mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-18 11:09:56 +00:00
Completed the migration to Gnss_Synchro as a common object to exchange signal synchronization data between gnss-sdr GNURadio blocks
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@155 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
16a1797c6d
commit
0046d9169c
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@ -286,7 +286,7 @@ PVT.averaging_depth=2
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PVT.flag_averaging=true
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;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
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PVT.dump=true
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PVT.dump=false
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;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
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PVT.dump_filename=./PVT
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@ -40,7 +40,7 @@
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include "control_message_factory.h"
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#include "gnss_synchro.h"
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using google::LogMessage;
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@ -53,7 +53,7 @@ gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump
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gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging) :
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gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(gnss_pseudorange)),
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gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr_make_io_signature(1, 1, sizeof(gr_complex)))
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{
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d_queue = queue;
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@ -95,9 +95,9 @@ gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
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bool pseudoranges_pairCompare_min( std::pair<int,gnss_pseudorange> a, std::pair<int,gnss_pseudorange> b)
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bool pseudoranges_pairCompare_min( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
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{
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return (a.second.pseudorange_m) < (b.second.pseudorange_m);
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return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
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}
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@ -107,17 +107,17 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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{
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d_sample_counter++;
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std::map<int,gnss_pseudorange> gnss_pseudoranges_map;
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std::map<int,float> pseudoranges;
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std::map<int,gnss_pseudorange>::iterator gnss_pseudoranges_iter;
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std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
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std::map<int,double> pseudoranges;
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std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
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gnss_pseudorange **in = (gnss_pseudorange **) &input_items[0]; //Get the input pointer
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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for (unsigned int i=0; i<d_nchannels; i++)
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{
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if (in[i][0].valid == true)
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if (in[i][0].Flag_valid_pseudorange == true)
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{
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gnss_pseudoranges_map.insert(std::pair<int,gnss_pseudorange>(in[i][0].SV_ID, in[i][0])); //record the valid pseudorange in a map
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gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); //record the valid pseudorange in a map
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}
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}
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@ -125,7 +125,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
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gnss_pseudoranges_iter++)
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{
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float pr = (float)gnss_pseudoranges_iter->second.pseudorange_m;
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double pr = gnss_pseudoranges_iter->second.Pseudorange_m;
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pseudoranges[gnss_pseudoranges_iter->first] = pr;
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// std::cout << "Pseudoranges(SV ID,pseudorange [m]) =(" << gnss_pseudoranges_iter->first << ","
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// << gnss_pseudoranges_iter->second.pseudorange_m << ")" <<std::endl;
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@ -147,7 +147,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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nav_data_map[nav_msg.i_channel_ID] = nav_msg;
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// **** update pseudoranges clock ****
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if (nav_msg.i_satellite_PRN == gnss_pseudoranges_iter->second.SV_ID)
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if (nav_msg.i_satellite_PRN == gnss_pseudoranges_iter->second.PRN)
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{
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d_ephemeris_clock_s = d_last_nav_msg.d_TOW;
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d_ephemeris_timestamp_ms = d_last_nav_msg.d_subframe1_timestamp_ms;
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@ -162,7 +162,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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// compute on the fly PVT solution
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//std::cout<<"diff_clock_ephemeris="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
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if (d_ls_pvt->get_PVT(gnss_pseudoranges_map,
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d_ephemeris_clock_s + (gnss_pseudoranges_iter->second.timestamp_ms - d_ephemeris_timestamp_ms)/1000.0,
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d_ephemeris_clock_s + (gnss_pseudoranges_iter->second.Pseudorange_timestamp_ms - d_ephemeris_timestamp_ms)/1000.0,
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d_flag_averaging) == true)
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{
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d_kml_dump.print_position(d_ls_pvt, d_flag_averaging);
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@ -35,6 +35,8 @@
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#include <glog/logging.h>
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#include "boost/date_time/posix_time/posix_time.hpp"
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#include "gnss_synchro.h"
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using google::LogMessage;
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gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file)
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@ -217,9 +219,9 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
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}
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bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_map,double GPS_current_time,bool flag_averaging)
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bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,double GPS_current_time,bool flag_averaging)
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{
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std::map<int,gnss_pseudorange>::iterator gnss_pseudoranges_iter;
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std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
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arma::mat W = arma::eye(d_nchannels,d_nchannels); //channels weights matrix
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arma::vec obs = arma::zeros(d_nchannels); // pseudoranges observation vector
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@ -258,7 +260,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
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satpos(2,i) = d_ephemeris[i].d_satpos_Z;
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LOG_AT_LEVEL(INFO) << "ECEF satellite SV ID=" << d_ephemeris[i].i_satellite_PRN <<" X=" << d_ephemeris[i].d_satpos_X
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<< " [m] Y=" << d_ephemeris[i].d_satpos_Y << " [m] Z=" << d_ephemeris[i].d_satpos_Z << " [m]" << std::endl;
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obs(i) = gnss_pseudoranges_iter->second.pseudorange_m + d_ephemeris[i].d_satClkCorr*GPS_C_m_s;
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obs(i) = gnss_pseudoranges_iter->second.Pseudorange_m + d_ephemeris[i].d_satClkCorr*GPS_C_m_s;
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valid_obs++;
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}
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else
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@ -45,6 +45,8 @@
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#include "GPS_L1_CA.h"
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#include "armadillo"
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#include "gnss_synchro.h"
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/*!
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* \brief This class implements a simple PVT Least Squares solution
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*/
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@ -84,7 +86,7 @@ public:
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gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);
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~gps_l1_ca_ls_pvt();
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bool get_PVT(std::map<int,gnss_pseudorange> pseudoranges,double GPS_current_time,bool flag_averaging);
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bool get_PVT(std::map<int,Gnss_Synchro> pseudoranges,double GPS_current_time,bool flag_averaging);
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/*!
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* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
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@ -966,7 +966,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
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void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,float> pseudoranges)
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void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,double> pseudoranges)
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{
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std::string line;
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@ -1017,7 +1017,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
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line += std::string(2, ' ');
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//Number of satellites observed in current epoch
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int numSatellitesObserved = 0;
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std::map<int,float>::iterator pseudoranges_iter;
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std::map<int,double>::iterator pseudoranges_iter;
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for(pseudoranges_iter = pseudoranges.begin();
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pseudoranges_iter != pseudoranges.end();
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pseudoranges_iter++)
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@ -1048,7 +1048,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
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lineObs.clear();
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line.clear();
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line += std::string(2, ' ');
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lineObs += Rinex_Printer::rightJustify(asString((double)pseudoranges_iter->second, 3), 14);
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lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
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//Loss of lock indicator (LLI)
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int lli = 0; // Include in the observation!!
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@ -1097,7 +1097,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
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//Number of satellites observed in current epoch
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int numSatellitesObserved = 0;
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std::map<int,float>::iterator pseudoranges_iter;
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std::map<int,double>::iterator pseudoranges_iter;
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for(pseudoranges_iter = pseudoranges.begin();
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pseudoranges_iter != pseudoranges.end();
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pseudoranges_iter++)
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@ -1124,7 +1124,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
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if ((int)pseudoranges_iter->first < 10) lineObs += std::string(1, '0');
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lineObs += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
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//lineObs += std::string(2, ' ');
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lineObs += Rinex_Printer::rightJustify(asString((double)pseudoranges_iter->second, 3), 14);
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lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
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//Loss of lock indicator (LLI)
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int lli = 0; // Include in the observation!!
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@ -105,7 +105,7 @@ public:
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/*!
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* \brief Writes observables into the RINEX file
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*/
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void log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,float> pseudoranges);
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void log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,double> pseudoranges);
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std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
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std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
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@ -58,7 +58,7 @@ gps_l1_ca_make_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, b
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gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
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gr_block ("gps_l1_ca_observables_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr_make_io_signature(nchannels, nchannels, sizeof(gnss_pseudorange)))
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gr_make_io_signature(nchannels, nchannels, sizeof(Gnss_Synchro)))
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{
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// initialize internal vars
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d_queue = queue;
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@ -87,9 +87,6 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, gr_ms
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}
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}
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gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc()
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{
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d_dump_file.close();
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@ -97,28 +94,18 @@ gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc()
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}
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bool pairCompare_gnss_synchro( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
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{
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return (a.second.Preamble_delay_ms) < (b.second.Preamble_delay_ms);
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}
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bool pairCompare_double( std::pair<int,double> a, std::pair<int,double> b)
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{
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return (a.second) < (b.second);
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}
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void clearQueue( std::deque<double> &q )
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{
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std::deque<double> empty;
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@ -126,16 +113,13 @@ void clearQueue( std::deque<double> &q )
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}
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int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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gnss_pseudorange **out = (gnss_pseudorange **) &output_items[0]; //Get the output pointer
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //Get the output pointer
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gnss_pseudorange current_gnss_pseudorange;
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Gnss_Synchro current_gnss_synchro[d_nchannels];
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std::map<int,Gnss_Synchro> gps_words;
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std::map<int,Gnss_Synchro>::iterator gps_words_iter;
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@ -164,20 +148,23 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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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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if (in[i][0].Flag_valid_word) //if this channel have valid word
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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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if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
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{
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gps_words.insert(std::pair<int,Gnss_Synchro>(in[i][0].Channel_ID, in[i][0])); //record the word structure in a map for pseudoranges
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gps_words.insert(std::pair<int,Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i])); //record the word structure in a map for pseudoranges
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// RECORD PRN start timestamps history
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if (d_history_prn_delay_ms[i].size()<MAX_TOA_DELAY_MS)
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{
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d_history_prn_delay_ms[i].push_front(in[i][0].Prn_delay_ms);
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d_history_prn_delay_ms[i].push_front(current_gnss_synchro[i].Prn_delay_ms);
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flag_history_ok = false; // at least one channel need more samples
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}
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else
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{
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//clearQueue(d_history_prn_delay_ms[i]); //clear the queue as the preamble arrives
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d_history_prn_delay_ms[i].pop_back();
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d_history_prn_delay_ms[i].push_front(in[i][0].Prn_delay_ms);
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d_history_prn_delay_ms[i].push_front(current_gnss_synchro[i].Prn_delay_ms);
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}
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}
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}
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@ -187,11 +174,9 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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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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current_gnss_pseudorange.valid = false;
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current_gnss_pseudorange.SV_ID = 0;
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current_gnss_pseudorange.pseudorange_m = 0;
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current_gnss_pseudorange.timestamp_ms = 0;
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*out[i] = current_gnss_pseudorange;
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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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current_gnss_synchro[i].Pseudorange_timestamp_ms = 0.0;
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}
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/*
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* 2. Compute RAW pseudorranges: Use only the valid channels (channels that are tracking a satellite)
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@ -259,18 +244,15 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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traveltime_ms = current_prn_delay_ms - actual_min_prn_delay_ms + GPS_STARTOFFSET_ms; //[ms]
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//std::cout<<"delta_time_ms="<<current_prn_delay_ms-actual_min_prn_delay_ms<<"\r\n";
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pseudorange_m = traveltime_ms*GPS_C_m_ms; // [m]
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// update the pseudorange object
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current_gnss_pseudorange.pseudorange_m = pseudorange_m;
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current_gnss_pseudorange.timestamp_ms = pseudoranges_timestamp_ms;
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current_gnss_pseudorange.SV_ID = gps_words_iter->second.PRN;
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current_gnss_pseudorange.valid = true;
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// #### write the pseudorrange block output for this satellite ###
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*out[gps_words_iter->second.Channel_ID] = current_gnss_pseudorange;
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current_gnss_synchro[gps_words_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
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current_gnss_synchro[gps_words_iter->second.Channel_ID].Pseudorange_timestamp_ms = pseudoranges_timestamp_ms;
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current_gnss_synchro[gps_words_iter->second.Channel_ID].Flag_valid_pseudorange = true;
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}
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}
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}
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if(d_dump == true)
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{
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// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
|
|
@ -279,15 +261,15 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
|
|||
double tmp_double;
|
||||
for (unsigned int i=0; i<d_nchannels ; i++)
|
||||
{
|
||||
tmp_double = in[i][0].Preamble_delay_ms;
|
||||
tmp_double = current_gnss_synchro[i].Preamble_delay_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = in[i][0].Prn_delay_ms;
|
||||
tmp_double = current_gnss_synchro[i].Prn_delay_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = out[i][0].pseudorange_m;
|
||||
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = out[i][0].timestamp_ms;
|
||||
tmp_double = current_gnss_synchro[i].Pseudorange_timestamp_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = out[i][0].SV_ID;
|
||||
tmp_double = current_gnss_synchro[i].PRN;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
}
|
||||
|
|
@ -299,8 +281,14 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
|
|||
|
||||
consume_each(1); //one by one
|
||||
|
||||
|
||||
|
||||
if ((d_sample_counter % d_output_rate_ms) == 0)
|
||||
{
|
||||
for (unsigned int i=0; i<d_nchannels ; i++)
|
||||
{
|
||||
*out[i] = current_gnss_synchro[i];
|
||||
}
|
||||
return 1; //Output the observables
|
||||
}
|
||||
else
|
||||
|
|
|
|||
|
|
@ -76,11 +76,6 @@ const int GPS_SUBFRAME_BITS=300; //!< Number of bits per subframe
|
|||
const int GPS_WORD_BITS=30; //!< Number of bits per word in the NAV message [bits]
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Navigation message bits slice structure: A portion of bits is indicated by
|
||||
* the start position inside the subframe and the length in number of bits */
|
||||
|
|
@ -96,39 +91,6 @@ typedef struct bits_slice
|
|||
} bits_slice;
|
||||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Demodulator gnss_synchro structure, used to feed the pseudorange block */
|
||||
typedef struct gnss_synchro
|
||||
{
|
||||
double preamble_delay_ms;
|
||||
double prn_delay_ms;
|
||||
double preamble_code_phase_ms;
|
||||
double preamble_code_phase_correction_ms;
|
||||
int satellite_PRN;
|
||||
int channel_ID;
|
||||
bool valid_word;
|
||||
bool flag_preamble;
|
||||
} gnss_synchro;
|
||||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Observables structure, used to feed the PVT block */
|
||||
typedef struct gnss_pseudorange
|
||||
{
|
||||
double pseudorange_m;
|
||||
double timestamp_ms;
|
||||
unsigned int SV_ID;
|
||||
bool valid;
|
||||
} gnss_pseudorange;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/* Constants for scaling the ephemeris found in the data message
|
||||
the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
|
||||
Additionally some of the PI*2^N terms are used in the tracking stuff
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user