From 4de5f70de3f28827cc9309dcb9199741d2c0161e Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 18 Jun 2020 16:32:29 +0200
Subject: [PATCH] remove outliers pseudoranges with fix/state optional
---
include/gnss/processor/processor_tracker_gnss.h | 11 ++++++-----
src/processor/processor_tracker_gnss.cpp | 2 +-
2 files changed, 7 insertions(+), 6 deletions(-)
diff --git a/include/gnss/processor/processor_tracker_gnss.h b/include/gnss/processor/processor_tracker_gnss.h
index 45e98bf20..2339456f7 100644
--- a/include/gnss/processor/processor_tracker_gnss.h
+++ b/include/gnss/processor/processor_tracker_gnss.h
@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
GnssUtils::Options gnss_opt;
GnssUtils::Options fix_opt{GnssUtils::default_options};
double max_time_span;
- bool remove_outliers, remove_outliers_tdcp;
+ bool remove_outliers, remove_outliers_tdcp, remove_outliers_with_fix;
double outlier_residual_th;
bool init_frames;
@@ -25,10 +25,11 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
ParamsProcessorTrackerGnss(std::string _unique_name, const ParamsServer& _server):
ParamsProcessorTrackerFeature(_unique_name, _server)
{
- remove_outliers = _server.getParam<bool> (prefix + _unique_name + "/remove_outliers");
- outlier_residual_th = _server.getParam<double> (prefix + _unique_name + "/outlier_residual_th");
- init_frames = _server.getParam<bool> (prefix + _unique_name + "/init_frames");
- max_time_span = _server.getParam<double> (prefix + _unique_name + "/keyframe_vote/max_time_span");
+ remove_outliers = _server.getParam<bool> (prefix + _unique_name + "/remove_outliers");
+ remove_outliers_with_fix = _server.getParam<bool> (prefix + _unique_name + "/remove_outliers_with_fix");
+ outlier_residual_th = _server.getParam<double> (prefix + _unique_name + "/outlier_residual_th");
+ init_frames = _server.getParam<bool> (prefix + _unique_name + "/init_frames");
+ max_time_span = _server.getParam<double> (prefix + _unique_name + "/keyframe_vote/max_time_span");
// GNSS OPTIONS (see rtklib.h)
gnss_opt.sateph = _server.getParam<int> (prefix + _unique_name + "/gnss/sateph"); // satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 72046d47e..68991ea0d 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -338,7 +338,7 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
// state for pseudoranges is fix solution if OK
- if (cap == last_ptr_ and fix_last_.stat != 0)
+ if (cap == last_ptr_ and fix_last_.stat != 0 and params_tracker_gnss_->remove_outliers_with_fix)
{
WOLF_DEBUG("OUTLIERS COMPUTED USING fix_last");
x = sensor_gnss_->getREnuMap().transpose() * (sensor_gnss_->getREnuEcef() * fix_last_.pos + sensor_gnss_->gettEnuEcef() - sensor_gnss_->gettEnuMap());
--
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