new tag

include/gnss_utils/gnss_utils.h

@@ -98,17 +98,30 @@ const prcopt_t default_prcopt = {
 
 struct TdcpOptions
 {
-    bool enabled;           // TDCP enabled
-    bool batch;             // precompute global displacement between 2 epochs
-    bool corr_iono;         // apply correction also in TDCP
-    bool corr_tropo;        // apply correction also in TDCP
-    bool corr_clock;
-    bool loss_function;     // apply loss function in TDCP factors
+    bool   loss_function;     // apply loss function in TDCP factors
     double sigma_atm;
     double sigma_carrier;
     bool   use_old_nav;
     bool   multi_freq;
     double time_window;     // window of time in which we perform TDCP
+
+    // Batch TDCP params
+    bool   batch;             // precompute global displacement between 2 epochs
+    int    min_common_sats;
+    int    raim_n;
+    bool   validate_residual;
+    double max_residual; // max allowed residual to be considered good solution. RAIM applied if enabled in this case.
+    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
+};
+
+struct CarrierPhaseOptions
+{
+    bool corr_iono;
+    bool corr_tropo;
+    bool corr_clock;
 };
 
 struct Options
@@ -121,7 +134,7 @@ struct Options
     double elmin;       // min elevation (rad)
     double maxgdop;     // maxgdop: reject threshold of gdop
     bool GPS,SBS,GLO,GAL,QZS,CMP,IRN,LEO; // constellations used
-    TdcpOptions tdcp;   // TDCP options
+    CarrierPhaseOptions carrier_opt;   // Carrier phase correction options
 
     // compute navsys int
     int getNavSys() const
@@ -150,21 +163,6 @@ 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)
@@ -175,7 +173,7 @@ 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
-    default_tdcp_options // TDCP options
+    {true, true, true} // carrier phase options
 };
 
 // forward declarations