2017-04-20 14:10:12 +00:00
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/*!
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* \file rtklib_pvt.cc
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* \brief Interface of a Position Velocity and Time computation block
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* \author Javier Arribas, 2017. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "rtklib_pvt.h"
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#include <glog/logging.h>
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/math/common_factor_rt.hpp>
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#include <boost/serialization/map.hpp>
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#include "configuration_interface.h"
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using google::LogMessage;
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RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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std::string role,
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unsigned int in_streams,
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unsigned int out_streams) :
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role_(role),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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// dump parameters
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std::string default_dump_filename = "./pvt.dat";
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std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
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std::string default_nmea_dump_devname = "/dev/tty1";
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std::string default_rtcm_dump_devname = "/dev/pts/1";
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DLOG(INFO) << "role " << role;
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dump_ = configuration->property(role + ".dump", false);
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dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
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// output rate
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int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
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// display rate
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int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
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// NMEA Printer settings
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bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
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std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
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std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
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2017-04-29 16:21:44 +00:00
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// RINEX version
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int rinex_version = configuration->property(role + ".rinex_version", 3);
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if( (rinex_version < 2) || (rinex_version > 3) )
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{
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//warn user and set the default
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rinex_version = 3;
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}
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2017-04-20 14:10:12 +00:00
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// RTCM Printer settings
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bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
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std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
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bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
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unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
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unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
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// RTCM message rates: least common multiple with output_rate_ms
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int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
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int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
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int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
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int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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std::map<int,int> rtcm_msg_rate_ms;
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rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
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rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
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for (int k = 1071; k < 1078; k++) // All GPS MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
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}
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for (int k = 1091; k < 1098; k++) // All Galileo MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
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}
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// getting names from the config file, if available
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// default filename for assistance data
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const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
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const std::string utc_default_xml_filename = "./gps_utc_model.xml";
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const std::string iono_default_xml_filename = "./gps_iono.xml";
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const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
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const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
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eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
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//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
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//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
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//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
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//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
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// Infer the type of receiver
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/*
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* TYPE | RECEIVER
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* 0 | Unknown
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* 1 | GPS L1 C/A
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* 2 | GPS L2C
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* 3 | GPS L5
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* 4 | Galileo E1B
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* 5 | Galileo E5a
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* 6 | Galileo E5b
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* 7 | GPS L1 C/A + GPS L2C
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* 8 | GPS L1 C/A + GPS L5
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* 9 | GPS L1 C/A + Galileo E1B
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* 10 | GPS L1 C/A + Galileo E5a
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* 11 | GPS L1 C/A + Galileo E5b
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* 12 | Galileo E1B + GPS L2C
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* 13 | Galileo E1B + GPS L5
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* 14 | Galileo E1B + Galileo E5a
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* 15 | Galileo E1B + Galileo E5b
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* 16 | GPS L2C + GPS L5
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* 17 | GPS L2C + Galileo E5a
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* 18 | GPS L2C + Galileo E5b
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* 19 | GPS L5 + Galileo E5a
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* 20 | GPS L5 + Galileo E5b
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* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
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* 22 | GPS L1 C/A + Galileo E1B + GPS L5
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*/
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int gps_1C_count = configuration->property("Channels_1C.count", 0);
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int gps_2S_count = configuration->property("Channels_2S.count", 0);
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int gal_1B_count = configuration->property("Channels_1B.count", 0);
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int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
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int gal_E5b_count = configuration->property("Channels_7X.count", 0);
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unsigned int type_of_receiver = 0;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
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//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
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2017-04-26 13:20:15 +00:00
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//RTKLIB PVT solver options
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2017-04-27 21:02:52 +00:00
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int positioning_mode = configuration->property(role + ".positioning_mode", PMODE_SINGLE); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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2017-04-27 18:23:25 +00:00
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if( (positioning_mode < 0) || (positioning_mode > 8) )
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{
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//warn user and set the default
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positioning_mode = PMODE_SINGLE;
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}
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2017-04-27 21:02:52 +00:00
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int nsys = 0;
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if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
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if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
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int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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/* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
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if( (navigation_system < 1) || (navigation_system > 255) )
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2017-04-27 18:23:25 +00:00
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{
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//warn user and set the default
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2017-04-27 21:02:52 +00:00
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navigation_system = nsys;
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2017-04-27 18:23:25 +00:00
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}
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double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
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if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
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{
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//warn user and set the default
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elevation_mask = 15.0;
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}
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2017-04-27 21:02:52 +00:00
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int num_bands = 0;
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if ((gps_1C_count > 0) || (gal_1B_count > 0)) num_bands = 1;
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if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
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if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5a_count > 0))) num_bands = 3;
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int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
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2017-04-27 18:23:25 +00:00
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if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
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{
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//warn user and set the default
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2017-04-27 21:02:52 +00:00
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number_of_frequencies = num_bands;
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}
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int trop_model = configuration->property(role + ".trop_model", 0); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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if( (trop_model < 0) || (trop_model > 5) )
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{
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//warn user and set the default
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trop_model = 0;
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}
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int iono_model = configuration->property(role + ".iono_model", 0); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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if( (iono_model < 0) || (iono_model > 8) )
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{
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//warn user and set the default
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iono_model = 0; /* 0: ionosphere option: correction off */
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
|
|
|
|
|
if( (dynamics_model < 0) || (dynamics_model > 2) )
|
|
|
|
|
{
|
|
|
|
|
//warn user and set the default
|
|
|
|
|
dynamics_model = 0;
|
2017-04-27 18:23:25 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
double bias_0 = configuration->property(role + ".bias_0", 30.0);
|
|
|
|
|
|
|
|
|
|
double iono_0 = configuration->property(role + ".iono_0", 0.03);
|
|
|
|
|
|
|
|
|
|
double trop_0 = configuration->property(role + ".trop_0", 0.3);
|
|
|
|
|
|
|
|
|
|
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4);
|
|
|
|
|
|
|
|
|
|
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3);
|
|
|
|
|
|
|
|
|
|
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4);
|
|
|
|
|
|
|
|
|
|
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1);
|
|
|
|
|
|
|
|
|
|
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2);
|
|
|
|
|
|
|
|
|
|
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
|
|
|
|
|
|
2017-04-27 21:02:52 +00:00
|
|
|
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m) */
|
|
|
|
|
|
|
|
|
|
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP */
|
|
|
|
|
|
|
|
|
|
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
2017-04-27 18:23:25 +00:00
|
|
|
0, /* solution type (0:forward,1:backward,2:combined) */
|
|
|
|
|
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
|
|
|
|
|
navigation_system, /* navigation system */
|
|
|
|
|
elevation_mask * D2R, /* elevation mask angle (degrees) */
|
|
|
|
|
{ {}, {{},{}} }, /* snrmask_t snrmask SNR mask */
|
|
|
|
|
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
|
|
|
|
|
1, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
|
|
|
|
1, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
|
|
|
|
|
1, /* BeiDou AR mode (0:off,1:on) */
|
|
|
|
|
5, /* obs outage count to reset bias */
|
|
|
|
|
0, /* min lock count to fix ambiguity */
|
|
|
|
|
10, /* min fix count to hold ambiguity */
|
|
|
|
|
1, /* max iteration to resolve ambiguity */
|
2017-04-27 21:02:52 +00:00
|
|
|
iono_model, /* ionosphere option (IONOOPT_XXX) */
|
|
|
|
|
trop_model, /* troposphere option (TROPOPT_XXX) */
|
|
|
|
|
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
|
2017-04-27 18:23:25 +00:00
|
|
|
0, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
|
|
|
|
1, /* number of filter iteration */
|
|
|
|
|
0, /* code smoothing window size (0:none) */
|
|
|
|
|
0, /* interpolate reference obs (for post mission) */
|
2017-04-27 21:02:52 +00:00
|
|
|
0, /* sbssat_t sbssat SBAS correction options */
|
|
|
|
|
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
|
2017-04-27 18:23:25 +00:00
|
|
|
0, /* rover position for fixed mode */
|
|
|
|
|
0, /* base position for relative mode */
|
|
|
|
|
/* 0:pos in prcopt, 1:average of single pos, */
|
|
|
|
|
/* 2:read from file, 3:rinex header, 4:rtcm pos */
|
|
|
|
|
{100.0,100.0,100.0}, /* eratio[NFREQ] code/phase error ratio */
|
|
|
|
|
{100.0,0.003,0.003,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
|
|
|
|
|
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
|
|
|
|
|
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */
|
|
|
|
|
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
|
|
|
|
|
{3.0,0.9999,0.25,0.1,0.05}, /* thresar[8]: AR validation threshold */
|
|
|
|
|
0.0, /* elevation mask of AR for rising satellite (deg) */
|
|
|
|
|
0.0, /* elevation mask to hold ambiguity (deg) */
|
|
|
|
|
0.05, /* slip threshold of geometry-free phase (m) */
|
|
|
|
|
30.0, /* max difference of time (sec) */
|
2017-04-27 21:02:52 +00:00
|
|
|
threshold_reject_innovation, /* reject threshold of innovation (m) */
|
|
|
|
|
threshold_reject_gdop, /* reject threshold of gdop */
|
2017-04-27 18:23:25 +00:00
|
|
|
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
|
|
|
|
|
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
|
2017-04-27 21:02:52 +00:00
|
|
|
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
|
2017-04-27 18:23:25 +00:00
|
|
|
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
|
|
|
|
|
{}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
|
|
|
|
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
|
2017-04-27 21:02:52 +00:00
|
|
|
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
|
2017-04-27 18:23:25 +00:00
|
|
|
0, /* max averaging epoches */
|
|
|
|
|
0, /* initialize by restart */
|
|
|
|
|
0, /* output single by dgps/float/fix/ppp outage*/
|
|
|
|
|
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
|
|
|
|
{}, /* posopt[6] positioning options */
|
|
|
|
|
0, /* solution sync mode (0:off,1:on) */
|
|
|
|
|
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
|
|
|
|
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */
|
|
|
|
|
0, /* disable L2-AR */
|
|
|
|
|
{} /* char pppopt[256] ppp option */
|
2017-04-26 13:20:15 +00:00
|
|
|
};
|
2017-04-27 18:23:25 +00:00
|
|
|
|
2017-04-30 14:06:01 +00:00
|
|
|
sol_t sol_ = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
|
|
|
|
|
|
|
|
|
|
ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
|
|
|
|
|
|
|
|
|
|
ssat_t ssat_ = { '0', /* navigation system */
|
|
|
|
|
'0', /* valid satellite flag single */
|
|
|
|
|
{0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
|
|
|
|
|
{0.0}, /* residuals of pseudorange (m) */
|
|
|
|
|
{0.0}, /* residuals of carrier-phase (m) */
|
|
|
|
|
{'0'}, /* valid satellite flag */
|
|
|
|
|
{'0'}, /* signal strength (0.25 dBHz) */
|
|
|
|
|
{'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
|
|
|
|
|
{'0'}, /* cycle-slip flag */
|
|
|
|
|
{'0'}, /* half-cycle valid flag */
|
|
|
|
|
{}, /* lock counter of phase */
|
|
|
|
|
{}, /* obs outage counter of phase */
|
|
|
|
|
{}, /* cycle-slip counter */
|
|
|
|
|
{}, /* reject counter */
|
|
|
|
|
0.0, /* geometry-free phase L1-L2 (m) */
|
|
|
|
|
0.0, /* geometry-free phase L1-L5 (m) */
|
|
|
|
|
0.0, /* MW-LC (m) */
|
|
|
|
|
0.0, /* phase windup (cycle) */
|
|
|
|
|
{{{0,0}},{{0,0}}}, /* previous carrier-phase time */
|
|
|
|
|
{{},{}} /* previous carrier-phase observable (cycle) */
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
rtk = { sol_, /* RTK solution */
|
|
|
|
|
{}, /* base position/velocity (ecef) (m|m/s) */
|
|
|
|
|
0, /* number of float states */
|
|
|
|
|
0, /* number of fixed states */
|
|
|
|
|
output_rate_ms / 1000.0, /* time difference between current and previous (s) */
|
|
|
|
|
{}, /* float states */
|
|
|
|
|
{}, /* float states covariance */
|
|
|
|
|
{}, /* fixed states */
|
|
|
|
|
{}, /* fixed states covariance */
|
|
|
|
|
3, /* number of continuous fixes of ambiguity */
|
|
|
|
|
{ambc_}, /* ambiguity control */
|
|
|
|
|
{ssat_}, /* satellite status */
|
|
|
|
|
0, /* bytes in error message buffer */
|
|
|
|
|
{'0'}, /* error message buffer */
|
|
|
|
|
rtklib_configuration_options /* processing options */
|
|
|
|
|
};
|
2017-04-27 18:23:25 +00:00
|
|
|
|
2017-04-20 14:10:12 +00:00
|
|
|
// make PVT object
|
2017-04-30 14:06:01 +00:00
|
|
|
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
|
2017-04-20 14:10:12 +00:00
|
|
|
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bool RtklibPvt::save_assistance_to_XML()
|
|
|
|
|
{
|
|
|
|
|
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
|
|
|
|
|
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
|
|
|
|
|
|
|
|
|
|
if (eph_map.size() > 0)
|
|
|
|
|
{
|
|
|
|
|
try
|
|
|
|
|
{
|
|
|
|
|
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
|
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
|
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
|
|
|
|
|
ofs.close();
|
|
|
|
|
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
|
|
|
|
|
}
|
|
|
|
|
catch (std::exception& e)
|
|
|
|
|
{
|
|
|
|
|
LOG(WARNING) << e.what();
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
return true; // return variable (true == succeeded)
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
RtklibPvt::~RtklibPvt()
|
|
|
|
|
{
|
|
|
|
|
save_assistance_to_XML();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void RtklibPvt::connect(gr::top_block_sptr top_block)
|
|
|
|
|
{
|
|
|
|
|
if(top_block) { /* top_block is not null */};
|
|
|
|
|
// Nothing to connect internally
|
|
|
|
|
DLOG(INFO) << "nothing to connect internally";
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void RtklibPvt::disconnect(gr::top_block_sptr top_block)
|
|
|
|
|
{
|
|
|
|
|
if(top_block) { /* top_block is not null */};
|
|
|
|
|
// Nothing to disconnect
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
gr::basic_block_sptr RtklibPvt::get_left_block()
|
|
|
|
|
{
|
|
|
|
|
return pvt_;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
gr::basic_block_sptr RtklibPvt::get_right_block()
|
|
|
|
|
{
|
|
|
|
|
return pvt_; // this is a sink, nothing downstream
|
|
|
|
|
}
|
