new assert out of range

[LucaFibbi]

Again the program ends with an assert. The code throw the assert in the function SRIFAlgorithm::changeSRIFPara to the line 207 of the file SRIFAlgorithm.cpp when the program attempts to access beyond the size of the variable tempXk_1

198 VectorXd tempXk_1 = m_Xk;
    m_Xk.resize(epochLenLB+m_const_param);
    m_Xk.setZero();
    //Xk.resize(epochLenLB+5);
    for (int i = 0;i < m_const_param;i++)
        m_Xk(i) = tempXk_1(i);
    for (int i = 0;i<epochLenLB;i++)
    {
        if (oldPrnFlag.at(i)!=-1)//Save the old satellite ambiguity
            m_Xk(m_const_param+i) = tempXk_1(oldPrnFlag.at(i)+m_const_param); // <------ the assert is throw here
        else
        {//New satellite ambiguity calculation
            SatlitData oneStalit = epochSatlitData.at(i);
            m_Xk(m_const_param+i) = (oneStalit.PP3 - oneStalit.LL3)/M_GetLamta3(oneStalit.Frq[0],oneStalit.Frq[1]);
        }
213  }

The local variable tempXk_1 is equal to SRIFAlgorithm::m_Xk variable. I looked where the size of the variable m_Xk change. m_Xk is resize with an incorrect size in the function SRIFAlgorithm::SRIFforStatic at line 651.

646 if(gross_LC)
    {
        // restore filter state
        m_Rp = temp_Rp; m_Zp = temp_Zp; m_Phi_Inv = temp_Phi_Inv; m_G = temp_G;
        m_Phi = temp_Phi; m_Rwk = temp_Rwk; m_Q = temp_Q;
        m_Xk = temp_Xk; // <--- Here change the size of m_Xk
        memcpy(m_SPP_Pos, temp_SPP_POS, 3*sizeof(double));
        X.setZero();
        P.setIdentity();
        P = P * 1e10;
656 }

The assert happens when in function SRIFAlgorithm::SRIFforStatic gross_LC = true and epochLenLB - del_len > 5 is false and epochLenLB=6 and del_len=1

600     if(epochLenLB - del_len > 5)
        {
            for(int i = 0; i < del_len;i++)
                currEpoch.remove(del_flag[i]);
            epochLenLB = currEpoch.length();// update epochLenLB

            // restore filter state
            m_Rp = temp_Rp; m_Zp = temp_Zp; m_Phi_Inv = temp_Phi_Inv; m_G = temp_G;
            m_Phi = temp_Phi; m_Rwk = temp_Rwk; m_Q = temp_Q;
            m_Xk = temp_Xk;
            memcpy(m_SPP_Pos, temp_SPP_POS, 3*sizeof(double));
            filter(preEpoch, currEpoch, X, P);
        }
        else
        {
            break;  // <----- when the assert is throw the program pass here
616     }

This in my opinion is the cause of the error. I don't know how to change the code to correct the error.

I think that the line 600 in the file SRIFAlgorithm.cpp can be changed like this: if((epochLenLB - del_len) >= 5) Even with 5 satellites it is possible to calculate the position.

[XiaoGongWei]

Thanks, I tested a lot of data and didn't find this assert out of range. If convenient, you can send your test data to my email (xiaogongwei@asch.whigg.ac.cn). I have chenged epochLenLB - del_len > 5 to epochLenLB - del_len > =5

[LucaFibbi]

After the latest repository updates, the program end without assert. Therefore I don't have the data for the test.

Thanks