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mobile_robotics
wolf_projects
wolf_lib
plugins
gnss
Commits
64d9eb28
Commit
64d9eb28
authored
5 years ago
by
Joan Vallvé Navarro
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parent
6c726f69
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2 merge requests
!28
release after RAL
,
!27
After 2nd RAL submission
Changes
2
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2 changed files
include/gnss/processor/processor_tracker_gnss.h
+13
-10
13 additions, 10 deletions
include/gnss/processor/processor_tracker_gnss.h
src/processor/processor_tracker_gnss.cpp
+144
-51
144 additions, 51 deletions
src/processor/processor_tracker_gnss.cpp
with
157 additions
and
61 deletions
include/gnss/processor/processor_tracker_gnss.h
+
13
−
10
View file @
64d9eb28
...
@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
...
@@ -17,7 +17,7 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
GnssUtils
::
Options
gnss_opt
;
GnssUtils
::
Options
gnss_opt
;
GnssUtils
::
Options
fix_opt
{
GnssUtils
::
default_options
};
GnssUtils
::
Options
fix_opt
{
GnssUtils
::
default_options
};
double
max_time_span
;
double
max_time_span
;
bool
remove_outliers
;
bool
remove_outliers
,
remove_outliers_tdcp
;
double
outlier_residual_th
;
double
outlier_residual_th
;
bool
init_frames
;
bool
init_frames
;
...
@@ -52,18 +52,19 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
...
@@ -52,18 +52,19 @@ struct ParamsProcessorTrackerGnss : public ParamsProcessorTrackerFeature
gnss_opt
.
tdcp
.
enabled
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/enabled"
);
gnss_opt
.
tdcp
.
enabled
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/enabled"
);
if
(
gnss_opt
.
tdcp
.
enabled
)
if
(
gnss_opt
.
tdcp
.
enabled
)
{
{
gnss_opt
.
tdcp
.
corr_iono
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/corr_iono"
);
remove_outliers_tdcp
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/remove_outliers"
);
gnss_opt
.
tdcp
.
corr_tropo
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/corr_tropo"
);
gnss_opt
.
tdcp
.
corr_iono
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/corr_iono"
);
gnss_opt
.
tdcp
.
loss_function
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/loss_function"
);
gnss_opt
.
tdcp
.
corr_tropo
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/corr_tropo"
);
gnss_opt
.
tdcp
.
time_window
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/time_window"
);
gnss_opt
.
tdcp
.
loss_function
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/loss_function"
);
gnss_opt
.
tdcp
.
sigma_atm
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/sigma_atm"
);
gnss_opt
.
tdcp
.
time_window
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/time_window"
);
gnss_opt
.
tdcp
.
sigma_carrier
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/sigma_carrier"
);
gnss_opt
.
tdcp
.
sigma_atm
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/sigma_atm"
);
gnss_opt
.
tdcp
.
multi_freq
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/multi_freq"
);
gnss_opt
.
tdcp
.
sigma_carrier
=
_server
.
getParam
<
double
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/sigma_carrier"
);
gnss_opt
.
tdcp
.
multi_freq
=
_server
.
getParam
<
bool
>
(
prefix
+
_unique_name
+
"/gnss/tdcp/multi_freq"
);
}
}
// COMPUTE FIX OPTIONS (RAIM)
// COMPUTE FIX OPTIONS (RAIM)
fix_opt
.
elmin
=
0
;
fix_opt
.
elmin
=
0
;
fix_opt
.
maxgdop
=
1
0
;
fix_opt
.
maxgdop
=
3
0
;
}
}
std
::
string
print
()
const
std
::
string
print
()
const
...
@@ -121,6 +122,8 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
...
@@ -121,6 +122,8 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
SensorGnssPtr
sensor_gnss_
;
SensorGnssPtr
sensor_gnss_
;
std
::
map
<
int
,
FeatureGnssSatellitePtr
>
untracked_incoming_features_
,
untracked_last_features_
;
std
::
map
<
int
,
FeatureGnssSatellitePtr
>
untracked_incoming_features_
,
untracked_last_features_
;
GnssUtils
::
ComputePosOutput
fix_incoming_
,
fix_last_
;
GnssUtils
::
ComputePosOutput
fix_incoming_
,
fix_last_
;
unsigned
int
outliers_pseudorange_
,
outliers_tdcp_
,
inliers_pseudorange_
,
inliers_tdcp_
;
std
::
map
<
int
,
unsigned
int
>
sat_outliers_
;
/** \brief Track provided features in \b _capture
/** \brief Track provided features in \b _capture
* \param _features_in input list of features in \b last to track
* \param _features_in input list of features in \b last to track
...
@@ -212,7 +215,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
...
@@ -212,7 +215,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
void
advanceDerived
()
override
;
void
advanceDerived
()
override
;
void
resetDerived
()
override
;
void
resetDerived
()
override
;
void
removeOutliers
(
FactorBasePtrList
fac_list
,
CaptureBasePtr
cap
)
const
;
void
removeOutliers
(
FactorBasePtrList
fac_list
,
CaptureBasePtr
cap
);
};
};
inline
ProcessorTrackerGnss
::~
ProcessorTrackerGnss
()
inline
ProcessorTrackerGnss
::~
ProcessorTrackerGnss
()
...
...
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src/processor/processor_tracker_gnss.cpp
+
144
−
51
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64d9eb28
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