void dgnss_init_known_baseline2(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3])
{
double ref_ecef[3];
ref_ecef[0] = receiver_ecef[0] + 0.5 * b[0];
ref_ecef[1] = receiver_ecef[1] + 0.5 * b[1];
ref_ecef[2] = receiver_ecef[2] + 0.5 * b[2];
sdiff_t corrected_sdiffs[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 corrected_sdiffs accordingly)
dgnss_rebase_ref(num_sats, sdiffs, ref_ecef, old_prns, corrected_sdiffs);
double dds[2*(num_sats-1)];
make_measurements(num_sats-1, corrected_sdiffs, dds);
double DE[(num_sats-1)*3];
s32 N[num_sats-1];
assign_de_mtx(num_sats, corrected_sdiffs, ref_ecef, DE);
amb_from_baseline(num_sats, DE, dds, b, N);
printf("Known Base: [");
for (u8 i=0; i<num_sats-1; i++)
printf("%d, ", N[i]);
printf("]\n");
/* Construct fake state means. */
double state_mean[num_sats-1+6];
memcpy(&state_mean[0], b, 3 * sizeof(double));
memset(&state_mean[3], 0, 3 * sizeof(double));
for (u8 i=0; i<num_sats-1; i++) {
state_mean[i+6] = N[i];
}
/* Construct fake covariance U factor (just identity). */
double state_cov_U[(num_sats-1+6)*(num_sats-1+6)];
eye(num_sats-1+6, state_cov_U);
double state_cov_D[num_sats-1+6];
memset(state_cov_D, 0, 6 * sizeof(double));
for (u32 i=0; i<num_sats-1; i++) {
state_cov_D[i+6] = 1.0 / 64.0;
}
dgnss_reset_iar();
update_ambiguity_test(ref_ecef,
dgnss_settings.phase_var_test,
dgnss_settings.code_var_test,
&ambiguity_test,
num_sats-1+6, &sats_management, corrected_sdiffs,
state_mean, state_cov_U, state_cov_D);
}
void dgnss_init_known_baseline(u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3])
{
double ref_ecef[3];
ref_ecef[0] = receiver_ecef[0] + 0.5 * b[0];
ref_ecef[1] = receiver_ecef[1] + 0.5 * b[1];
ref_ecef[2] = receiver_ecef[2] + 0.5 * b[2];
sdiff_t corrected_sdiffs[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 corrected_sdiffs accordingly)
dgnss_rebase_ref(num_sats, sdiffs, ref_ecef, old_prns, corrected_sdiffs);
double dds[2*(num_sats-1)];
make_measurements(num_sats-1, corrected_sdiffs, dds);
double DE[(num_sats-1)*3];
assign_de_mtx(num_sats, corrected_sdiffs, ref_ecef, DE);
dgnss_reset_iar();
memcpy(&ambiguity_test.sats, &sats_management, sizeof(sats_management));
hypothesis_t *hyp = (hypothesis_t *)memory_pool_add(ambiguity_test.pool);
hyp->ll = 0;
amb_from_baseline(num_sats, DE, dds, b, hyp->N);
double obs_cov[(num_sats-1) * (num_sats-1) * 4];
memset(obs_cov, 0, (num_sats-1) * (num_sats-1) * 4 * sizeof(double));
u8 num_dds = num_sats-1;
for (u8 i=0; i<num_dds; i++) {
for (u8 j=0; j<num_dds; j++) {
u8 i_ = i+num_dds;
u8 j_ = j+num_dds;
if (i==j) {
obs_cov[i*2*num_dds + j] = dgnss_settings.phase_var_test * 2;
obs_cov[i_*2*num_dds + j_] = dgnss_settings.code_var_test * 2;
}
else {
obs_cov[i*2*num_dds + j] = dgnss_settings.phase_var_test;
obs_cov[i_*2*num_dds + j_] = dgnss_settings.code_var_test;
}
}
}
init_residual_matrices(&ambiguity_test.res_mtxs, num_sats-1, DE, obs_cov);
/*printf("Known Base: [");*/
/*for (u8 i=0; i<num_sats-1; i++)*/
/*printf("%d, ", hyp->N[i]);*/
/*printf("]\n");*/
}
END_TEST
START_TEST(test_amb_from_baseline)
{
double N_true[] = {22, 23, 34, -123};
u8 num_dds = sizeof(N_true)/sizeof(N_true[0]);
s32 N[num_dds];
double DE[] = {1, 0, 0,
0, 1, 0,
0, 0, 1,
1, 1, 1};
double b[3] = {1, 1, 1};
double dd_obs[num_dds];
predict_carrier_obs(num_dds, N_true, DE, b, dd_obs);
amb_from_baseline(num_dds, DE, dd_obs, b, N);
for (u8 i=0; i<num_dds; i++) {
fail_unless(fabs(N_true[i] - N[i]) < TOL,
"Ambiguity mismatch: %ld vs %lf",
N[i], N_true[i]);
}
}