2014-06-10 16:58:17 +00:00
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/*!
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* \file hybrid_observables_cc.cc
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* \brief Implementation of the pseudorange computation block for Galileo E1
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* \author Javier Arribas 2013. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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2015-01-08 18:49:59 +00:00
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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2014-06-10 16:58:17 +00:00
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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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2015-01-08 18:49:59 +00:00
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* (at your option) any later version.
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2014-06-10 16:58:17 +00:00
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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 "hybrid_observables_cc.h"
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#include <algorithm>
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#include <cmath>
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#include <iostream>
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#include <map>
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2016-01-04 21:56:52 +00:00
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#include <utility>
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2014-06-10 16:58:17 +00:00
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#include <vector>
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2016-11-02 16:35:40 +00:00
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#include <armadillo>
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2014-06-10 16:58:17 +00:00
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include "gnss_synchro.h"
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2016-01-04 17:06:54 +00:00
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#include "Galileo_E1.h"
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#include "GPS_L1_CA.h"
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2014-06-10 16:58:17 +00:00
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using google::LogMessage;
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hybrid_observables_cc_sptr
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2016-11-02 16:35:40 +00:00
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hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
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2014-06-10 16:58:17 +00:00
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{
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2016-11-02 16:35:40 +00:00
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return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
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2014-06-10 16:58:17 +00:00
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}
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2016-11-02 16:35:40 +00:00
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hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
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2016-05-02 21:46:30 +00:00
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gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
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2014-06-10 16:58:17 +00:00
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{
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// initialize internal vars
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d_dump = dump;
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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2016-11-02 16:35:40 +00:00
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history_deep = deep_history;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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d_acc_carrier_phase_queue_rads.push_back(std::deque<double>(d_nchannels));
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d_carrier_doppler_queue_hz.push_back(std::deque<double>(d_nchannels));
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d_symbol_TOW_queue_s.push_back(std::deque<double>(d_nchannels));
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}
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2014-06-10 16:58:17 +00:00
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
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}
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2016-04-13 15:02:33 +00:00
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catch (const std::ifstream::failure & e)
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2014-06-10 16:58:17 +00:00
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{
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LOG(WARNING) << "Exception opening observables dump file " << e.what();
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}
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}
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}
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}
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hybrid_observables_cc::~hybrid_observables_cc()
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{
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d_dump_file.close();
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}
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2015-05-14 09:20:02 +00:00
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bool Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
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2014-06-13 16:38:16 +00:00
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{
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return (a.second.d_TOW_hybrid_at_current_symbol) < (b.second.d_TOW_hybrid_at_current_symbol);
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}
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2014-06-10 16:58:17 +00:00
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2016-11-02 16:35:40 +00:00
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int hybrid_observables_cc::general_work (int noutput_items,
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gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items)
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2014-06-10 16:58:17 +00:00
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{
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
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Gnss_Synchro current_gnss_synchro[d_nchannels];
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std::map<int,Gnss_Synchro> current_gnss_synchro_map;
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std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
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2015-05-15 02:41:32 +00:00
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2015-12-02 17:25:06 +00:00
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if (d_nchannels != ninput_items.size())
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{
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LOG(WARNING) << "The Observables block is not well connected";
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}
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2014-06-10 16:58:17 +00:00
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/*
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* 1. Read the GNSS SYNCHRO objects from available channels
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*/
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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//Copy the telemetry decoder data to local copy
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current_gnss_synchro[i] = in[i][0];
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/*
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* 1.2 Assume no valid pseudoranges
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*/
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current_gnss_synchro[i].Flag_valid_pseudorange = false;
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current_gnss_synchro[i].Pseudorange_m = 0.0;
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if (current_gnss_synchro[i].Flag_valid_word)
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{
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//record the word structure in a map for pseudorange computation
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current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
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2016-11-02 16:35:40 +00:00
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//################### SAVE DOPPLER AND ACC CARRIER PHASE HISTORIC DATA FOR INTERPOLATION IN OBSERVABLE MODULE #######
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d_carrier_doppler_queue_hz[i].push_back(current_gnss_synchro[i].Carrier_Doppler_hz);
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d_acc_carrier_phase_queue_rads[i].push_back(current_gnss_synchro[i].Carrier_phase_rads);
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// save TOW history
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d_symbol_TOW_queue_s[i].push_back(current_gnss_synchro[i].d_TOW_at_current_symbol);
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if (d_carrier_doppler_queue_hz[i].size() > history_deep)
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2016-11-02 23:07:05 +00:00
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{
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d_carrier_doppler_queue_hz[i].pop_front();
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}
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2016-11-02 16:35:40 +00:00
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if (d_acc_carrier_phase_queue_rads[i].size() > history_deep)
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2016-11-02 23:07:05 +00:00
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{
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d_acc_carrier_phase_queue_rads[i].pop_front();
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}
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2016-11-02 16:35:40 +00:00
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if (d_symbol_TOW_queue_s[i].size() > history_deep)
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2016-11-02 23:07:05 +00:00
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{
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d_symbol_TOW_queue_s[i].pop_front();
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}
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2016-11-02 16:35:40 +00:00
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}
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2016-11-02 23:07:05 +00:00
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else
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2016-11-02 16:35:40 +00:00
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{
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2016-11-02 23:07:05 +00:00
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// Clear the observables history for this channel
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if (d_symbol_TOW_queue_s[i].size() > 0)
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{
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d_symbol_TOW_queue_s[i].clear();
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d_carrier_doppler_queue_hz[i].clear();
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d_acc_carrier_phase_queue_rads[i].clear();
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}
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2014-06-10 16:58:17 +00:00
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}
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}
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/*
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* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
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*/
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2015-03-16 20:43:19 +00:00
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DLOG(INFO) << "gnss_synchro set size=" << current_gnss_synchro_map.size();
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2016-11-02 23:07:05 +00:00
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double traveltime_ms;
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double pseudorange_m;
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double delta_rx_time_ms;
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double delta_TOW_ms;
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arma::vec symbol_TOW_vec_s;
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arma::vec dopper_vec_hz;
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arma::vec dopper_vec_interp_hz;
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arma::vec acc_phase_vec_rads;
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arma::vec acc_phase_vec_interp_rads;
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arma::vec desired_symbol_TOW(1);
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double start_offset_ms = 0.0;
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if(current_gnss_synchro_map.size() > 0)
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2014-06-10 16:58:17 +00:00
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{
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/*
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* 2.1 Use CURRENT set of measurements and find the nearest satellite
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* common RX time algorithm
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*/
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// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
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2014-06-13 16:38:16 +00:00
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gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
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2015-03-16 20:43:19 +00:00
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//gnss_synchro_iter = max_element(current_gnss_synchro_map_gps_only.begin(), current_gnss_synchro_map_gps_only.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
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double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol;
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DLOG(INFO) << "d_TOW_hybrid_reference [ms] = " << d_TOW_reference * 1000;
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2014-06-13 16:38:16 +00:00
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double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
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2015-03-16 20:43:19 +00:00
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DLOG(INFO) << "ref_PRN_rx_time_ms [ms] = " << d_ref_PRN_rx_time_ms;
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2014-06-10 16:58:17 +00:00
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//int reference_channel= gnss_synchro_iter->second.Channel_ID;
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// Now compute RX time differences due to the PRN alignment in the correlators
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2015-03-16 20:43:19 +00:00
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for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
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2014-06-10 16:58:17 +00:00
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{
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2014-06-30 15:48:01 +00:00
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// check and correct synchronization in cross-system pseudoranges!
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2015-03-16 20:43:19 +00:00
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delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
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delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000.0;
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2016-11-02 16:35:40 +00:00
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if(gnss_synchro_iter->second.System == 'E')
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2016-11-02 23:07:05 +00:00
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{
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start_offset_ms = GALILEO_STARTOFFSET_ms;
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}
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2016-11-02 16:35:40 +00:00
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if(gnss_synchro_iter->second.System == 'G')
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2016-11-02 23:07:05 +00:00
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{
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start_offset_ms = GPS_STARTOFFSET_ms;
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}
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2014-06-13 16:38:16 +00:00
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//compute the pseudorange
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2016-11-02 16:35:40 +00:00
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traveltime_ms = delta_TOW_ms + delta_rx_time_ms + start_offset_ms;
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2014-06-13 16:38:16 +00:00
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pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m]
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2015-03-16 20:43:19 +00:00
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DLOG(INFO) << "CH " << gnss_synchro_iter->second.Channel_ID << " tracking GNSS System "
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<< gnss_synchro_iter->second.System << " has PRN start at= " << gnss_synchro_iter->second.Prn_timestamp_ms
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<< " [ms], d_TOW_at_current_symbol = " << (gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000
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<< " [ms], d_TOW_hybrid_at_current_symbol = "<< (gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol) * 1000
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<< "[ms], delta_rx_time_ms = " << delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms
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<< ", pseudorange[m] = "<< pseudorange_m;
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2014-06-13 16:38:16 +00:00
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// update the pseudorange object
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//current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
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2016-11-02 23:07:05 +00:00
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference * 1000) / 1000 + start_offset_ms / 1000.0;
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2016-11-02 16:35:40 +00:00
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if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size() >= history_deep)
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{
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// compute interpolated observation values for Doppler and Accumulate carrier phase
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symbol_TOW_vec_s = arma::vec(std::vector<double>(d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].begin(), d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].end()));
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acc_phase_vec_rads = arma::vec(std::vector<double>(d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].begin(), d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].end()));
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dopper_vec_hz = arma::vec(std::vector<double>(d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].begin(), d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].end()));
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desired_symbol_TOW[0] = symbol_TOW_vec_s[history_deep - 1] + delta_rx_time_ms / 1000.0;
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// arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
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// arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
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// Curve fitting to cuadratic function
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arma::mat A = arma::ones<arma::mat> (history_deep, 2);
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A.col(1) = symbol_TOW_vec_s;
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arma::mat coef_acc_phase(1,3);
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arma::mat pinv_A = arma::pinv(A.t() * A) * A.t();
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coef_acc_phase = pinv_A * acc_phase_vec_rads;
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arma::mat coef_doppler(1,3);
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coef_doppler = pinv_A * dopper_vec_hz;
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arma::vec acc_phase_lin;
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arma::vec carrier_doppler_lin;
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acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0]; // +coef_acc_phase[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
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carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0]; // +coef_doppler[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
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//std::cout<<"acc_phase_vec_interp_rads="<<acc_phase_vec_interp_rads[0]<<std::endl;
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//std::cout<<"dopper_vec_interp_hz="<<dopper_vec_interp_hz[0]<<std::endl;
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|
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
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|
|
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
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|
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}
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2014-06-10 16:58:17 +00:00
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|
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}
|
|
|
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}
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|
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|
2015-03-16 20:43:19 +00:00
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|
|
if(d_dump == true)
|
2014-06-30 15:48:01 +00:00
|
|
|
{
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|
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
|
|
try
|
|
|
|
{
|
|
|
|
double tmp_double;
|
|
|
|
for (unsigned int i = 0; i < d_nchannels ; i++)
|
|
|
|
{
|
|
|
|
tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
tmp_double = current_gnss_synchro[i].d_TOW_hybrid_at_current_symbol;
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
tmp_double = current_gnss_synchro[i].PRN;
|
|
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
catch (const std::ifstream::failure& e)
|
|
|
|
{
|
|
|
|
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
|
|
|
}
|
|
|
|
}
|
2014-06-10 16:58:17 +00:00
|
|
|
|
|
|
|
consume_each(1); //consume one by one
|
|
|
|
|
2014-06-13 16:38:16 +00:00
|
|
|
for (unsigned int i = 0; i < d_nchannels ; i++)
|
|
|
|
{
|
|
|
|
*out[i] = current_gnss_synchro[i];
|
|
|
|
}
|
2015-12-02 17:25:06 +00:00
|
|
|
|
|
|
|
if (noutput_items == 0)
|
|
|
|
{
|
|
|
|
LOG(WARNING) << "noutput_items = 0";
|
|
|
|
}
|
|
|
|
return 1;
|
2014-06-10 16:58:17 +00:00
|
|
|
}
|