gps_pvt 0.6.4 → 0.7.2

data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx

@@ -3002,7 +3002,6 @@ struct MatrixUtil {
       }
       static VALUE read(
           const VALUE &v, const unsigned int &row = 0, const unsigned int &column = 0) {
-        int state;
         VALUE values[3] = {v, UINT2NUM(row), UINT2NUM(column)};
         return funcall_throw_if_error(run, reinterpret_cast<VALUE>(values));
       }
@@ -3355,7 +3354,7 @@ SWIGINTERN std::string Matrix_Frozen_Sl_double_Sc_Array2D_Dense_Sl_double_Sg__Sc
         static const ID with_index[] = {
             rb_intern("map_with_index"), rb_intern("map_with_index!"), 
             rb_intern("collect_with_index"), rb_intern("collect_with_index!")};
-        for(int i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
+        for(std::size_t i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
           if(id_callee == with_index[i]){
             return matrix_yield_get_with_index;
           }
@@ -3829,7 +3828,7 @@ SWIGINTERN std::string Matrix_Frozen_Sl_Complex_Sl_double_Sg__Sc_Array2D_Dense_S
         static const ID with_index[] = {
             rb_intern("map_with_index"), rb_intern("map_with_index!"), 
             rb_intern("collect_with_index"), rb_intern("collect_with_index!")};
-        for(int i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
+        for(std::size_t i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
           if(id_callee == with_index[i]){
             return matrix_yield_get_with_index;
           }

data/ext/ninja-scan-light/tool/navigation/ANTEX.h

@@ -604,7 +604,7 @@ class ANTEX_Reader {
       typedef typename ANTEX_Product<FloatT>::antenna_t antenna_t;
       antenna_t *antenna;
       typedef typename ANTEX_Product<FloatT>::per_freq_t per_freq_t;
-      per_freq_t *per_freq;
+      per_freq_t *per_freq(NULL); // NULL fot suppression of GCC uninitialized variable warning
 
       while(src.has_next()){
         parsed_t parsed(src.parse_line());

data/ext/ninja-scan-light/tool/navigation/GLONASS.h

@@ -814,11 +814,8 @@ if(std::abs(TARGET - t.TARGET) > raw_t::sf[raw_t::SF_ ## TARGET]){break;}
             static const float_t F_T_table[15]; ///< @see Table 4.4
 
             static const float_t F_T_value(const u8_t &F_T_){
-              if(F_T_ >= (sizeof(F_T_table) / sizeof(F_T_table[0]))){
-                return -1; // not used
-              }else{
-                return F_T_table[F_T_];
-              }
+              return GPS_SpaceNode<float_t>::SatelliteProperties::Ephemeris::URA_meter(
+                  F_T_, F_T_table);
             }
 
             static const uint_t P1_value(const u8_t &P1_){
@@ -1315,12 +1312,8 @@ typename GLONASS_SpaceNode<FloatT>::u8_t GLONASS_SpaceNode<FloatT>::SatellitePro
   if(F_T <= 0){ // invalid value
     return sizeof(raw_t::F_T_table) / sizeof(raw_t::F_T_table[0]);
   }
-  u8_t res(0);
-  while(res < (sizeof(raw_t::F_T_table) / sizeof(raw_t::F_T_table[0]))){
-    if(F_T <= raw_t::F_T_table[res]){break;}
-    ++res;
-  }
-  return res;
+  return (u8_t)GPS_SpaceNode<float_t>::SatelliteProperties::Ephemeris::URA_index(
+      F_T, raw_t::F_T_table);
 }
 
 template <class FloatT>

data/ext/ninja-scan-light/tool/navigation/GLONASS_Solver.h

@@ -131,11 +131,15 @@ class GLONASS_SinglePositioning : public SolverBaseT {
           static float_t clock_error_dot(const void *ptr, const gps_time_t &t_tx) {
             return sat(ptr).clock_error_dot(t_tx);
           }
+          static float_t range_sigma(const void *ptr, const gps_time_t &t_tx) {
+            return sat(ptr).ephemeris().F_T;
+          }
         };
         satellite_t res = {
-            &(it_sat->second),
+            &(it_sat->second), &(it_sat->second), // position, time
             impl_t::position, impl_t::velocity,
-            impl_t::clock_error, impl_t::clock_error_dot};
+            impl_t::clock_error, impl_t::clock_error_dot,
+            &(it_sat->second), impl_t::range_sigma, NULL}; // error model
         return res;
       }
       satellites_t(const space_node_t &sn)
@@ -292,21 +296,29 @@ class GLONASS_SinglePositioning : public SolverBaseT {
         res.range_residual += range_error.value[range_error_t::IONOSPHERIC];
       }
 
-      // Setup weight
-      if(std::abs(res.range_residual) > _options.residual_mask){
-        // If residual is too big, gently exclude it by decreasing its weight.
-        res.weight = 1E-8;
-      }else{
+      // Setup range standard deviation, whose reciprocal square is used as weight
+      res.range_sigma = 1E+4; // sufficiently big value, 1E4 [m]
+      do{
+        // If residual is too big, gently exclude it.
+        if(std::abs(res.range_residual) > _options.residual_mask){break;}
 
         float_t elv(relative_pos.elevation());
         if(elv < _options.elevation_mask){
-          res.weight = 0; // exclude it when elevation is less than threshold
-        }else{
-          // elevation weight based on "GPS���p�v���O���~���O" @see GPS_Solver.h
-          res.weight = std::pow(sin(elv)/0.8, 2);
-          if(res.weight < 1E-3){res.weight = 1E-3;}
+          res.range_sigma = 0; // exclude it when elevation is less than threshold
+          break;
         }
-      }
+
+        res.range_sigma = sat.range_sigma(t_tx);
+
+        /* elevation weight based on "GPS���p�v���O���~���O"
+         * elevation[deg] :   90    53    45    30    15    10    5
+         * sf_sigma(k)    :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
+         * weight(k^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
+         */
+        static const float_t max_sf(10);
+        static const float_t elv_limit(std::asin(0.8/max_sf)); // limit
+        res.range_sigma *= (elv > elv_limit) ? (0.8 / sin(elv)) : max_sf;
+      }while(false);
 
       res.range_corrected = range;
 

data/ext/ninja-scan-light/tool/navigation/GPS.h

@@ -990,7 +990,7 @@ static s ## bits ## _t name(const InputT *buf){ \
           
           // Subframe.1
           uint_t WN;          ///< Week number
-          int_t URA;          ///< User range accuracy (index)
+          float_t URA;          ///< User range accuracy (m)
           uint_t SV_health;   ///< Health status
           int_t iodc;         ///< Issue of clock data
           float_t t_GD;       ///< Group delay (s)
@@ -1061,22 +1061,29 @@ static s ## bits ## _t name(const InputT *buf){ \
             return !((delta_t >= 0) && (delta_t < transmission_interval));
           }
           
-          static const float_t URA_limits[];
-          static const int URA_MAX_INDEX;
+          static const float_t URA_limits[15];
 
-          static float_t URA_meter(const int_t &index){
+          template <std::size_t N>
+          static float_t URA_meter(const int_t &index, const float_t (&table)[N]){
             if(index < 0){return -1;}
-            return (index < URA_MAX_INDEX)
-                ? URA_limits[index]
-                : URA_limits[URA_MAX_INDEX - 1] * 2;
+            return (index < N)
+                ? table[index]
+                : table[N - 1] * 2;
+          }
+          inline static float_t URA_meter(const int_t &index){
+            return URA_meter(index, URA_limits);
           }
 
-          static int_t URA_index(const float_t &meter){
+          template <std::size_t N>
+          static int_t URA_index(const float_t &meter, const float_t (&table)[N]){
             if(meter < 0){return -1;}
-            for(int i(0); i < URA_MAX_INDEX; ++i){
-              if(meter <= URA_limits[i]){return i;}
+            for(std::size_t i(0); i < N; ++i){
+              if(meter <= table[i]){return i;}
             }
-            return URA_MAX_INDEX;
+            return N;
+          }
+          inline static int_t URA_index(const float_t &meter){
+            return URA_index(meter, URA_limits);
           }
 
           float_t eccentric_anomaly(const float_t &period_from_toe) const {
@@ -1399,7 +1406,7 @@ static s ## bits ## _t name(const InputT *buf){ \
               converted.svid = svid;
               
               converted.WN = WN;
-              converted.URA = URA;
+              converted.URA = URA_meter(URA);
               converted.SV_health = SV_health;
               converted.iodc = iodc;
               CONVERT(t_GD);
@@ -1438,7 +1445,7 @@ static s ## bits ## _t name(const InputT *buf){ \
               svid = eph.svid;
 
               WN = eph.WN;
-              URA = eph.URA;
+              URA = URA_index(eph.URA);
               SV_health = eph.SV_health;
               iodc = eph.iodc;
               CONVERT(t_GD);
@@ -1475,7 +1482,7 @@ static s ## bits ## _t name(const InputT *buf){ \
           bool is_equivalent(const Ephemeris &eph) const {
             do{
               if(WN != eph.WN){break;}
-              if(URA != eph.URA){break;}
+              if(URA_index(URA) != URA_index(eph.URA)){break;}
               if(SV_health != eph.SV_health){break;}
 
 #define CHECK(TARGET) \
@@ -2478,10 +2485,6 @@ const typename GPS_SpaceNode<FloatT>::float_t GPS_SpaceNode<FloatT>::SatellitePr
   6144.00,
 };
 
-template <class FloatT>
-const int GPS_SpaceNode<FloatT>::SatelliteProperties::Ephemeris::URA_MAX_INDEX
-    = sizeof(URA_limits) / sizeof(URA_limits[0]);
-
 #ifdef POW2_ALREADY_DEFINED
 #undef POW2_ALREADY_DEFINED
 #else

data/ext/ninja-scan-light/tool/navigation/GPS_Solver.h

@@ -155,11 +155,15 @@ class GPS_SinglePositioning : public SolverBaseT {
           static float_t clock_error_dot(const void *ptr, const gps_time_t &t_tx) {
             return sat(ptr).clock_error_dot(t_tx);
           }
+          static float_t range_sigma(const void *ptr, const gps_time_t &t_tx) {
+            return sat(ptr).ephemeris().URA;
+          }
         };
         satellite_t res = {
-            &(it_sat->second),
+            &(it_sat->second), &(it_sat->second), // position, clock
             impl_t::position, impl_t::velocity,
-            impl_t::clock_error, impl_t::clock_error_dot};
+            impl_t::clock_error, impl_t::clock_error_dot,
+            &(it_sat->second), impl_t::range_sigma, NULL}; // error model
         return res;
       }
       satellites_t(const space_node_t &sn)
@@ -248,7 +252,7 @@ class GPS_SinglePositioning : public SolverBaseT {
       float_t &los_neg_x;
       float_t &los_neg_y;
       float_t &los_neg_z;
-      float_t &weight;
+      float_t &range_sigma;
     };
 
     /**
@@ -258,8 +262,8 @@ class GPS_SinglePositioning : public SolverBaseT {
      * @param range "corrected" pseudo range subtracted by (temporal solution of) receiver clock error in meter
      * @param time_arrival time when signal arrive at receiver
      * @param usr_pos (temporal solution of) user position
-     * @param residual calculated residual with line of site vector, and weight;
-     * When weight is equal to or less than zero, the calculated results should not be used.
+     * @param residual calculated residual with line of site vector, and pseudorange standard deviation (sigma);
+     * When sigma is equal to or less than zero, the calculated results should not be used.
      * @param error Some correction can be overwritten. If its unknown_flag is zero,
      * corrections will be skipped as possible. @see range_errors_t
      * @return (float_t) corrected range just including delay, and excluding receiver/satellite error.
@@ -281,7 +285,8 @@ class GPS_SinglePositioning : public SolverBaseT {
 
       // Calculate satellite position
       float_t dt_transit(range / c);
-      xyz_t sat_pos(sat.position(time_arrival - dt_transit, dt_transit));
+      gps_time_t time_depature(time_arrival - dt_transit);
+      xyz_t sat_pos(sat.position(time_depature, dt_transit));
       float_t geometric_range(usr_pos.xyz.dist(sat_pos));
 
       // Calculate residual
@@ -305,25 +310,30 @@ class GPS_SinglePositioning : public SolverBaseT {
           ? tropospheric_correction(time_arrival, usr_pos, relative_pos)
           : error.value[range_error_t::TROPOSPHERIC];
 
-      // Setup weight
-      if(std::abs(residual.residual) > _options.residual_mask){
-        // If residual is too big, gently exclude it by decreasing its weight.
-        residual.weight = 1E-8;
-      }else{
+      // Setup range standard deviation, whose reciprocal square is used as weight
+      residual.range_sigma = 1E+4; // sufficiently big value, 1E4 [m]
+      do{
+        // If residual is too big, gently exclude it.
+        if(std::abs(residual.residual) > _options.residual_mask){break;}
 
         float_t elv(relative_pos.elevation());
         if(elv < _options.elevation_mask){
-          residual.weight = 0; // exclude it when elevation is less than threshold
-        }else{
-          /* elevation weight based on "GPS���p�v���O���~���O"
-           * elevation[deg] :   90    53    45    30    15    10    5
-           * sigma(s)       :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
-           * weight(s^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
-           */
-          residual.weight = std::pow(sin(elv)/0.8, 2); // weight=1 @ elv=53[deg]
-          if(residual.weight < 1E-3){residual.weight = 1E-3;}
+          residual.range_sigma = 0; // exclude it when elevation is less than threshold
+          break;
         }
-      }
+
+        residual.range_sigma = sat.range_sigma(time_depature);
+
+        /* elevation weight based on "GPS���p�v���O���~���O"
+         * elevation[deg] :   90    53    45    30    15    10    5
+         * sf_sigma(k)    :   0.80  1.00  1.13  1.60  3.09  4.61  9.18
+         * weight(k^-2)   :   1.56  1.00  0.78  0.39  0.10  0.05  0.01
+         */
+        static const float_t max_sf(10);
+        static const float_t elv_limit(std::asin(0.8/max_sf)); // limit
+        residual.range_sigma *= (elv > elv_limit) ? (0.8 / sin(elv)) : max_sf;
+      }while(false);
+
 
       return range;
     }
@@ -396,16 +406,16 @@ class GPS_SinglePositioning : public SolverBaseT {
       float_t range;
       range_error_t range_error;
       if(!this->range(measurement, range, &range_error)){
-        return res; // If no range entry, return with weight = 0
+        return res; // If no range entry, return with range_sigma = 0
       }
 
       satellite_t sat(select_satellite(prn, time_arrival));
-      if(!sat.is_available()){return res;} // If satellite is unavailable, return with weight = 0
+      if(!sat.is_available()){return res;} // If satellite is unavailable, return with range_sigma = 0
 
       residual_t residual = {
         res.range_residual,
         res.los_neg[0], res.los_neg[1], res.los_neg[2],
-        res.weight,
+        res.range_sigma,
       };
 
       res.range_corrected = range_corrected(
@@ -414,8 +424,15 @@ class GPS_SinglePositioning : public SolverBaseT {
       res.rate_relative_neg = rate_relative_neg(sat, res.range_corrected, time_arrival, usr_vel,
           res.los_neg[0], res.los_neg[1], res.los_neg[2]);
 
-      return res;
+#if 0
+      // TODO consider case when standard deviation of pseudorange measurement is provided by receiver
+      if(!this->range_sigma(measurement, res.range_sigma)){
+        // If receiver's range variance is not provided
+        res.range_sigma = 1E0; // TODO range error variance [m]
+      }
+#endif
 
+      return res;
     }
 
     /**

data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h

@@ -227,13 +227,16 @@ struct GPS_Solver_Base {
   }
 
   struct satellite_t {
-    const void *impl;
+    const void *impl_xyz, *impl_t; ///< pointer to actual implementation to return position and clock error
     xyz_t (*impl_position)(const void *, const gps_time_t &, const float_t &);
     xyz_t (*impl_velocity)(const void *, const gps_time_t &, const float_t &);
     float_t (*impl_clock_error)(const void *, const gps_time_t &);
     float_t (*impl_clock_error_dot)(const void *, const gps_time_t &);
+    const void *impl_error; ///< pointer to actual implementation of error model
+    float_t (*impl_range_sigma)(const void *, const gps_time_t &);
+    float_t (*impl_rate_sigma)(const void *, const gps_time_t &);
     inline bool is_available() const {
-      return impl != NULL;
+      return (impl_xyz != NULL) && (impl_t != NULL);
     }
     /**
      * Return satellite position at the transmission time in EFEC.
@@ -244,28 +247,48 @@ struct GPS_Solver_Base {
      * that is, the transmission time added by the transit time.
      */
     inline xyz_t position(const gps_time_t &t_tx, const float_t &dt_transit = 0) const {
-      return impl_position(impl, t_tx, dt_transit);
+      return impl_position(impl_xyz, t_tx, dt_transit);
     }
     /**
      * Return satellite velocity at the transmission time in EFEC.
      * @see position
      */
     inline xyz_t velocity(const gps_time_t &t_tx, const float_t &dt_transit = 0) const {
-      return impl_velocity(impl, t_tx, dt_transit);
+      return impl_velocity(impl_xyz, t_tx, dt_transit);
     }
     /**
      * Return satellite clock error [s] at the transmission time.
      * @param t_tx transmission time
      */
     inline float_t clock_error(const gps_time_t &t_tx) const {
-      return impl_clock_error(impl, t_tx);
+      return impl_clock_error(impl_t, t_tx);
     }
     /**
      * Return satellite clock error derivative [s/s] at the transmission time.
      * @param t_tx transmission time
      */
     inline float_t clock_error_dot(const gps_time_t &t_tx) const {
-      return impl_clock_error_dot(impl, t_tx);
+      return impl_clock_error_dot(impl_t, t_tx);
+    }
+    /**
+     * Return expected user range accuracy (URA) in standard deviation (1-sigma)
+     * at the transmission time.
+     * @param t_tx transmission time
+     */
+    inline float_t range_sigma(const gps_time_t &t_tx) const {
+      return impl_range_sigma
+          ? impl_range_sigma(impl_error, t_tx)
+          : 3.5; // 7.0 [m] of 95% (2-sigma) URE in Sec. 3.4.1 of April 2020 GPS SPS PS;
+    }
+    /**
+     * Return expected user range rate accuracy (URRA) in standard deviation (1-sigma)
+     * at the transmission time.
+     * @param t_tx transmission time
+     */
+    inline float_t rate_sigma(const gps_time_t &t_tx) const {
+      return impl_rate_sigma
+          ? impl_rate_sigma(impl_error, t_tx)
+          : 0.003; // 0.006 [m/s] of 95% (2-sigma) URRE in Sec. 3.4.2 of April 2020 GPS SPS PS
     }
     static const satellite_t &unavailable() {
       struct impl_t {
@@ -276,7 +299,9 @@ struct GPS_Solver_Base {
           return float_t(0);
         }
       };
-      static const satellite_t res = {NULL, impl_t::v3, impl_t::v3, impl_t::v, impl_t::v};
+      static const satellite_t res = {
+          NULL, NULL, impl_t::v3, impl_t::v3, impl_t::v, impl_t::v,
+          NULL, NULL, NULL};
       return res;
     }
   };
@@ -359,7 +384,7 @@ struct GPS_Solver_Base {
   }
 
   struct relative_property_t {
-    float_t weight; ///< How useful this information is. square value is required; thus, only positive value activates the other values.
+    float_t range_sigma; ///< Standard deviation of pseudorange; If zero or negative, other values are invalid.
     float_t range_corrected; ///< corrected range just including delay, and excluding receiver/satellite error
     float_t range_residual; ///< residual range
     float_t rate_relative_neg; /// relative rate
@@ -474,12 +499,7 @@ struct GPS_Solver_Base {
       using super_t::reset;
       void reset(const int &prn) {set(prn, false);}
       std::vector<int> excluded() const {
-        std::vector<int> res(super_t::indices_one());
-        for(std::vector<int>::iterator it(res.begin()), it_end(res.end());
-            it != it_end; ++it){
-          *it += prn_begin;
-        }
-        return res;
+        return super_t::indices_one(prn_begin);
       }
     };
   };
@@ -519,6 +539,9 @@ protected:
      * @param G_ original design matrix
      * @param rotation_matrix 3 by 3 rotation matrix
      * @return transformed design matrix G'
+     * @see Eq.(3) and (10) in https://gssc.esa.int/navipedia/index.php/Positioning_Error,
+     * however, be careful that their R is used as both range error covariance in Eq.(1)
+     * and rotation matrix in Eq.(3).
      */
     static matrix_t rotate_G(const MatrixT &G_, const matrix_t &rotation_matrix){
       unsigned int r(G_.rows()), c(G_.columns()); // Normally c=4
@@ -534,17 +557,15 @@ protected:
     }
 
     /**
-     * Calculate C matrix, which is required to obtain DOP
-     * C = G^t * W * G
-     *
+     * Calculate C matrix, where C = G^t * G to be used for DOP calculation
      * @return C matrix
      */
     matrix_t C() const {
-      return (G.transpose() * W * G).inverse();
+      return (G.transpose() * G).inverse();
     }
     /**
-     * Transform coordinate of matrix C, which will be used to calculate HDOP/VDOP
-     * C' = (G * R^t)^t W * (G * R^t) = R * G^t * W * G * R^t = R * C * R^t,
+     * Transform coordinate of matrix C
+     * C' = (G * R^t)^t * (G * R^t) = R * G^t * G * R^t = R * C * R^t,
      * where R is a rotation matrix, for example, ECEF to ENU.
      *
      * @param rotation_matrix 3 by 3 rotation matrix
@@ -809,14 +830,14 @@ protected:
             res.receiver_error, time_arrival,
             res.user_position, zero));
 
-        if(prop.weight <= 0){
+        if(prop.range_sigma <= 0){
           continue; // intentionally excluded satellite
         }else{
           res.used_satellite_mask.set(it->prn);
         }
 
         if(coarse_estimation){
-          prop.weight = 1;
+          prop.range_sigma = 1;
         }else{
           idx_rate_rel.push_back(std::make_pair(i_measurement, prop.rate_relative_neg));
         }
@@ -825,7 +846,7 @@ protected:
         geomat.G(i_row, 0) = prop.los_neg[0];
         geomat.G(i_row, 1) = prop.los_neg[1];
         geomat.G(i_row, 2) = prop.los_neg[2];
-        geomat.W(i_row, i_row) = prop.weight;
+        geomat.W(i_row, i_row) = 1. / std::pow(prop.range_sigma, 2);
 
         ++i_row;
       }

data/ext/ninja-scan-light/tool/navigation/GPS_Solver_RAIM.h

@@ -60,6 +60,12 @@ struct GPS_PVT_RAIM_LSR : public PVT_BaseT {
   } FDE_min, FDE_2nd; ///< Fault exclusion
 };
 
+template <class FloatT>
+struct GPS_Solver_RAIM_LSR_Options {
+  bool skip_exclusion;
+  GPS_Solver_RAIM_LSR_Options() : skip_exclusion(false) {}
+};
+
 /*
  * Comment on implementation of protection level (PL) calculation
  *
@@ -96,6 +102,27 @@ struct GPS_Solver_RAIM_LSR : public SolverBaseT {
   inheritate_type(measurement2_t);
 #undef inheritate_type
 
+  typedef typename GPS_Solver_Base<float_t>::options_t::template merge_t<
+      GPS_Solver_RAIM_LSR_Options<float_t>, super_t> options_t;
+
+protected:
+  GPS_Solver_RAIM_LSR_Options<float_t> _options;
+
+public:
+  options_t available_options() const {
+    return options_t(super_t::available_options(), _options);
+  }
+
+  options_t available_options(const options_t &opt_wish) const {
+    GPS_Solver_RAIM_LSR_Options<float_t> opt(opt_wish);
+    return options_t(super_t::available_options(opt_wish), opt);
+  }
+
+  options_t update_options(const options_t &opt_wish){
+    _options = opt_wish;
+    return options_t(super_t::update_options(opt_wish), _options);
+  }
+
   typedef GPS_PVT_RAIM_LSR<float_t, typename super_t::user_pvt_t> user_pvt_t;
 
   typename super_t::template solver_interface_t<self_t> solve() const {
@@ -155,7 +182,8 @@ protected:
         user_position_init, receiver_error_init,
         opt);
 
-    if(!pvt.position_solved()
+    if(_options.skip_exclusion
+        || !pvt.position_solved()
         || (!pvt.FD.valid)
         || (pvt.used_satellites < 6)){return;}
 

data/ext/ninja-scan-light/tool/navigation/MagneticField.h

@@ -143,16 +143,17 @@ class MagneticFieldGeneric {
       field_components_res_t res;
       
       // @see http://mooring.ucsd.edu/software/matlab/mfiles/toolbox/geo/IGRF/geomag60.c
+      // @see https://web.archive.org/web/20171008182325/http://mooring.ucsd.edu/software/matlab/mfiles/toolbox/geo/IGRF/geomag60.c
 
-      const FloatT slat(sin_geocentric_latitude);
-      const FloatT clat(cos_geocentric_latitude);
+      const FloatT &slat(sin_geocentric_latitude);
+      const FloatT &clat(cos_geocentric_latitude);
 
       FloatT sl[13] = {sin(longitude_rad)};
       FloatT cl[13] = {cos(longitude_rad)};
       
       res.north = res.east = res.down = 0;
       
-      FloatT aa, bb, cc, rr;
+      FloatT aa, bb, cc, rr(0); // rr(0) for suppression of warning of use of uninitialized variable
       
       aa = sqrt(3.0);
       FloatT p[118] = {

data/ext/ninja-scan-light/tool/navigation/NTCM.h

@@ -66,7 +66,7 @@ class NTCM_GL_Generic {
       return cos_Chi_star3
           + (C[0] * std::cos(v_D)
             + C[1] * std::cos(v_SD) + C[2] * std::sin(v_SD)
-            + C[3] * std::cos(v_TD) + C[4] * std::sin(v_TD)) * cos_Chi_star;
+            + C[3] * std::cos(v_TD) + C[4] * std::sin(v_TD)) * cos_Chi_star2;
     }
 
     static const float_t doy_A, doy_SA;