[hamradio-commits] [gnss-sdr] 292/303: Adding consistency checks to the PVT solutions
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:09 UTC 2017
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 8c2f1f992f34af2fd41d75ecf0b1fa653292ed51
Author: Javier Arribas <javiarribas at gmail.com>
Date: Mon Feb 6 17:51:11 2017 +0100
Adding consistency checks to the PVT solutions
---
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 136 ++++++-------
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 232 ++++++++++++-----------
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 150 ++++++++-------
src/algorithms/PVT/libs/ls_pvt.cc | 274 +++++++++++++--------------
4 files changed, 406 insertions(+), 386 deletions(-)
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 8f60917..4b08cd9 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -164,81 +164,87 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs="<< obs;
DLOG(INFO) << "W=" << W;
+ try{
+ // check if this is the initial position computation
+ if (d_rx_dt_s == 0)
+ {
+ // execute Bancroft's algorithm to estimate initial receiver position and time
+ DLOG(INFO) << " Executing Bancroft algorithm...";
+ rx_position_and_time = bancroftPos(satpos.t(), obs);
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s = rx_position_and_time(3) / GALILEO_C_m_s; // save time for the next iteration [meters]->[seconds]
+ }
+ // Execute WLS using previous position as the initialization point
+ rx_position_and_time = leastSquarePos(satpos, obs, W);
- // check if this is the initial position computation
- if (d_rx_dt_s == 0)
- {
- // execute Bancroft's algorithm to estimate initial receiver position and time
- DLOG(INFO) << " Executing Bancroft algorithm...";
- rx_position_and_time = bancroftPos(satpos.t(), obs);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
- d_rx_dt_s = rx_position_and_time(3) / GALILEO_C_m_s; // save time for the next iteration [meters]->[seconds]
- }
- // Execute WLS using previous position as the initialization point
- rx_position_and_time = leastSquarePos(satpos, obs, W);
-
- d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
- d_rx_dt_s += rx_position_and_time(3) / GALILEO_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
+ d_rx_dt_s += rx_position_and_time(3) / GALILEO_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
- // Compute Gregorian time
- utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
- // get time string Gregorian calendar
- boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
- // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
- boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
- d_position_UTC_time = p_time;
+ // Compute Gregorian time
+ utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+ // get time string Gregorian calendar
+ boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+ // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+ boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+ d_position_UTC_time = p_time;
- DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << rx_position_and_time;
+ DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << rx_position_and_time;
- cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
- d_rx_dt_s = rx_position_and_time(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
- DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
- << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+ cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
+ d_rx_dt_s = rx_position_and_time(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
+ DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
+ << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
- // ###### Compute DOPs ########
- compute_DOP();
+ // ###### Compute DOPs ########
+ compute_DOP();
- // ######## LOG FILE #########
- if(d_flag_dump_enabled == true)
- {
- // MULTIPLEXED FILE RECORDING - Record results to file
- try
- {
- double tmp_double;
- // PVT GPS time
- tmp_double = galileo_current_time;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position East [m]
- tmp_double = rx_position_and_time(0);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position North [m]
- tmp_double = rx_position_and_time(1);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position Up [m]
- tmp_double = rx_position_and_time(2);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // User clock offset [s]
- tmp_double = rx_position_and_time(3);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Latitude [deg]
- tmp_double = d_latitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Longitude [deg]
- tmp_double = d_longitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Height [m]
- tmp_double = d_height_m;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- }
- catch (const std::ifstream::failure& e)
+ // ######## LOG FILE #########
+ if(d_flag_dump_enabled == true)
{
- LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ try
+ {
+ double tmp_double;
+ // PVT GPS time
+ tmp_double = galileo_current_time;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position East [m]
+ tmp_double = rx_position_and_time(0);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position North [m]
+ tmp_double = rx_position_and_time(1);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position Up [m]
+ tmp_double = rx_position_and_time(2);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // User clock offset [s]
+ tmp_double = rx_position_and_time(3);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Latitude [deg]
+ tmp_double = d_latitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Longitude [deg]
+ tmp_double = d_longitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Height [m]
+ tmp_double = d_height_m;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (const std::ifstream::failure& e)
+ {
+ LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
+ }
}
- }
- // MOVING AVERAGE PVT
- galileo_e1_ls_pvt::pos_averaging(flag_averaging);
+ // MOVING AVERAGE PVT
+ galileo_e1_ls_pvt::pos_averaging(flag_averaging);
+ }catch(const std::exception & e)
+ {
+ d_rx_dt_s=0;//reset rx time estimation
+ LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what();
+ b_valid_position = false;
+ }
}
else
{
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index 1633f6f..72d87d8 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -49,21 +49,21 @@ gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels, std::string dump_filename, boo
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
+ {
+ if (d_dump_file.is_open() == false)
{
- if (d_dump_file.is_open() == false)
- {
- try
- {
- d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
- d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
- LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
- }
- catch (const std::ifstream::failure &e)
- {
- LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
- }
- }
+ try
+ {
+ d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+ d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+ LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
+ }
+ catch (const std::ifstream::failure &e)
+ {
+ LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
+ }
}
+ }
}
@@ -99,58 +99,58 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
+ {
+ // 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
+ gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
+ if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
- // 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
- gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
- if (gps_ephemeris_iter != gps_ephemeris_map.end())
- {
- /*!
- * \todo Place here the satellite CN0 (power level, or weight factor)
- */
- W.resize(valid_obs + 1, 1);
- W(valid_obs) = 1;
-
- // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
- // first estimate of transmit time
- double Rx_time = GPS_current_time;
- double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GPS_C_m_s;
-
- // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
- SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
-
- // 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
- TX_time_corrected_s = Tx_time - SV_clock_bias_s;
- double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-
- //store satellite positions in a matrix
- satpos.resize(3, valid_obs + 1);
- satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
- satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
- satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
-
- // 4- fill the observations vector with the corrected pseudoranges
- obs.resize(valid_obs + 1, 1);
- obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
- d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
- d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
-
- // SV ECEF DEBUG OUTPUT
- DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
- << " X=" << gps_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(valid_obs) << " [m]";
-
- valid_obs++;
- // compute the UTC time for this SV (just to print the associated UTC timestamp)
- GPS_week = gps_ephemeris_iter->second.i_GPS_week;
- utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
- }
- else // the ephemeris are not available for this SV
- {
- DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
- }
+ /*!
+ * \todo Place here the satellite CN0 (power level, or weight factor)
+ */
+ W.resize(valid_obs + 1, 1);
+ W(valid_obs) = 1;
+
+ // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
+ // first estimate of transmit time
+ double Rx_time = GPS_current_time;
+ double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GPS_C_m_s;
+
+ // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
+ SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
+
+ // 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
+ TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+ double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+ //store satellite positions in a matrix
+ satpos.resize(3, valid_obs + 1);
+ satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
+ satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
+ satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
+
+ // 4- fill the observations vector with the corrected pseudoranges
+ obs.resize(valid_obs + 1, 1);
+ obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
+ d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
+ d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
+
+ // SV ECEF DEBUG OUTPUT
+ DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
+ << " X=" << gps_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+
+ valid_obs++;
+ // compute the UTC time for this SV (just to print the associated UTC timestamp)
+ GPS_week = gps_ephemeris_iter->second.i_GPS_week;
+ utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
+ }
+ else // the ephemeris are not available for this SV
+ {
+ DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
}
+ }
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
@@ -159,21 +159,22 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
LOG(INFO) << "(new)PVT: valid observations=" << valid_obs;
if (valid_obs >= 4)
- {
- arma::vec rx_position_and_time;
- DLOG(INFO) << "satpos=" << satpos;
- DLOG(INFO) << "obs=" << obs;
- DLOG(INFO) << "W=" << W;
+ {
+ arma::vec rx_position_and_time;
+ DLOG(INFO) << "satpos=" << satpos;
+ DLOG(INFO) << "obs=" << obs;
+ DLOG(INFO) << "W=" << W;
+ try{
// check if this is the initial position computation
if (d_rx_dt_s == 0)
- {
- // execute Bancroft's algorithm to estimate initial receiver position and time
- DLOG(INFO) << " Executing Bancroft algorithm...";
- rx_position_and_time = bancroftPos(satpos.t(), obs);
- d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
- d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
- }
+ {
+ // execute Bancroft's algorithm to estimate initial receiver position and time
+ DLOG(INFO) << " Executing Bancroft algorithm...";
+ rx_position_and_time = bancroftPos(satpos.t(), obs);
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
+ }
// Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W);
@@ -193,57 +194,64 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(p_time)
- << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+ << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
compute_DOP();
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
+ {
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ try
+ {
+ double tmp_double;
+ // PVT GPS time
+ tmp_double = GPS_current_time;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position East [m]
+ tmp_double = d_rx_pos(0);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position North [m]
+ tmp_double = d_rx_pos(1);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position Up [m]
+ tmp_double = d_rx_pos(2);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // User clock offset [s]
+ tmp_double = d_rx_dt_s;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Latitude [deg]
+ tmp_double = d_latitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Longitude [deg]
+ tmp_double = d_longitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Height [m]
+ tmp_double = d_height_m;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (const std::ifstream::failure &e)
{
- // MULTIPLEXED FILE RECORDING - Record results to file
- try
- {
- double tmp_double;
- // PVT GPS time
- tmp_double = GPS_current_time;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position East [m]
- tmp_double = d_rx_pos(0);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position North [m]
- tmp_double = d_rx_pos(1);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position Up [m]
- tmp_double = d_rx_pos(2);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // User clock offset [s]
- tmp_double = d_rx_dt_s;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Latitude [deg]
- tmp_double = d_latitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Longitude [deg]
- tmp_double = d_longitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Height [m]
- tmp_double = d_height_m;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- }
- catch (const std::ifstream::failure &e)
- {
- LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
- }
+ LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
}
+ }
// MOVING AVERAGE PVT
pos_averaging(flag_averaging);
- }
- else
+
+ }catch(const std::exception & e)
{
+ d_rx_dt_s=0;//reset rx time estimation
+ LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what();
b_valid_position = false;
}
+ }
+ else
+ {
+ b_valid_position = false;
+ }
return b_valid_position;
}
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index 87dae62..c55d055 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -201,17 +201,17 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
- << " X=" << gps_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+ << " X=" << gps_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++;
// compute the UTC time for this SV (just to print the associated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
}
- else // the ephemeris are not available for this SV
+ else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
@@ -288,9 +288,9 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W;
-
- // check if this is the initial position computation
- if (d_rx_dt_s == 0)
+ try{
+ // check if this is the initial position computation
+ if (d_rx_dt_s == 0)
{
// execute Bancroft's algorithm to estimate initial receiver position and time
DLOG(INFO) << " Executing Bancroft algorithm...";
@@ -299,81 +299,87 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
}
- // Execute WLS using previous position as the initialization point
- rx_position_and_time = leastSquarePos(satpos, obs, W);
+ // Execute WLS using previous position as the initialization point
+ rx_position_and_time = leastSquarePos(satpos, obs, W);
- d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
- d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
- DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
- DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
+ DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
+ DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
- double secondsperweek = 604800.0;
- // Compute GST and Gregorian time
- if( GST != 0.0)
- {
- utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
- }
- else
- {
- utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
- }
+ double secondsperweek = 604800.0;
+ // Compute GST and Gregorian time
+ if( GST != 0.0)
+ {
+ utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+ }
+ else
+ {
+ utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
+ }
- // get time string Gregorian calendar
- boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
- // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
- boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
- d_position_UTC_time = p_time;
+ // get time string Gregorian calendar
+ boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+ // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+ boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+ d_position_UTC_time = p_time;
- cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
+ cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
- DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
- << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+ DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
+ << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
- // ###### Compute DOPs ########
- hybrid_ls_pvt::compute_DOP();
+ // ###### Compute DOPs ########
+ hybrid_ls_pvt::compute_DOP();
- // ######## LOG FILE #########
- if(d_flag_dump_enabled == true)
- {
- // MULTIPLEXED FILE RECORDING - Record results to file
- try
- {
- double tmp_double;
- // PVT GPS time
- tmp_double = hybrid_current_time;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position East [m]
- tmp_double = rx_position_and_time(0);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position North [m]
- tmp_double = rx_position_and_time(1);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position Up [m]
- tmp_double = rx_position_and_time(2);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // User clock offset [s]
- tmp_double = rx_position_and_time(3);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Latitude [deg]
- tmp_double = d_latitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Longitude [deg]
- tmp_double = d_longitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Height [m]
- tmp_double = d_height_m;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- }
- catch (const std::ifstream::failure& e)
+ // ######## LOG FILE #########
+ if(d_flag_dump_enabled == true)
{
- LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ try
+ {
+ double tmp_double;
+ // PVT GPS time
+ tmp_double = hybrid_current_time;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position East [m]
+ tmp_double = rx_position_and_time(0);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position North [m]
+ tmp_double = rx_position_and_time(1);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position Up [m]
+ tmp_double = rx_position_and_time(2);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // User clock offset [s]
+ tmp_double = rx_position_and_time(3);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Latitude [deg]
+ tmp_double = d_latitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Longitude [deg]
+ tmp_double = d_longitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Height [m]
+ tmp_double = d_height_m;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (const std::ifstream::failure& e)
+ {
+ LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
+ }
}
- }
- // MOVING AVERAGE PVT
- pos_averaging(flag_averaging);
+ // MOVING AVERAGE PVT
+ pos_averaging(flag_averaging);
+ }catch(const std::exception & e)
+ {
+ d_rx_dt_s=0;//reset rx time estimation
+ LOG(WARNING)<<"Problem with the solver, invalid solution!"<< e.what();
+ b_valid_position = false;
+ }
}
else
{
diff --git a/src/algorithms/PVT/libs/ls_pvt.cc b/src/algorithms/PVT/libs/ls_pvt.cc
index ead1e10..ec97328 100644
--- a/src/algorithms/PVT/libs/ls_pvt.cc
+++ b/src/algorithms/PVT/libs/ls_pvt.cc
@@ -31,6 +31,7 @@
#include "ls_pvt.h"
#include <exception>
+#include <stdexcept>
#include "GPS_L1_CA.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
@@ -81,80 +82,80 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
arma::mat BBB;
double traveltime = 0;
for (int iter = 0; iter < 2; iter++)
+ {
+ B = B_pass;
+ int m = arma::size(B,0);
+ for (int i = 0; i < m; i++)
{
- B = B_pass;
- int m = arma::size(B,0);
- for (int i = 0; i < m; i++)
- {
- int x = B(i,0);
- int y = B(i,1);
- if (iter == 0)
- {
- traveltime = 0.072;
- }
- else
- {
- int z = B(i,2);
- double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
- traveltime = sqrt(rho) / GPS_C_m_s;
- }
- double angle = traveltime * 7.292115147e-5;
- double cosa = cos(angle);
- double sina = sin(angle);
- B(i,0) = cosa * x + sina * y;
- B(i,1) = -sina * x + cosa * y;
- }// % i-loop
-
- if (m > 3)
- {
- BBB = arma::inv(B.t() * B) * B.t();
- }
+ int x = B(i,0);
+ int y = B(i,1);
+ if (iter == 0)
+ {
+ traveltime = 0.072;
+ }
else
- {
- BBB = arma::inv(B);
- }
- arma::vec e = arma::ones(m,1);
- arma::vec alpha = arma::zeros(m,1);
- for (int i = 0; i < m; i++)
- {
- alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
- }
- arma::mat BBBe = BBB * e;
- arma::mat BBBalpha = BBB * alpha;
- double a = lorentz(BBBe, BBBe);
- double b = lorentz(BBBe, BBBalpha) - 1;
- double c = lorentz(BBBalpha, BBBalpha);
- double root = sqrt(b * b - a * c);
- arma::vec r = {(-b - root) / a, (-b + root) / a};
- arma::mat possible_pos = arma::zeros(4,2);
- for (int i = 0; i < 2; i++)
- {
- possible_pos.col(i) = r(i) * BBBe + BBBalpha;
- possible_pos(3,i) = -possible_pos(3,i);
- }
+ {
+ int z = B(i,2);
+ double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
+ traveltime = sqrt(rho) / GPS_C_m_s;
+ }
+ double angle = traveltime * 7.292115147e-5;
+ double cosa = cos(angle);
+ double sina = sin(angle);
+ B(i,0) = cosa * x + sina * y;
+ B(i,1) = -sina * x + cosa * y;
+ }// % i-loop
- arma::vec abs_omc = arma::zeros(2,1);
- for (int j = 0; j < m; j++)
- {
- for (int i = 0; i < 2; i++)
- {
- double c_dt = possible_pos(3,i);
- double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt;
- double omc = obs(j) - calc;
- abs_omc(i) = std::abs(omc);
- }
- }// % j-loop
+ if (m > 3)
+ {
+ BBB = arma::inv(B.t() * B) * B.t();
+ }
+ else
+ {
+ BBB = arma::inv(B);
+ }
+ arma::vec e = arma::ones(m,1);
+ arma::vec alpha = arma::zeros(m,1);
+ for (int i = 0; i < m; i++)
+ {
+ alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
+ }
+ arma::mat BBBe = BBB * e;
+ arma::mat BBBalpha = BBB * alpha;
+ double a = lorentz(BBBe, BBBe);
+ double b = lorentz(BBBe, BBBalpha) - 1;
+ double c = lorentz(BBBalpha, BBBalpha);
+ double root = sqrt(b * b - a * c);
+ arma::vec r = {(-b - root) / a, (-b + root) / a};
+ arma::mat possible_pos = arma::zeros(4,2);
+ for (int i = 0; i < 2; i++)
+ {
+ possible_pos.col(i) = r(i) * BBBe + BBBalpha;
+ possible_pos(3,i) = -possible_pos(3,i);
+ }
- //discrimination between roots
- if (abs_omc(0) > abs_omc(1))
- {
- pos = possible_pos.col(1);
- }
- else
- {
- pos = possible_pos.col(0);
- }
- }// % iter loop
+ arma::vec abs_omc = arma::zeros(2,1);
+ for (int j = 0; j < m; j++)
+ {
+ for (int i = 0; i < 2; i++)
+ {
+ double c_dt = possible_pos(3,i);
+ double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt;
+ double omc = obs(j) - calc;
+ abs_omc(i) = std::abs(omc);
+ }
+ }// % j-loop
+
+ //discrimination between roots
+ if (abs_omc(0) > abs_omc(1))
+ {
+ pos = possible_pos.col(1);
+ }
+ else
+ {
+ pos = possible_pos.col(0);
+ }
+ }// % iter loop
return pos;
}
@@ -217,83 +218,82 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
//=== Iteratively find receiver position ===================================
for (int iter = 0; iter < nmbOfIterations; iter++)
+ {
+ for (int i = 0; i < nmbOfSatellites; i++)
{
- for (int i = 0; i < nmbOfSatellites; i++)
- {
- if (iter == 0)
- {
- //--- Initialize variables at the first iteration --------------
- Rot_X = X.col(i); //Armadillo
- trop = 0.0;
- }
- else
- {
- //--- Update equations -----------------------------------------
- rho2 = (X(0, i) - pos(0)) *
- (X(0, i) - pos(0)) + (X(1, i) - pos(1)) *
- (X(1, i) - pos(1)) + (X(2, i) - pos(2)) *
- (X(2, i) - pos(2));
- traveltime = sqrt(rho2) / GPS_C_m_s;
-
- //--- Correct satellite position (do to earth rotation) --------
- Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
+ if (iter == 0)
+ {
+ //--- Initialize variables at the first iteration --------------
+ Rot_X = X.col(i); //Armadillo
+ trop = 0.0;
+ }
+ else
+ {
+ //--- Update equations -----------------------------------------
+ rho2 = (X(0, i) - pos(0)) *
+ (X(0, i) - pos(0)) + (X(1, i) - pos(1)) *
+ (X(1, i) - pos(1)) + (X(2, i) - pos(2)) *
+ (X(2, i) - pos(2));
+ traveltime = sqrt(rho2) / GPS_C_m_s;
- //--- Find DOA and range of satellites
- Ls_Pvt::topocent(&d_visible_satellites_Az[i],
- &d_visible_satellites_El[i],
- &d_visible_satellites_Distance[i],
- pos.subvec(0,2),
- Rot_X - pos.subvec(0, 2));
- if(traveltime < 0.1 && nmbOfSatellites > 3)
- {
- //--- Find receiver's height
- Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
- // Add troposphere correction if the receiver is below the troposphere
- if (h > 15000)
- {
- //receiver is above the troposphere
- trop = 0.0;
- }
- else
- {
- //--- Find delay due to troposphere (in meters)
- Ls_Pvt::tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
- if(trop > 5.0 ) trop = 0.0; //check for erratic values
- }
- }
- }
- //--- Apply the corrections ----------------------------------------
- omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
+ //--- Correct satellite position (do to earth rotation) --------
+ Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
- //--- Construct the A matrix ---------------------------------------
- //Armadillo
- A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i);
- A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i);
- A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
- A(i,3) = 1.0;
+ //--- Find DOA and range of satellites
+ Ls_Pvt::topocent(&d_visible_satellites_Az[i],
+ &d_visible_satellites_El[i],
+ &d_visible_satellites_Distance[i],
+ pos.subvec(0,2),
+ Rot_X - pos.subvec(0, 2));
+ if(traveltime < 0.1 && nmbOfSatellites > 3)
+ {
+ //--- Find receiver's height
+ Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
+ // Add troposphere correction if the receiver is below the troposphere
+ if (h > 15000)
+ {
+ //receiver is above the troposphere
+ trop = 0.0;
+ }
+ else
+ {
+ //--- Find delay due to troposphere (in meters)
+ Ls_Pvt::tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
+ if(trop > 5.0 ) trop = 0.0; //check for erratic values
+ }
}
-
- //--- Find position update ---------------------------------------------
- x = arma::solve(w*A, w*omc); // Armadillo
-
- //--- Apply position update --------------------------------------------
- pos = pos + x;
- if (arma::norm(x,2) < 1e-4)
- {
- break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
}
+ //--- Apply the corrections ----------------------------------------
+ omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
+
+ //--- Construct the A matrix ---------------------------------------
+ //Armadillo
+ A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i);
+ A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i);
+ A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
+ A(i,3) = 1.0;
}
- try
- {
- //-- compute the Dilution Of Precision values
- d_Q = arma::inv(arma::htrans(A) * A);
+ //--- Find position update ---------------------------------------------
+ x = arma::solve(w*A, w*omc); // Armadillo
+
+ //--- Apply position update --------------------------------------------
+ pos = pos + x;
+ if (arma::norm(x,2) < 1e-4)
+ {
+ break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
+ }
}
- catch(std::exception& e)
+
+ //-- compute the Dilution Of Precision values
+ d_Q = arma::inv(arma::htrans(A) * A);
+
+ // check the consistency of the PVT solution
+ if (((fabs(pos(3))*1000.0)/ GPS_C_m_s)>GPS_STARTOFFSET_ms*2)
{
- d_Q = arma::zeros(4,4);
+ LOG(WARNING)<<"Receiver time offset out of range! Estimated RX Time error [s]:"<<pos(3)/ GPS_C_m_s;
+ throw std::runtime_error("Receiver time offset out of range!");
}
-
return pos;
}
--
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