<<
"
\n
"
;
for
(
int
i
=
0
;
i
<
ARRAY2D_NROWS
(
nav_
.
lam
);
i
++
)
std
::
cout
<<
"
\t
tlat: "
<<
nav_
.
sbssat
.
tlat
<<
"
\n
"
;
printArray
<
double
,
ARRAY2D_NCOLS
(
nav_
.
lam
)
>
(
"
\t
"
,
nav_
.
lam
[
i
]);
for
(
int
i
=
0
;
i
<
nav_
.
sbssat
.
nsat
;
i
++
)
std
::
cout
<<
"cbias:
\n
"
;
for
(
int
i
=
0
;
i
<
ARRAY2D_NROWS
(
nav_
.
cbias
);
i
++
)
printArray
<
double
,
ARRAY2D_NCOLS
(
nav_
.
cbias
)
>
(
"
\t
"
,
nav_
.
cbias
[
i
]);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
wlbias
)
>
(
"wlbias: "
,
nav_
.
wlbias
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
glo_cpbias
)
>
(
"glo_cpbias: "
,
nav_
.
glo_cpbias
);
printArray
<
char
,
ARRAY_SIZE
(
nav_
.
glo_fcn
)
>
(
"glo_fcn: "
,
nav_
.
glo_fcn
);
std
::
cout
<<
"pcvs:
\n
"
;
for
(
int
i
=
0
;
i
<
ARRAY_SIZE
(
nav_
.
pcvs
);
i
++
)
{
{
std
::
cout
<<
"
\t
sat: "
<<
i
<<
"
\n
"
;
std
::
cout
<<
"
\t
sat: "
<<
nav_
.
pcvs
[
i
].
sat
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
sat "
<<
nav_
.
sbssat
.
sat
[
i
].
sat
<<
"
\n
"
;
printArray
<
char
,
ARRAY_SIZE
(
nav_
.
pcvs
[
i
].
type
)
>
(
"
\t\t
type: "
,
nav_
.
pcvs
[
i
].
type
);
printArray
<
char
,
ARRAY_SIZE
(
nav_
.
pcvs
[
i
].
code
)
>
(
"
\t\t
code: "
,
nav_
.
pcvs
[
i
].
code
);
std
::
cout
<<
"
\t\t
fcorr.t0 "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
t0
.
time
<<
" + "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
t0
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.prc "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
prc
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
te: "
<<
nav_
.
pcvs
[
i
].
te
.
time
<<
" + "
<<
nav_
.
pcvs
[
i
].
te
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.rrc "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
rrc
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
ts: "
<<
nav_
.
pcvs
[
i
].
ts
.
time
<<
" + "
<<
nav_
.
pcvs
[
i
].
ts
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.dt "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
dt
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
off:
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.iodf "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
iodf
<<
"
\n
"
;
for
(
int
j
=
0
;
j
<
ARRAY2D_NROWS
(
nav_
.
pcvs
[
i
].
off
);
j
++
)
std
::
cout
<<
"
\t\t
fcorr.udre "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
udre
<<
"
\n
"
;
printArray
<
double
,
ARRAY2D_NCOLS
(
nav_
.
pcvs
[
i
].
off
)
>
(
"
\t\t\t
"
,
nav_
.
pcvs
[
i
].
off
[
j
]);
std
::
cout
<<
"
\t\t
fcorr.ai "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
ai
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
var:
\n
"
;
for
(
int
j
=
0
;
j
<
ARRAY2D_NROWS
(
nav_
.
pcvs
[
i
].
var
);
j
++
)
std
::
cout
<<
"
\t\t
lcorr.daf0 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
daf0
<<
"
\n
"
;
printArray
<
double
,
ARRAY2D_NCOLS
(
nav_
.
pcvs
[
i
].
var
)
>
(
"
\t\t\t
"
,
nav_
.
pcvs
[
i
].
var
[
j
]);
std
::
cout
<<
"
\t\t
lcorr.daf1 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
daf1
<<
"
\n
"
;
}
std
::
cout
<<
"
\t\t
lcorr.iode "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
iode
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lcorr.t0 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
t0
.
time
<<
" + "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
t0
.
sec
<<
"
\n
"
;
if
(
nav_
.
sbssat
.
nsat
==
0
)
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dpos
)
>
(
"
\t\t
lcorr.dpos: "
,
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dpos
);
std
::
cout
<<
"sbssat: empty
\n
"
;
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dvel
)
>
(
"
\t\t
lcorr.dvel: "
,
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dvel
);
else
{
std
::
cout
<<
"sbssat:
\n
"
;
std
::
cout
<<
"
\t
iodp: "
<<
nav_
.
sbssat
.
iodp
<<
"
\n
"
;
std
::
cout
<<
"
\t
nsat: "
<<
nav_
.
sbssat
.
nsat
<<
"
\n
"
;
std
::
cout
<<
"
\t
tlat: "
<<
nav_
.
sbssat
.
tlat
<<
"
\n
"
;
for
(
int
i
=
0
;
i
<
nav_
.
sbssat
.
nsat
;
i
++
)
{
std
::
cout
<<
"
\t
sat: "
<<
i
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
sat "
<<
nav_
.
sbssat
.
sat
[
i
].
sat
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.t0 "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
t0
.
time
<<
" + "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
t0
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.prc "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
prc
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.rrc "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
rrc
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.dt "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
dt
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.iodf "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
iodf
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.udre "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
udre
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
fcorr.ai "
<<
nav_
.
sbssat
.
sat
[
i
].
fcorr
.
ai
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lcorr.daf0 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
daf0
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lcorr.daf1 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
daf1
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lcorr.iode "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
iode
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lcorr.t0 "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
t0
.
time
<<
" + "
<<
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
t0
.
sec
<<
"
\n
"
;
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dpos
)
>
(
"
\t\t
lcorr.dpos: "
,
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dpos
);
printArray
<
double
,
ARRAY_SIZE
(
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dvel
)
>
(
"
\t\t
lcorr.dvel: "
,
nav_
.
sbssat
.
sat
[
i
].
lcorr
.
dvel
);
}
}
}
for
(
int
i
=
0
;
i
<
MAXBAND
+
1
;
i
++
)
for
(
int
i
=
0
;
i
<
MAXBAND
+
1
;
i
++
)
{
{
std
::
cout
<<
"sbsion: "
<<
i
<<
"
\n
"
;
if
(
nav_
.
sbsion
[
i
].
nigp
==
0
)
std
::
cout
<<
"
\t
iodi: "
<<
nav_
.
sbsion
[
i
].
iodi
<<
"
\n
"
;
std
::
cout
<<
"sbsion: "
<<
i
<<
" empty
\n
"
;
std
::
cout
<<
"
\t
nigp: "
<<
nav_
.
sbsion
[
i
].
nigp
<<
"
\n
"
;
else
for
(
int
j
=
0
;
j
<
nav_
.
sbsion
[
i
].
nigp
;
j
++
)
{
{
std
::
cout
<<
"
\t
igp: "
<<
j
<<
"
\n
"
;
std
::
cout
<<
"sbsion: "
<<
i
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
t0: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
t0
.
time
<<
" + "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
t0
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t
iodi: "
<<
nav_
.
sbsion
[
i
].
iodi
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lat: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
lat
<<
"
\n
"
;
std
::
cout
<<
"
\t
nigp: "
<<
nav_
.
sbsion
[
i
].
nigp
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lon: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
lon
<<
"
\n
"
;
for
(
int
j
=
0
;
j
<
nav_
.
sbsion
[
i
].
nigp
;
j
++
)
std
::
cout
<<
"
\t\t
give: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
give
<<
"
\n
"
;
{
std
::
cout
<<
"
\t\t
delay: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
delay
<<
"
\n
"
;
std
::
cout
<<
"
\t
igp: "
<<
j
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
t0: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
t0
.
time
<<
" + "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
t0
.
sec
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lat: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
lat
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
lon: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
lon
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
give: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
give
<<
"
\n
"
;
std
::
cout
<<
"
\t\t
delay: "
<<
nav_
.
sbsion
[
i
].
igp
[
j
].
delay
<<
"
\n
"
;
}
}
}
}
}
// TODO:
// TODO:
// pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */
// double cbias[MAXSAT][3]; /* satellite dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
// double rbias[MAXRCV][2][3]; /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
// double rbias[MAXRCV][2][3]; /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
// double wlbias[MAXSAT]; /* wide-lane bias (cycle) */
// double glo_cpbias[4]; /* glonass code-phase bias {1C,1P,2C,2P} (m) */
// char glo_fcn[MAXPRNGLO+1]; /* glonass frequency channel number + 8 */
// ********** other not copied nav_t content: ***********
// ********** other not copied nav_t content: ***********
// erp_t erp; /* earth rotation parameters */
// erp_t erp; /* earth rotation parameters */
...
...
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