static void dgnss_update_sats(u8 num_sdiffs, double receiver_ecef[3],
sdiff_t *sdiffs_with_ref_first,
double *dd_measurements)
{
DEBUG_ENTRY();
(void)dd_measurements;
gnss_signal_t new_sids[num_sdiffs];
sdiffs_to_sids(num_sdiffs, sdiffs_with_ref_first, new_sids);
gnss_signal_t old_sids[MAX_CHANNELS];
memcpy(old_sids, sats_management.sids, sats_management.num_sats * sizeof(gnss_signal_t));
if (!sids_match(&old_sids[1], num_sdiffs-1, &sdiffs_with_ref_first[1])) {
u8 ndx_of_intersection_in_old[sats_management.num_sats];
u8 ndx_of_intersection_in_new[sats_management.num_sats];
ndx_of_intersection_in_old[0] = 0;
ndx_of_intersection_in_new[0] = 0;
u8 num_intersection_sats = dgnss_intersect_sats(
sats_management.num_sats-1, &old_sids[1],
num_sdiffs-1, &sdiffs_with_ref_first[1],
&ndx_of_intersection_in_old[1],
&ndx_of_intersection_in_new[1]) + 1;
set_nkf_matrices(
&nkf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
num_sdiffs, sdiffs_with_ref_first, receiver_ecef
);
if (num_intersection_sats < sats_management.num_sats) { /* we lost sats */
nkf_state_projection(&nkf,
sats_management.num_sats-1,
num_intersection_sats-1,
&ndx_of_intersection_in_old[1]);
}
if (num_intersection_sats < num_sdiffs) { /* we gained sats */
double simple_estimates[num_sdiffs-1];
dgnss_simple_amb_meas(num_sdiffs, sdiffs_with_ref_first,
simple_estimates);
nkf_state_inclusion(&nkf,
num_intersection_sats-1,
num_sdiffs-1,
&ndx_of_intersection_in_new[1],
simple_estimates,
dgnss_settings.new_int_var);
}
update_sats_sats_management(&sats_management, num_sdiffs-1, &sdiffs_with_ref_first[1]);
}
else {
set_nkf_matrices(
&nkf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
num_sdiffs, sdiffs_with_ref_first, receiver_ecef
);
}
DEBUG_EXIT();
}
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();
}
void dgnss_update_sats(u8 num_sdiffs, double reciever_ecef[3], sdiff_t *corrected_sdiffs,
double *dd_measurements, double dt)
{
(void)dd_measurements;
u8 new_prns[num_sdiffs];
sdiffs_to_prns(num_sdiffs, corrected_sdiffs, new_prns);
u8 old_prns[MAX_CHANNELS];
memcpy(old_prns, sats_management.prns, sats_management.num_sats * sizeof(u8));
if (!prns_match(&old_prns[1], num_sdiffs-1, &corrected_sdiffs[1])) {
u8 ndx_of_intersection_in_old[sats_management.num_sats];
u8 ndx_of_intersection_in_new[sats_management.num_sats];
ndx_of_intersection_in_old[0] = 0;
ndx_of_intersection_in_new[0] = 0;
u8 num_intersection_sats = dgnss_intersect_sats(
sats_management.num_sats-1, &old_prns[1],
num_sdiffs-1, &corrected_sdiffs[1],
&ndx_of_intersection_in_old[1],
&ndx_of_intersection_in_new[1]) + 1;
reset_kf_except_state(
&kf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
dgnss_settings.pos_trans_var, dgnss_settings.vel_trans_var,
dgnss_settings.int_trans_var,
num_sdiffs, corrected_sdiffs, reciever_ecef, dt
);
set_nkf_matrices(
&nkf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
num_sdiffs, corrected_sdiffs, reciever_ecef
);
if (num_intersection_sats < sats_management.num_sats) { //lost sats
kalman_filter_state_projection(&kf,
sats_management.num_sats-1,
num_intersection_sats-1,
&ndx_of_intersection_in_old[1]);
nkf_state_projection(&nkf,
sats_management.num_sats-1,
num_intersection_sats-1,
&ndx_of_intersection_in_old[1]);
}
if (num_intersection_sats < num_sdiffs) { //gained sats
kalman_filter_state_inclusion(&kf,
num_intersection_sats-1,
num_sdiffs-1,
&ndx_of_intersection_in_new[1],
dgnss_settings.new_int_var);
nkf_state_inclusion(&nkf,
num_intersection_sats-1,
num_sdiffs-1,
&ndx_of_intersection_in_new[1],
dgnss_settings.new_int_var);
}
/*print_sats_management(&sats_management);*/
update_sats_sats_management(&sats_management, num_sdiffs-1, &corrected_sdiffs[1]);
/*print_sats_management(&sats_management);*/
}
else {
reset_kf_except_state(
&kf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
dgnss_settings.pos_trans_var, dgnss_settings.vel_trans_var,
dgnss_settings.int_trans_var,
num_sdiffs, corrected_sdiffs, reciever_ecef, dt
);
set_nkf_matrices(
&nkf,
dgnss_settings.phase_var_kf, dgnss_settings.code_var_kf,
num_sdiffs, corrected_sdiffs, reciever_ecef
);
}
}
