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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// moving average depth parameters
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int averaging_depth = configuration->property(role + ".averaging_depth", 10);
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bool flag_averaging = configuration->property(role + ".flag_averaging", false);
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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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// 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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/* defaults processing options */
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2017-04-26 14:32:00 +00:00
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prcopt_t default_opt={PMODE_SINGLE,0,2,SYS_GPS, /* mode,soltype,nf,navsys */
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2017-04-26 13:20:15 +00:00
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15.0*D2R, { {}, {{},{}} }, /* elmin,snrmask */
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0,1,1,1, /* sateph,modear,glomodear,bdsmodear */
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5,0,10,1, /* maxout,minlock,minfix,armaxiter */
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0,0,0,0, /* estion,esttrop,dynamics,tidecorr */
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1,0,0,0,0, /* niter,codesmooth,intpref,sbascorr,sbassatsel */
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0,0, /* rovpos,refpos */
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{100.0,100.0,100.0}, /* eratio[] */
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{100.0,0.003,0.003,0.0,1.0}, /* err[] */
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{30.0,0.03,0.3}, /* std[] */
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2017-04-26 14:32:00 +00:00
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{1E-4,1E-3,1E-4,1E-1,1E-2,0.0}, /* prn[] */
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5E-12, /* sclkstab */
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2017-04-26 13:20:15 +00:00
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{3.0,0.9999,0.25,0.1,0.05}, /* thresar */
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0.0,0.0,0.05, /* elmaskar,almaskhold,thresslip */
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30.0,30.0,30.0, /* maxtdif,maxinno,maxgdop */
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{},{},{}, /* baseline,ru,rb */
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{"",""}, /* anttype */
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{},{},{}, /* antdel,pcv,exsats */
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0, 0, 0, {"",""}, {}, 0, {{},{}}, { {}, {{},{}}, {{},{}}, {}, {} }, 0, {}
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};
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2017-04-26 14:32:00 +00:00
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rtklib_options=default_opt;
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2017-04-20 14:10:12 +00:00
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// make PVT object
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2017-04-26 13:20:15 +00:00
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pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options);
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2017-04-20 14:10:12 +00:00
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DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
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}
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bool RtklibPvt::save_assistance_to_XML()
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{
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LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
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std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
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if (eph_map.size() > 0)
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{
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try
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{
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std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
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boost::archive::xml_oarchive xml(ofs);
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xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
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ofs.close();
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LOG(INFO) << "Saved GPS L1 Ephemeris map data";
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}
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catch (std::exception& e)
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{
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LOG(WARNING) << e.what();
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return false;
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}
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return true; // return variable (true == succeeded)
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}
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else
|
|
|
|
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{
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|
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LOG(WARNING) << "Failed to save Ephemeris, map is empty";
|
|
|
|
|
return false;
|
|
|
|
|
}
|
|
|
|
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}
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|
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|
|
|
RtklibPvt::~RtklibPvt()
|
|
|
|
|
{
|
|
|
|
|
save_assistance_to_XML();
|
|
|
|
|
}
|
|
|
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|
|
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|
|
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|
|
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
|
|
|
|
|
}
|
