void dgnss_update(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3], double dt)
{
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, reciever_ecef, old_prns, corrected_sdiffs);
double dd_measurements[2*(num_sats-1)];
make_measurements(num_sats-1, corrected_sdiffs, dd_measurements);
//all the added/dropped sat stuff
dgnss_update_sats(num_sats, reciever_ecef, corrected_sdiffs, dd_measurements, dt);
/*printf("done updating sats\n");*/
/*MAT_PRINTF(kf.decor_obs_mtx, kf.obs_dim, kf.state_dim);*/
if (num_sats >= 5) {
// update for observation
dgnss_incorporate_observation(corrected_sdiffs, dd_measurements, reciever_ecef, dt);
}
double b2[3];
least_squares_solve_b(&nkf, corrected_sdiffs, dd_measurements, reciever_ecef, b2);
double ref_ecef[3];
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];
/*
update_ambiguity_test(ref_ecef,
dgnss_settings.phase_var_test,
dgnss_settings.code_var_test,
&ambiguity_test,
kf.state_dim, &sats_management, sdiffs,
kf.state_mean, kf.state_cov_U, kf.state_cov_D);
*/
update_ambiguity_test(ref_ecef,
dgnss_settings.phase_var_test,
dgnss_settings.code_var_test,
&ambiguity_test, nkf.state_dim, &sats_management,
sdiffs, nkf.state_mean, nkf.state_cov_U,
nkf.state_cov_D);
}
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();
}
