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在紧组合入口封装上层函数入口rtkpos替代原本的tc_pntpos/对relpos内部相关函数进行添加修改

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This commit is contained in:
ZhiQiang_Yang98 2023-01-04 21:46:18 +08:00
parent eaa0c895e6
commit c03953c846
21 changed files with 263 additions and 34537 deletions
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2
TC_NAV_Zjut_post/.idea/misc.xml generated
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@ -3,6 +3,8 @@
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
<component name="CidrRootsConfiguration">
<excludeRoots>
<file path="$PROJECT_DIR$/cmake-build-release" />
<file path="$PROJECT_DIR$/data" />
<file path="$PROJECT_DIR$/tracefile" />
</excludeRoots>
</component>

24
TC_NAV_Zjut_post/Src/pntpos.c
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@ -982,17 +982,17 @@ static int valins(const double *azel, const int *vsat, int n,const prcopt_t *opt
return 0;
}
/* large gdop check */
for (i=ns=0;i<n;i++) {
if (!vsat[i]) continue;
azels[ ns*2]=azel[ i*2];
azels[1+ns*2]=azel[1+i*2];
ns++;
}
dops(ns,azels,opt->elmin,dop);
if (dop[0]<=0.0||dop[0]>opt->maxgdop) {
sprintf(msg,"gdop error nv=%d gdop=%.1f",nv,dop[0]);
return 0;
}
// for (i=ns=0;i<n;i++) {
// if (!vsat[i]) continue;
// azels[ ns*2]=azel[ i*2];
// azels[1+ns*2]=azel[1+i*2];
// ns++;
// }
// dops(ns,azels,opt->elmin,dop);
// if (dop[0]<=0.0||dop[0]>opt->maxgdop) {
// sprintf(msg,"gdop error nv=%d gdop=%.1f",nv,dop[0]);
// return 0;
// }
return 1;
}
@ -1092,7 +1092,7 @@ static int itertc(const obsd_t *obs,int n,const double *rs,const double *dts,
tracemat(3,R,2*nv,2*nv,15,6);
/* ekf filter */
stat=filter(x,Pp,H,v,R,nx,2*nv);
stat=robust_filter(x,Pp,H,v,R,nx,2*nv);
if(stat){
trace(3,"ekf filter error info=%d\n",stat);

17
TC_NAV_Zjut_post/Src/post/ps_tcpos.c
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@ -458,10 +458,20 @@ static int tcfilter()
break;
}
/* kalman filter */
if (!tc_pntpos(epoch_obs.data,epoch_obs.n,&nav,&svr.rtk.opt,&svr.rtk.sol,&svr.rtk.ins,NULL,svr.rtk.ssat,msg)) {
errmsg(&svr.rtk,"point pos error (%s)\n",msg);
/* time check */
if(fabs(svr.rtk.ins.time - imud.tow)>3.0){
trace(3,"sync error\n");
}
/* kalman filter
* 这里需要修改下，如果加入RTK-INS 需要吧rtkpos 封装过来 */
// if (!tc_pntpos(epoch_obs.data,epoch_obs.n,&nav,&svr.rtk.opt,&svr.rtk.sol,&svr.rtk.ins,NULL,svr.rtk.ssat,msg)) {
// errmsg(&svr.rtk,"point pos error (%s)\n",msg);
// }
if (!rtkpos(&svr.rtk,epoch_obs.data,epoch_obs.n,&nav)){
trace(2,"tightly coupled fail\n");
}
/* write solution */
if (svr.rtk.sol.stat!=SOLQ_NONE) {
/* solution */
@ -471,7 +481,6 @@ static int tcfilter()
/* write solution */
writesol(&svr,1);
}
outsolstat(&svr.rtk,&nav);
}
/* non-holonomic constraint */
// nhc(&svr.rtk.ins,&svr.rtk.opt.insopt,&imud);

4
TC_NAV_Zjut_post/Src/real_time/nhc.c
View File

@ -4,7 +4,7 @@
#include "rtklib.h"
#define MAXVEL 0.5 /* max velocity for using non-holonomic constraint */
#define VARVEL SQR(0.05) /* initial variance of ins velocity ((m/s)^2) */
#define VARVEL SQR(0.06) /* initial variance of ins velocity ((m/s)^2) */
/* measurement sensitive-matrix for non-holonomic----------------------------*/
static int bldnhc(const insopt_t *opt,const imud_t *imu,const double *Cbe,
@ -44,7 +44,7 @@ static int bldnhc(const insopt_t *opt,const imud_t *imu,const double *Cbe,
trace(2,"too large vehicle turn\n");
continue;
}
H[IA+nv*nx]=-T[i]; H[IA+1+nv*nx]=-T[i+3]; H[IA+2+nv*nx]=-T[i+6];
// H[IA+nv*nx]=-T[i]; H[IA+1+nv*nx]=-T[i+3]; H[IA+2+nv*nx]=-T[i+6];
H[IV+nv*nx]=C[i]; H[IV+1+nv*nx]=C[i+3]; H[IV+2+nv*nx]=C[i+6];
v[nv ]=vb[i];

73
TC_NAV_Zjut_post/Src/rtkcmn.c
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@ -1300,6 +1300,49 @@ static int filter_(const double *x, const double *P, const double *H,
tracemat(3,F,n,m,15,10);
matmul("TN",m,m,n,1.0,H,F,1.0,Q);
if (!(info=matinv(Q,m))) {
matmul("NN",n,m,m,1.0,F,Q,0.0,K); /* K=P*H*Q^-1 */
trace(3,"K=\n");
tracemat(3,K,n,m,15,10);
matmul("NN",n,1,m,1.0,K,v,1.0,xp); /* xp=x+K*v */
matmul("NT",n,n,m,-1.0,K,H,1.0,I); /* Pp=(I-K*H')*P */
matmul("NN",n,n,n,1.0,I,P,0.0,Pp);
}
free(F); free(Q); free(K); free(I);
return info;
}
/* kalman filter ---------------------------------------------------------------
* kalman filter state update as follows:
*
* K=P*H*(H'*P*H+R)^-1, xp=x+K*v, Pp=(I-K*H')*P
*
* args : double *x I states vector (n x 1)
* double *P I covariance matrix of states (n x n)
* double *H I transpose of design matrix (n x m)
* double *v I innovation (measurement - model) (m x 1)
* double *R I covariance matrix of measurement error (m x m)
* int n,m I number of states and measurements
* double *xp O states vector after update (n x 1)
* double *Pp O covariance matrix of states after update (n x n)
* return : status (0:ok,<0:error)
* notes : matirix stored by column-major order (fortran convention)
* if state x[i]==0.0, not updates state x[i]/P[i+i*n]
*-----------------------------------------------------------------------------*/
static int robust_filter_(const double *x, const double *P, const double *H,
const double *v, const double *R, int n, int m,
double *xp, double *Pp)
{
double *F=mat(n,m),*Q=mat(m,m),*K=mat(n,m),*I=eye(n);
int info;
matcpy(Q,R,m,m);
matcpy(xp,x,n,1);
matmul("NN",n,m,n,1.0,P,H,0.0,F); /* Q=H'*P*H+R */
trace(3,"PH'=\n");
tracemat(3,F,n,m,15,10);
matmul("TN",m,m,n,1.0,H,F,1.0,Q);
/*鲁棒滤波*/
#define robust
#ifdef robust
@ -1388,6 +1431,36 @@ extern int filter(double *x, double *P, const double *H, const double *v,
free(ix); free(x_); free(xp_); free(P_); free(Pp_); free(H_);
return info;
}
extern int robust_filter(double *x, double *P, const double *H, const double *v,
const double *R, int n, int m)
{
double *x_,*xp_,*P_,*Pp_,*H_;
int i,j,k,info,*ix;
/* create list of non-zero states */
ix=imat(n,1);
for (i=k=0;i<n;i++) {
if (x[i] != 0.0 && P[i + i * n] > 0.0) ix[k++] = i;
}
x_=mat(k,1); xp_=mat(k,1); P_=mat(k,k); Pp_=mat(k,k); H_=mat(k,m);
/* compress array by removing zero elements to save computation time */
for (i=0;i<k;i++) {
x_[i]=x[ix[i]];
for (j=0;j<k;j++) P_[i+j*k]=P[ix[i]+ix[j]*n];
for (j=0;j<m;j++) H_[i+j*k]=H[ix[i]+j*n];
}
/* do kalman filter state update on compressed arrays */
info=robust_filter_(x_,P_,H_,v,R,k,m,xp_,Pp_);
/* copy values from compressed arrays back to full arrays */
for (i=0;i<k;i++) {
x[ix[i]]=xp_[i];
for (j=0;j<k;j++) P[ix[i]+ix[j]*n]=Pp_[i+j*k];
}
free(ix); free(x_); free(xp_); free(P_); free(Pp_); free(H_);
return info;
}
/* smoother --------------------------------------------------------------------
* combine forward and backward filters by fixed-interval smoother as follows:
*

53
TC_NAV_Zjut_post/Src/rtkpos.c
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@ -466,7 +466,9 @@ static int selsat(const obsd_t *obs, double *azel, int nu, int nr,
if (obs[i].sat<obs[j].sat) j--;
else if (obs[i].sat>obs[j].sat) i--;
else if (azel[1+j*2]>=opt->elmin) { /* elevation at base station */
sat[k]=obs[i].sat; iu[k]=i; ir[k++]=j;
sat[k]=obs[i].sat;
iu[k]=i;
ir[k++]=j;
trace(4,"(%2d) sat=%3d iu=%2d ir=%2d\n",k-1,obs[i].sat,i,j);
}
}
@ -962,7 +964,7 @@ static void zdres_sat(int base, double r, const obsd_t *obs, const nav_t *nav,
/* undifferenced phase/code residuals ----------------------------------------
calculate zero diff residuals [observed pseudorange - range]
output is in y[0:nu-1], only shared input with base is nav
args: I base: 0=base,1=rover
args: I base: 0=rover,1=base
I obs = sat observations
I n = # of sats
I rs [(0:2)+i*6]= sat position {x,y,z} (m)
@ -972,7 +974,7 @@ static void zdres_sat(int base, double r, const obsd_t *obs, const nav_t *nav,
I nav = sat nav data
I rr = rcvr pos (x,y,z)
I opt = options
I index: 0=base,1=rover
I index: 0=rover,1=base
O y[(0:1)+i*2] = zero diff residuals {phase,code} (m)
O e = line of sight unit vectors to sats
O azel = [az, el] to sats */
@ -1037,7 +1039,8 @@ static int zdres(int base, const obsd_t *obs, int n, const double *rs,
obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],dts[i*2],azel[i*2]*R2D,
azel[1+i*2]*R2D);
}
trace(3,"y=\n"); tracemat(3,y,nf*2,n,13,3);
trace(3,"y=\n");
tracemat(3,y,nf*2,n,13,3);
return 1;
}
@ -1878,15 +1881,20 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
{
prcopt_t *opt=&rtk->opt;
gtime_t time=obs[0].time;
double *rs,*dts,*var,*y,*e,*azel,*freq,*v,*H,*R,*xp,*Pp,*xa,*bias,dt;
double *rs,*dts,*var,*y,*e,*azel,*freq,*v,*H,*R,*xp,*Pp,*xa,*bias,dt,*x;
int i,j,f,n=nu+nr,ns,ny,nv,sat[MAXSAT],iu[MAXSAT],ir[MAXSAT],niter;
int info,vflg[MAXOBS*NFREQ*2+1],svh[MAXOBS*2];
int stat=rtk->opt.mode<=PMODE_DGPS?SOLQ_DGPS:SOLQ_FLOAT;
int nf=opt->ionoopt==IONOOPT_IFLC?1:opt->nf;
int tc,nx;
tc=opt->mode==PMODE_INS_TGNSS?1:0;
nx=tc?rtk->ins.nx:rtk->nx;
x=tc?rtk->ins.x:rtk->x;
/* time diff between base and rover observations */
dt=timediff(time,obs[nu].time);
trace(3,"relpos : nx=%d dt=%.3f nu=%d nr=%d\n",rtk->nx,dt,nu,nr);
trace(3,"relpos : nx=%d dt=%.3f nu=%d nr=%d\n",nx,dt,nu,nr);
/* define local matrices, n=total observations, base + rover */
rs=mat(6,n); /* range to satellites */
@ -1903,7 +1911,7 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
for (j=0;j<NFREQ;j++) {
rtk->ssat[i].vsat[j]=0; /* valid satellite */
rtk->ssat[i].snr_rover[j]=0;
rtk->ssat[i].snr_base[j] =0;
rtk->ssat[i].snr_base [j]=0;
}
}
/* compute satellite positions, velocities and clocks */
@ -1935,21 +1943,28 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
/* update kalman filter states (pos,vel,acc,ionosp, troposp, sat phase biases) */
udstate(rtk,obs,sat,iu,ir,ns,nav);
trace(4,"x(0)="); tracemat(4,rtk->x,1,NR(opt),13,4);
for (i=0;i<ns;i++) for (j=0;j<nf;j++) {
/* snr of base and rover receiver */
rtk->ssat[sat[i]-1].snr_rover[j]=obs[iu[i]].SNR[j];
rtk->ssat[sat[i]-1].snr_base[j] =obs[ir[i]].SNR[j];
trace(4,"x(0)=");
// tracemat(4,rtk->x,1,NR(opt),13,4);
tracemat(4,x,1,NR(opt),13,4);
for (i=0;i<ns;i++){
for (j=0;j<nf;j++) {
/* snr of base and rover receiver */
rtk->ssat[sat[i]-1].snr_rover[j]=obs[iu[i]].SNR[j];
rtk->ssat[sat[i]-1].snr_base[j] =obs[ir[i]].SNR[j];
}
}
/* initialize Pp,xa to zero, xp to rtk->x */
xp=mat(rtk->nx,1); Pp=zeros(rtk->nx,rtk->nx); xa=mat(rtk->nx,1);
matcpy(xp,rtk->x,rtk->nx,1);
xp=mat(nx,1);
Pp=zeros(nx,nx);
xa=mat(nx,1);
// matcpy(xp,rtk->x,nx,1);
matcpy(xp,x,nx,1);
ny=ns*nf*2+2;
v=mat(ny,1); H=zeros(rtk->nx,ny); R=mat(ny,ny); bias=mat(rtk->nx,1);
v=mat(ny,1); H=zeros(nx,ny); R=mat(ny,ny); bias=mat(nx,1);
/* add 2 iterations for baseline-constraint moving-base (else default niter=1) */
niter=opt->niter+(opt->mode==PMODE_MOVEB&&opt->baseline[0]>0.0?2:0);

2
TC_NAV_Zjut_post/cmake-build-debug/CMakeCache.txt
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@ -127,7 +127,7 @@ CMAKE_OSX_DEPLOYMENT_TARGET:STRING=
//The product will be built against the headers and libraries located
// inside the indicated SDK.
CMAKE_OSX_SYSROOT:PATH=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.0.sdk
CMAKE_OSX_SYSROOT:PATH=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk
//Value Computed by CMake
CMAKE_PROJECT_DESCRIPTION:STATIC=

6
TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/3.23.2/CMakeCCompiler.cmake
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@ -66,7 +66,7 @@ endif()
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set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/14.0.0/include;/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/include;/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include")
set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "")
set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.0.sdk/usr/lib")
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set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/usr/lib")
set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX13.1.sdk/System/Library/Frameworks")

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TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/3.23.2/CMakeSystem.cmake
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@ -1,13 +1,13 @@
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set(CMAKE_HOST_SYSTEM "Darwin-22.2.0")
set(CMAKE_HOST_SYSTEM_NAME "Darwin")
set(CMAKE_HOST_SYSTEM_VERSION "22.1.0")
set(CMAKE_HOST_SYSTEM_VERSION "22.2.0")
set(CMAKE_HOST_SYSTEM_PROCESSOR "arm64")
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set(CMAKE_CROSSCOMPILING "FALSE")

118
TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/CMakeOutput.log
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@ -1,4 +1,4 @@
The system is: Darwin - 22.1.0 - arm64
The system is: Darwin - 22.2.0 - arm64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
Build flags:
@ -15,40 +15,40 @@ The C compiler identification is AppleClang, found in "/Users/wakanda_shaw/Deskt
Detecting C compiler ABI info compiled with the following output:
Change Dir: /Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make -f Makefile cmTC_0fe2b/fast && /Applications/Xcode.app/Contents/Developer/usr/bin/make -f CMakeFiles/cmTC_0fe2b.dir/build.make CMakeFiles/cmTC_0fe2b.dir/build
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BIN
TC_NAV_Zjut_post/cmake-build-debug/TC_NAV_Zjut
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4
TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log
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@ -1,3 +1,3 @@
Start testing: Nov 29 10:24 CST
Start testing: Jan 04 16:37 CST
----------------------------------------------------------
End testing: Nov 29 10:24 CST
End testing: Jan 04 16:37 CST

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TC_NAV_Zjut_post/data/630_3/llh.pos
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25447
TC_NAV_Zjut_post/data/630_3/nmea.log
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2
TC_NAV_Zjut_post/include/rtklib.h
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@ -1683,6 +1683,8 @@ EXPORT int lsq (const double *A, const double *y, int n, int m, double *x,
double *Q);
EXPORT int filter(double *x, double *P, const double *H, const double *v,
const double *R, int n, int m);
EXPORT int robust_filter(double *x, double *P, const double *H, const double *v,
const double *R, int n, int m);
EXPORT int smoother(const double *xf, const double *Qf, const double *xb,
const double *Qb, int n, double *xs, double *Qs);
EXPORT void matprint (const double *A, int n, int m, int p, int q);

4
TC_Nav_Zjut报告.md
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@ -64,6 +64,10 @@ LG69T模块可以采集多频点信号，并带板载IMU，可以同时输出GNS
![Figure_1](/Users/wakanda_shaw/Desktop/Figure_1.png)
遮挡时间3min，定位结果与板载算法相近。
目前还没有很好的真值进行对比。
| | LG69T板载算法 | TC_Nav_Zjut #C |
| ------------ | ------------- | -------------- |
| **CEP95**(m) | | |

5
tools/plot.py
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@ -5,6 +5,10 @@ import math
from geopy.distance import geodesic
import matplotlib.pyplot as plt
plt.rcParams['font.sans-serif']=['SimHei']
plt.rcParams['axes.unicode_minus']=False
LG69T_path = "./llh.csv"
TC_Nav_path = "/Users/wakanda_shaw/Desktop/TC_Nav_Zjut/TC_NAV_Zjut_post/data/630_3/llh.pos"
@ -50,6 +54,7 @@ plt.legend(loc = 'upper right')
plt.grid() # 生成网格
plt.xlabel("time(s)")
plt.ylabel("distance(m)")
# plt.title(u'半遮挡情况下误差(m)')
plt.show()