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1. 进行内存管理，分配太多无用内存且没有释放。重新整理rtkinit函数，只有opt-mode==PMODE_INS_TGNSS时候才分配紧组合内存。

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This commit is contained in:
Zhiqiang_Yang98 2023-04-02 22:14:18 +08:00
parent d4d0853f24
commit 7b06fdaf5f
4 changed files with 28 additions and 26 deletions
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20
TC_NAV_Zjut_post/Src/pntpos.c
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@ -851,7 +851,8 @@ static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts
double err=opt->err[4]; /* Doppler error (Hz) */
int i,j,nv;
v=mat(n,1); H=mat(4,n);
v=mat(n,1);
H=mat(4,n);
for (i=0;i<MAXITR;i++) {
@ -877,7 +878,8 @@ static void estvel(const obsd_t *obs, int n, const double *rs, const double *dts
break;
}
}
free(v); free(H);
free(v);
free(H);
}
/* single-point positioning ----------------------------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
@ -976,13 +978,13 @@ static int valins(const double *azel, const int *vsat, int n,const prcopt_t *opt
nbg=3; ibg=12;
/* check estimated states */
if (norm(x,3)>15.0*D2R||(nba?norm(x+iba,3)>1E4*Mg2M:false)
||(nbg?norm(x+ibg,3)>5.0*D2R:false)) {
/* 输出 状态 */
trace(2,"%lf,%lf,%lf\n",norm(x,3),norm(x+iba,3),norm(x+ibg,3));
trace(2,"too large estimated state error\n");
return 0;
}
// if (norm(x,3)>15.0*D2R||(nba?norm(x+iba,3)>1E4*Mg2M:false)
// ||(nbg?norm(x+ibg,3)>5.0*D2R:false)) {
// /* 输出 状态 */
// trace(2,"%lf,%lf,%lf\n",norm(x,3),norm(x+iba,3),norm(x+ibg,3));
// trace(2,"too large estimated state error\n");
// return 0;
// }
/* post-fit residual test */
for (i=0;i<nv;i++) {
if (v[2*i]*v[2*i]<fact*R[2*i+2*i*2*nv]) continue;

2
TC_NAV_Zjut_post/Src/rtkpos.c
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@ -2300,7 +2300,7 @@ extern void rtkinit(rtk_t *rtk, const prcopt_t *opt)
rtk->opt.insopt.gopt =&rtk->opt;
/* ins */
if(opt->mode<=PMODE_INS_TGNSS){
if(opt->mode==PMODE_INS_TGNSS){
init_tc(&rtk->opt.insopt,&rtk->ins,opt);
rtk->ins.rtkp=rtk;
}

20
TC_NAV_Zjut_post/config/Tc.conf
View File

@ -1,13 +1,13 @@
# RTKNAVI options (2022/06/21 05:24:33, v.demo5)
pos1-posmode =tc # (0:single,1:dgps,2:kinematic,3:static,4:static-start,5:movingbase,6:fixed,7:ppp-kine,8:ppp-static,9:ppp-fixed,10:ins-mech,11:tc)
pos1-frequency =l1+l2+l5 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6)
pos1-frequency =l1 # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6)
pos1-soltype =forward # (0:forward,1:backward,2:combined,3:combined-nophasereset)
pos1-elmask =5 # (deg)
pos1-snrmask_r =on # (0:off,1:on)
pos1-snrmask_b =off # (0:off,1:on)
pos1-snrmask_L1 =37,37,37,35,35,35,35,35,35
pos1-snrmask_L2 =37,37,37,35,35,35,35,35,35
pos1-snrmask_L5 =37,37,37,35,35,35,35,35,35
pos1-snrmask_L1 =30,30,30,30,30,30,30,30,30
pos1-snrmask_L2 =30,30,30,30,30,30,30,30,30
pos1-snrmask_L5 =30,30,30,30,30,30,30,30,30
pos1-dynamics =off # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on,2:otl)
pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc)
@ -130,21 +130,21 @@ file-tracefile =
inpstr1-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
# inpstr2-type =ntripcli # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr1-path =ttyUSB0:460800:8:n:1:off
inpstr3-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
inpstr1-path =ttyACM2:460800:8:n:1:off
# inpstr2-path =caxm002:m2ywj94n@sdk.pnt.10086.cn:8002/RTCM33_GRCEJ
inpstr2-path =
inpstr3-path =
inpstr3-path =ttyACM0:921600:8:n:1:off
inpstr1-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
inpstr2-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
inpstr3-format =rtcm3 # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
inpstr3-format =imu # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3,19:imu)
inpstr2-nmeareq =single # (0:off,1:latlon,2:single)
inpstr2-nmealat =30.23469717 # (deg)
inpstr2-nmealon =120.04264567 # (deg)
outstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
outstr2-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
outstr1-path =/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/data/630_3/llh.pos
outstr2-path =/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/data/630_3/nmea.log
outstr1-path =../data/630_3/llh.pos
outstr2-path =../data/630_3/nmea.log
outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format =nmea # (0:llh,1:xyz,2:enu,3:nmea)
logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)