void dgnss_rebase_ref(u8 num_sdiffs, sdiff_t *sdiffs, double receiver_ecef[3], gnss_signal_t old_sids[MAX_CHANNELS], sdiff_t *corrected_sdiffs) { (void)receiver_ecef; /* all the ref sat stuff */ s8 sats_management_code = rebase_sats_management(&sats_management, num_sdiffs, sdiffs, corrected_sdiffs); if (sats_management_code == NEW_REF_START_OVER) { log_info("Unable to rebase to new ref, resetting filters and starting over"); dgnss_init(num_sdiffs, sdiffs, receiver_ecef); memcpy(old_sids, sats_management.sids, sats_management.num_sats * sizeof(gnss_signal_t)); if (num_sdiffs >= 1) { copy_sdiffs_put_ref_first(old_sids[0], num_sdiffs, sdiffs, corrected_sdiffs); } /*dgnss_init(num_sdiffs, sdiffs, receiver_ecef); //TODO use current baseline state*/ return; } else if (sats_management_code == NEW_REF) { /* do everything related to changing the reference sat here */ rebase_nkf(&nkf, sats_management.num_sats, &old_sids[0], &sats_management.sids[0]); } }
void dgnss_update(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], bool disable_raim, double raim_threshold) { DEBUG_ENTRY(); if (DEBUG) { printf("sdiff[*].prn = {"); for (u8 i=0; i < num_sats; i++) { printf("%u, ", sdiffs[i].sid.sat); } printf("}\n"); } if (num_sats <= 1) { sats_management.num_sats = num_sats; if (num_sats == 1) { sats_management.sids[0] = sdiffs[0].sid; } create_ambiguity_test(&ambiguity_test); DEBUG_EXIT(); return; } if (sats_management.num_sats <= 1) { dgnss_init(num_sats, sdiffs, receiver_ecef); } sdiff_t sdiffs_with_ref_first[num_sats]; gnss_signal_t old_sids[MAX_CHANNELS]; memcpy(old_sids, sats_management.sids, sats_management.num_sats * sizeof(gnss_signal_t)); /* rebase globals to a new reference sat * (permutes sdiffs_with_ref_first accordingly) */ dgnss_rebase_ref(num_sats, sdiffs, receiver_ecef, old_sids, sdiffs_with_ref_first); double dd_measurements[2*(num_sats-1)]; make_measurements(num_sats-1, sdiffs_with_ref_first, dd_measurements); /* all the added/dropped sat stuff */ dgnss_update_sats(num_sats, receiver_ecef, sdiffs_with_ref_first, dd_measurements); /* Unless the KF says otherwise, DONT TRUST THE MEASUREMENTS */ u8 is_bad_measurement = true; double ref_ecef[3]; if (num_sats >= 5) { double b2[3]; s8 code = least_squares_solve_b_external_ambs(nkf.state_dim, nkf.state_mean, sdiffs_with_ref_first, dd_measurements, receiver_ecef, b2, disable_raim, raim_threshold); if (code < 0) { log_warn("dgnss_update. baseline estimate error: %d", code); /* Use b = 0, continue */ memset(b2, 0, sizeof(b2)); } double ref_ecef[3]; vector_add_sc(3, receiver_ecef, b2, 0.5, ref_ecef); /* TODO: make a common DE and use it instead. */ set_nkf_matrices(&nkf, dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf, sats_management.num_sats, sdiffs_with_ref_first, ref_ecef); is_bad_measurement = nkf_update(&nkf, dd_measurements); } u8 changed_sats = ambiguity_update_sats(&ambiguity_test, num_sats, sdiffs, &sats_management, nkf.state_mean, nkf.state_cov_U, nkf.state_cov_D, is_bad_measurement); /* TODO: Refactor - looks like ref_ecef can be passed in uninitialized */ if (!is_bad_measurement) { update_ambiguity_test(ref_ecef, dgnss_settings.phase_var_test, dgnss_settings.code_var_test, &ambiguity_test, nkf.state_dim, sdiffs, changed_sats); } update_unanimous_ambiguities(&ambiguity_test); DEBUG_EXIT(); }
void dgnss_update(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3]) { DEBUG_ENTRY(); if (DEBUG) { printf("sdiff[*].prn = {"); for (u8 i=0; i < num_sats; i++) { printf("%u, ",sdiffs[i].prn); } printf("}\n"); } if (num_sats <= 1) { sats_management.num_sats = num_sats; if (num_sats == 1) { sats_management.prns[0] = sdiffs[0].prn; } create_ambiguity_test(&ambiguity_test); DEBUG_EXIT(); return; } if (sats_management.num_sats <= 1) { dgnss_init(num_sats, sdiffs, reciever_ecef); } sdiff_t sdiffs_with_ref_first[num_sats]; u8 old_prns[MAX_CHANNELS]; memcpy(old_prns, sats_management.prns, sats_management.num_sats * sizeof(u8)); /* rebase globals to a new reference sat * (permutes sdiffs_with_ref_first accordingly) */ dgnss_rebase_ref(num_sats, sdiffs, reciever_ecef, old_prns, sdiffs_with_ref_first); double dd_measurements[2*(num_sats-1)]; make_measurements(num_sats-1, sdiffs_with_ref_first, dd_measurements); /* all the added/dropped sat stuff */ dgnss_update_sats(num_sats, reciever_ecef, sdiffs_with_ref_first, dd_measurements); double ref_ecef[3]; if (num_sats >= 5) { dgnss_incorporate_observation(sdiffs_with_ref_first, dd_measurements, reciever_ecef); double b2[3]; least_squares_solve_b(&nkf, sdiffs_with_ref_first, dd_measurements, reciever_ecef, b2); ref_ecef[0] = reciever_ecef[0] + 0.5 * b2[0]; ref_ecef[1] = reciever_ecef[1] + 0.5 * b2[1]; ref_ecef[2] = reciever_ecef[2] + 0.5 * b2[2]; } u8 changed_sats = ambiguity_update_sats(&ambiguity_test, num_sats, sdiffs, &sats_management, nkf.state_mean, nkf.state_cov_U, nkf.state_cov_D); update_ambiguity_test(ref_ecef, dgnss_settings.phase_var_test, dgnss_settings.code_var_test, &ambiguity_test, nkf.state_dim, sdiffs, changed_sats); update_unanimous_ambiguities(&ambiguity_test); if (DEBUG) { if (num_sats >=4) { double b3[3]; least_squares_solve_b(&nkf, sdiffs_with_ref_first, dd_measurements, reciever_ecef, b3); ref_ecef[0] = reciever_ecef[0] + 0.5 * b3[0]; ref_ecef[1] = reciever_ecef[1] + 0.5 * b3[1]; ref_ecef[2] = reciever_ecef[2] + 0.5 * b3[2]; double bb[3]; u8 num_used; dgnss_fixed_baseline(num_sats, sdiffs, ref_ecef, &num_used, bb); log_debug("\ndgnss_fixed_baseline:\nb = %f, \t%f, \t%f\nnum_used/num_sats = %u/%u\nusing_iar = %u\n\n", bb[0], bb[1], bb[2], num_used, num_sats, ambiguity_iar_can_solve(&ambiguity_test)); } } DEBUG_EXIT(); }