void dgnss_incorporate_observation(sdiff_t *sdiffs, double * dd_measurements,
double *reciever_ecef, double dt)
{
(void) dt;
double b2[3];
least_squares_solve_b(&nkf, 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[0];
ref_ecef[2] = reciever_ecef[2] + 0.5 * b2[0];
/* TODO: make a common DE and use it instead. */
assign_decor_obs_mtx(sats_management.num_sats, sdiffs, ref_ecef,
kf.decor_mtx, kf.decor_obs_mtx);
set_nkf_matrices(&nkf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
sats_management.num_sats, sdiffs, ref_ecef);
kalman_filter_update(&kf, dd_measurements);
nkf_update(&nkf, dd_measurements);
}
static void dgnss_incorporate_observation(sdiff_t *sdiffs, double * dd_measurements,
double *reciever_ecef)
{
DEBUG_ENTRY();
double b2[3];
least_squares_solve_b(&nkf, 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[0];
ref_ecef[2] = reciever_ecef[2] + 0.5 * b2[0];
/* 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, ref_ecef);
nkf_update(&nkf, dd_measurements);
DEBUG_EXIT();
}
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();
}
