#include "amb_kf.h"
#include "sats_management.h"

Include dependency graph for dgnss_management.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	dgnss_settings_t
Defines
#define	DEFAULT_AMB_DRIFT_VAR 1e-8
#define	DEFAULT_AMB_INIT_VAR 1e8
#define	DEFAULT_CODE_VAR_KF (100 * 400)
#define	DEFAULT_CODE_VAR_TEST (100 * 400)
#define	DEFAULT_NEW_INT_VAR 1e10
#define	DEFAULT_PHASE_VAR_KF (9e-4 * 16)
#define	DEFAULT_PHASE_VAR_TEST (9e-4 * 16)
Functions
s8	_dgnss_low_latency_float_baseline (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
s8	_dgnss_low_latency_IAR_baseline (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
void	dgnss_fixed_baseline (u8 n, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
s8	dgnss_fixed_baseline2 (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
void	dgnss_float_baseline (u8 *num_used, double b[3])
s8	dgnss_iar_get_single_hyp (double *hyp)
u8	dgnss_iar_MLE_ambs (s32 *ambs)
u32	dgnss_iar_num_hyps (void)
u32	dgnss_iar_num_sats (void)
u8	dgnss_iar_pool_contains (double *ambs)
s8	dgnss_iar_resolved (void)
void	dgnss_init (u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3])
void	dgnss_init_known_baseline (u8 num_sats, sdiff_t *sdiffs, double receiver_ecef[3], double b[3])
s8	dgnss_low_latency_baseline (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
void	dgnss_new_float_baseline (u8 num_sats, sdiff_t sdiffs, double ref_ecef[3], u8 num_used, double b[3])
void	dgnss_rebase_ref (u8 num_sats, sdiff_t sdiffs, double reciever_ecef[3], u8 old_prns[MAX_CHANNELS], sdiff_t corrected_sdiffs)
void	dgnss_reset_iar (void)
void	dgnss_set_settings (double phase_var_test, double code_var_test, double phase_var_kf, double code_var_kf, double amb_drift_var, double amb_init_var, double new_int_var)
void	dgnss_update (u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3])
u8	get_amb_kf_cov (double *cov)
u8	get_amb_kf_de_and_phase (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], double de, double *phase)
u8	get_amb_kf_mean (double *ambs)
u8	get_amb_kf_prns (u8 *prns)
u8	get_amb_test_prns (u8 *prns)
nkf_t *	get_dgnss_nkf (void)
u8	get_iar_de_and_phase (u8 num_sdiffs, sdiff_t sdiffs, double ref_ecef[3], double de, double *phase)
sats_management_t *	get_sats_management (void)
s32 *	get_stupid_filter_ints (void)
void	make_measurements (u8 num_diffs, sdiff_t sdiffs, double raw_measurements)
void	measure_amb_kf_b (double reciever_ecef[3], u8 num_sdiffs, sdiff_t sdiffs, double b)
void	measure_b_with_external_ambs (double reciever_ecef[3], u8 num_sdiffs, sdiff_t sdiffs, double ambs, double *b)
void	measure_iar_b_with_external_ambs (double reciever_ecef[3], u8 num_sdiffs, sdiff_t sdiffs, double ambs, double *b)
Variables
dgnss_settings_t	dgnss_settings

Define Documentation

#define DEFAULT_AMB_DRIFT_VAR 1e-8

Definition at line 23 of file dgnss_management.h.

#define DEFAULT_AMB_INIT_VAR 1e8

Definition at line 24 of file dgnss_management.h.

#define DEFAULT_CODE_VAR_KF (100 * 400)

Definition at line 22 of file dgnss_management.h.

#define DEFAULT_CODE_VAR_TEST (100 * 400)

Definition at line 20 of file dgnss_management.h.

#define DEFAULT_NEW_INT_VAR 1e10

Definition at line 25 of file dgnss_management.h.

#define DEFAULT_PHASE_VAR_KF (9e-4 * 16)

Definition at line 21 of file dgnss_management.h.

#define DEFAULT_PHASE_VAR_TEST (9e-4 * 16)

Definition at line 19 of file dgnss_management.h.

Function Documentation

s8 _dgnss_low_latency_float_baseline	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Constructs a low latency float baseline measurement. The sdiffs have no particular reason (other than a general tendency brought by hysteresis) to match up with the float filter's sats, so we have to check if we can solve. For now, unless the sdiffs are a superset of the float sats, we don't solve.

solve whenever the information is there.

since we're now using make_dd_measurements_and_sdiffs outside of the amb_test context, pull it into another file.

pull this function into the KF, once we pull the sats_management struct into the KF too. When we do, do the same for the IAR low lat solution.

Parameters:

num_sdiffs	The number of sdiffs input.
sdiffs	The sdiffs used to measure. (These should be a superset of the float sats).
ref_ecef	The reference position used for solving, and making observation matrices.
num_used	The number of sats actually used to compute the baseline.
b	The baseline computed.

Returns:: -1 if it can't solve. 0 If it can solve.

Definition at line 532 of file dgnss_management.c.

s8 _dgnss_low_latency_IAR_baseline	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Constructs a low latency IAR resolved baseline measurement. The sdiffs have no particular reason (other than a general tendency brought by hysteresis) to match up with the IAR sats, so we have to check if we can solve. For now, unless the sdiffs are a superset of the IAR sats, we don't solve.

, solve whenever we can

since we're now using make_dd_measurements_and_sdiffs outside of the amb_test context, pull it into another file.

pull this into the IAR file when we do the same for the float low lat solution.

Parameters:

num_sdiffs	The number of sdiffs input.
sdiffs	The sdiffs used to measure. (These should be a superset of the float sats).
ref_ecef	The reference position used for solving, and making observation matrices.
num_used	The number of sats actually used to compute the baseline.
b	The baseline computed.

Returns:: -1 if it can't solve. 0 If it can solve.

Definition at line 589 of file dgnss_management.c.

void dgnss_fixed_baseline	(	u8	n,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Definition at line 428 of file dgnss_management.c.

s8 dgnss_fixed_baseline2	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Definition at line 450 of file dgnss_management.c.

void dgnss_float_baseline	(	u8 *	num_used,
		double	b[3]
	)

s8 dgnss_iar_get_single_hyp ( double * hyp )

Definition at line 394 of file dgnss_management.c.

u8 dgnss_iar_MLE_ambs ( s32 * ambs )

Definition at line 1013 of file dgnss_management.c.

u32 dgnss_iar_num_hyps ( void )

Definition at line 380 of file dgnss_management.c.

u32 dgnss_iar_num_sats ( void )

Definition at line 389 of file dgnss_management.c.

u8 dgnss_iar_pool_contains ( double * ambs )

Definition at line 1008 of file dgnss_management.c.

s8 dgnss_iar_resolved ( void )

Definition at line 1003 of file dgnss_management.c.

void dgnss_init	(	u8	num_sats,
		sdiff_t *	sdiffs,
		double	reciever_ecef[3]
	)

Definition at line 108 of file dgnss_management.c.

void dgnss_init_known_baseline	(	u8	num_sats,
		sdiff_t *	sdiffs,
		double	receiver_ecef[3],
		double	b[3]
	)

Definition at line 679 of file dgnss_management.c.

s8 dgnss_low_latency_baseline	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Finds the baseline using low latency sdiffs. The low latency sdiffs are not guaranteed to match up with either the amb_test's or the float sdiffs, and thus care must be taken to transform them accordingly and check their availability in those sat sets.

Parameters:

num_sdiffs	The number of low-latency sdiffs provided.
sdiffs	The low-latency sdiffs.
ref_ecef	The referece position for the baseline. (TODO is this the local or remote receiver position?)
num_used	Output number of sdiffs actually used in the baseline estimate.
b	Output baseline.

Returns:: 1 if we are using an IAR resolved baseline. 2 if we are using a float baseline. -1 if we can't give a baseline.

Definition at line 643 of file dgnss_management.c.

void dgnss_new_float_baseline	(	u8	num_sats,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		u8 *	num_used,
		double	b[3]
	)

Definition at line 405 of file dgnss_management.c.

void dgnss_rebase_ref	(	u8	num_sats,
		sdiff_t *	sdiffs,
		double	reciever_ecef[3],
		u8	old_prns[MAX_CHANNELS],
		sdiff_t *	corrected_sdiffs
	)

Definition at line 174 of file dgnss_management.c.

void dgnss_reset_iar ( void )

Definition at line 673 of file dgnss_management.c.

void dgnss_set_settings	(	double	phase_var_test,
		double	code_var_test,
		double	phase_var_kf,
		double	code_var_kf,
		double	amb_drift_var,
		double	amb_init_var,
		double	new_int_var
	)

Definition at line 39 of file dgnss_management.c.

void dgnss_update	(	u8	num_sats,
		sdiff_t *	sdiffs,
		double	reciever_ecef[3]
	)

Definition at line 295 of file dgnss_management.c.

u8 get_amb_kf_cov ( double * cov )

Definition at line 984 of file dgnss_management.c.

u8 get_amb_kf_de_and_phase	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		double *	de,
		double *	phase
	)

Definition at line 957 of file dgnss_management.c.

u8 get_amb_kf_mean ( double * ambs )

Definition at line 977 of file dgnss_management.c.

u8 get_amb_kf_prns ( u8 * prns )

Definition at line 991 of file dgnss_management.c.

u8 get_amb_test_prns ( u8 * prns )

Definition at line 997 of file dgnss_management.c.

nkf_t* get_dgnss_nkf ( void )

Definition at line 1019 of file dgnss_management.c.

u8 get_iar_de_and_phase	(	u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double	ref_ecef[3],
		double *	de,
		double *	phase
	)

Definition at line 967 of file dgnss_management.c.

sats_management_t* get_sats_management ( void )

Definition at line 1029 of file dgnss_management.c.

s32* get_stupid_filter_ints ( void )

Definition at line 1024 of file dgnss_management.c.

void make_measurements	(	u8	num_diffs,
		sdiff_t *	sdiffs,
		double *	raw_measurements
	)

Definition at line 53 of file dgnss_management.c.

void measure_amb_kf_b	(	double	reciever_ecef[3],
		u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double *	b
	)

Definition at line 810 of file dgnss_management.c.

void measure_b_with_external_ambs	(	double	reciever_ecef[3],
		u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double *	ambs,
		double *	b
	)

Definition at line 844 of file dgnss_management.c.

void measure_iar_b_with_external_ambs	(	double	reciever_ecef[3],
		u8	num_sdiffs,
		sdiff_t *	sdiffs,
		double *	ambs,
		double *	b
	)

Definition at line 878 of file dgnss_management.c.

Variable Documentation

dgnss_settings_t dgnss_settings

Definition at line 29 of file dgnss_management.c.

Classes

Defines

Functions

Variables

Define Documentation

Function Documentation

Variable Documentation