[hamradio-commits] [gnss-sdr] 227/303: Bug fix in LS PVT solver in troposphere corrections causing erratic position fixes in high altitude GNSS receiver operations (>15 km)
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:03 UTC 2017
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 235aa7735795d8ae32e0d70f820e1cb81097f161
Author: Javier Arribas <javiarribas at gmail.com>
Date: Wed Jan 11 17:31:22 2017 +0100
Bug fix in LS PVT solver in troposphere corrections causing erratic position fixes in high altitude GNSS receiver operations (>15 km)
---
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 6 ------
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 9 +--------
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 11 +----------
src/algorithms/PVT/libs/ls_pvt.cc | 13 ++++++++++---
4 files changed, 12 insertions(+), 27 deletions(-)
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 5a7bb82..7517cae 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -178,12 +178,6 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
d_rx_dt_m = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
- //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
- if (d_height_m > 50000)
- {
- b_valid_position = false;
- return false;
- }
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_m << " [s]";
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 89f73c9..d888948 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -174,13 +174,6 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
- //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
- if (d_height_m > 50000)
- {
- DLOG(INFO)<<"LS: bad height\n";
- b_valid_position = false;
- return false;
- }
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
@@ -188,7 +181,7 @@ 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;
- LOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(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_m << " [s]";
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index 12bb7c2..ea16dbf 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -297,17 +297,8 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
- //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
- if (d_height_m > 50000)
- {
- b_valid_position = false;
- LOG(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= " << mypos(3) << " [s]";
- return false;
- }
- LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
+ 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_m << " [s]";
diff --git a/src/algorithms/PVT/libs/ls_pvt.cc b/src/algorithms/PVT/libs/ls_pvt.cc
index d2251e2..1c92d4d 100644
--- a/src/algorithms/PVT/libs/ls_pvt.cc
+++ b/src/algorithms/PVT/libs/ls_pvt.cc
@@ -116,10 +116,17 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{
//--- 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 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 > 50.0 ) trop = 0.0;
}
}
//--- Apply the corrections ----------------------------------------
--
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