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Merge branch 'next' into ssr

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Carles Fernandez 2021-10-18 14:31:11 +02:00
commit 0138738231
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3 changed files with 392 additions and 36 deletions
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35
src/algorithms/PVT/libs/has_simple_printer.cc
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@ -192,46 +192,19 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Nsys: " << static_cast<float>(has_data->Nsys) << '\n';
d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_mask) << " (0: GPS, 2: Galileo)\n";
// compute Nsat
int Nsat = 0;
std::vector<int> num_sats_in_mask(has_data->Nsys);
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
std::string sat_mask = print_vector_binary(std::vector<uint64_t>(1, has_data->satellite_mask[i]), HAS_MSG_SATELLITE_MASK_LENGTH);
Nsat += std::count(sat_mask.begin(), sat_mask.end(), '1');
}
int Nsat = has_data->get_nsat();
d_has_file << indent << indent << "Satellite Mask: " << print_vector_binary(has_data->satellite_mask, HAS_MSG_SATELLITE_MASK_LENGTH) << '\n';
d_has_file << indent << indent << " Nsat: " << Nsat << '\n';
std::vector<std::string> system_strings = has_data->get_systems_string();
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
std::string system("Reserved");
if (has_data->gnss_id_mask[i] == 0)
{
system = "GPS";
}
if (has_data->gnss_id_mask[i] == 2)
{
system = "Galileo";
}
d_has_file << indent << indent << " PRN for " << system << ": " << print_vector(has_data->get_PRNs_in_mask(i)) << " (" << has_data->get_PRNs_in_mask(i).size() << " satellites)\n";
d_has_file << indent << indent << " PRN for " << system_strings[i] << ": " << print_vector(has_data->get_PRNs_in_mask(i)) << " (" << has_data->get_PRNs_in_mask(i).size() << " satellites)\n";
}
d_has_file << indent << indent << "Signal Mask: " << print_vector_binary(has_data->signal_mask, HAS_MSG_SIGNAL_MASK_LENGTH) << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
std::string system("Reserved");
if (has_data->gnss_id_mask[i] == 0)
{
system = "GPS";
}
if (has_data->gnss_id_mask[i] == 2)
{
system = "Galileo";
}
d_has_file << indent << indent << " Bias corrections for " << system << " signals: " << print_vector_string(has_data->get_signals_in_mask(i)) << '\n';
d_has_file << indent << indent << " Bias corrections for " << system_strings[i] << " signals: " << print_vector_string(has_data->get_signals_in_mask(i)) << '\n';
}
d_has_file << indent << indent << "Cell Mask Availability Flag: " << print_vector(has_data->cell_mask_availability_flag) << '\n';

367
src/core/system_parameters/galileo_has_data.cc
View File

@ -18,6 +18,8 @@
#include "Galileo_CNAV.h"
#include <algorithm>
#include <bitset>
#include <numeric>
#include <sstream>
std::vector<int> Galileo_HAS_data::get_PRNs_in_mask(uint8_t nsys) const
@ -398,3 +400,368 @@ uint8_t Galileo_HAS_data::get_gnss_id(int nsat) const
return HAS_MSG_WRONG_SYSTEM;
}
uint16_t Galileo_HAS_data::get_validity_interval_s(uint8_t validity_interval_index) const
{
uint16_t validity_interval;
switch (validity_interval_index)
{
case 0:
validity_interval = 5;
break;
case 1:
validity_interval = 10;
break;
case 2:
validity_interval = 15;
break;
case 3:
validity_interval = 20;
break;
case 4:
validity_interval = 30;
break;
case 5:
validity_interval = 60;
break;
case 6:
validity_interval = 90;
break;
case 7:
validity_interval = 120;
break;
case 8:
validity_interval = 180;
break;
case 9:
validity_interval = 240;
break;
case 10:
validity_interval = 300;
break;
case 11:
validity_interval = 600;
break;
case 12:
validity_interval = 900;
break;
case 13:
validity_interval = 1800;
break;
case 14:
validity_interval = 3600;
break;
default: // reserved
validity_interval = 0;
}
return validity_interval;
}
std::vector<float> Galileo_HAS_data::get_delta_radial_m() const
{
std::vector<float> delta_radial_m;
delta_radial_m.reserve(this->delta_radial.size());
for (const auto& d : this->delta_radial)
{
delta_radial_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_RADIAL_SCALE_FACTOR);
}
return delta_radial_m;
}
std::vector<float> Galileo_HAS_data::get_delta_radial_m(uint8_t nsys) const
{
std::vector<float> delta_orbit_radial_m = this->get_delta_radial_m();
if (nsys >= this->Nsys)
{
return delta_orbit_radial_m;
}
std::vector<float> delta_orbit_radial_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_orbit_radial_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
{
uint8_t num_sats_in_system = this->get_num_satellites()[sys];
if (sys != nsys)
{
index += num_sats_in_system;
}
else
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_orbit_radial_m_aux.push_back(delta_orbit_radial_m[index]);
index++;
}
}
}
return delta_orbit_radial_m_aux;
}
std::vector<float> Galileo_HAS_data::get_delta_along_track_m() const
{
std::vector<float> delta_along_track_m;
delta_along_track_m.reserve(this->delta_along_track.size());
for (const auto& d : this->delta_along_track)
{
delta_along_track_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR);
}
return delta_along_track_m;
}
std::vector<float> Galileo_HAS_data::get_delta_along_track_m(uint8_t nsys) const
{
std::vector<float> delta_along_track_m = this->get_delta_along_track_m();
if (nsys >= this->Nsys)
{
return delta_along_track_m;
}
std::vector<float> delta_along_track_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_along_track_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
{
uint8_t num_sats_in_system = this->get_num_satellites()[sys];
if (sys != nsys)
{
index += num_sats_in_system;
}
else
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_along_track_m_aux.push_back(delta_along_track_m[index]);
index++;
}
}
}
return delta_along_track_m_aux;
}
std::vector<float> Galileo_HAS_data::get_delta_cross_track_m() const
{
std::vector<float> delta_cross_track_m;
delta_cross_track_m.reserve(this->delta_cross_track.size());
for (const auto& d : this->delta_along_track)
{
delta_cross_track_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR);
}
return delta_cross_track_m;
}
std::vector<float> Galileo_HAS_data::get_delta_cross_track_m(uint8_t nsys) const
{
std::vector<float> delta_cross_track_m = this->get_delta_cross_track_m();
if (nsys >= this->Nsys)
{
return delta_cross_track_m;
}
std::vector<float> delta_cross_track_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_cross_track_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
{
uint8_t num_sats_in_system = this->get_num_satellites()[sys];
if (sys != nsys)
{
index += num_sats_in_system;
}
else
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_cross_track_m_aux.push_back(delta_cross_track_m[index]);
index++;
}
}
}
return delta_cross_track_m_aux;
}
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m() const
{
std::vector<float> delta_clock_c0_m;
delta_clock_c0_m.reserve(this->delta_clock_c0.size());
for (const auto& d : this->delta_clock_c0)
{
delta_clock_c0_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
}
return delta_clock_c0_m;
}
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m(uint8_t nsys) const
{
std::vector<float> delta_clock_c0_m = this->get_delta_clock_c0_m();
if (nsys >= this->Nsys)
{
return delta_clock_c0_m;
}
std::vector<float> delta_clock_c0_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_clock_c0_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
{
uint8_t num_sats_in_system = this->get_num_satellites()[sys];
if (sys != nsys)
{
index += num_sats_in_system;
}
else
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_clock_c0_m_aux.push_back(delta_clock_c0_m[index]);
index++;
}
}
}
return delta_clock_c0_m_aux;
}
std::vector<std::vector<float>> Galileo_HAS_data::get_code_bias_m() const
{
std::vector<std::vector<float>> code_bias_m;
const size_t outer_size = this->code_bias.size();
if (outer_size == 0)
{
return code_bias_m;
}
const size_t inner_size = this->code_bias[0].size();
code_bias_m = std::vector<std::vector<float>>(outer_size, std::vector<float>(inner_size));
for (size_t i = 0; i < outer_size; i++)
{
for (size_t j = 0; j < inner_size; j++)
{
code_bias_m[i][j] = static_cast<float>(this->code_bias[i][j]) * HAS_MSG_CODE_BIAS_SCALE_FACTOR;
}
}
return code_bias_m;
}
std::vector<std::vector<float>> Galileo_HAS_data::get_phase_bias_cycle() const
{
std::vector<std::vector<float>> phase_bias_cycle;
const size_t outer_size = this->phase_bias.size();
if (outer_size == 0)
{
return phase_bias_cycle;
}
const size_t inner_size = this->phase_bias[0].size();
phase_bias_cycle = std::vector<std::vector<float>>(outer_size, std::vector<float>(inner_size));
for (size_t i = 0; i < outer_size; i++)
{
for (size_t j = 0; j < inner_size; j++)
{
phase_bias_cycle[i][j] = static_cast<float>(this->phase_bias[i][j]) * HAS_MSG_PHASE_BIAS_SCALE_FACTOR;
}
}
return phase_bias_cycle;
}
std::vector<uint8_t> Galileo_HAS_data::get_num_satellites() const
{
std::vector<uint8_t> num_satellites;
if (this->Nsys == 0)
{
return num_satellites;
}
num_satellites.reserve(this->Nsys);
for (uint8_t i = 0; i < this->Nsys; i++)
{
std::stringstream ss;
std::bitset<HAS_MSG_SATELLITE_MASK_LENGTH> bits(this->satellite_mask[i]);
ss << bits.to_string();
std::string sat_mask = ss.str();
num_satellites.push_back(static_cast<int8_t>(std::count(sat_mask.begin(), sat_mask.end(), '1')));
}
return num_satellites;
}
std::vector<uint16_t> Galileo_HAS_data::get_gnss_iod(uint8_t nsys) const
{
std::vector<uint16_t> gnss_iod_v = this->gnss_iod;
if (nsys >= this->Nsys)
{
return gnss_iod_v;
}
std::vector<uint16_t> gnss_iod_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
gnss_iod_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
{
uint8_t num_sats_in_system = this->get_num_satellites()[sys];
if (sys != nsys)
{
index += num_sats_in_system;
}
else
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
gnss_iod_aux.push_back(gnss_iod_v[index]);
index++;
}
}
}
return gnss_iod_aux;
}
uint16_t Galileo_HAS_data::get_nsat() const
{
std::vector<uint8_t> num_satellites = this->get_num_satellites();
uint16_t total_number_of_sats = std::accumulate(num_satellites.begin(), num_satellites.end(), 0);
return total_number_of_sats;
}
std::vector<std::string> Galileo_HAS_data::get_systems_string() const
{
const size_t nsys = this->gnss_id_mask.size();
std::vector<std::string> systems(nsys, std::string(""));
for (uint8_t i = 0; i < this->Nsys; i++)
{
std::string system("Reserved");
if (this->gnss_id_mask[i] == 0)
{
system = "GPS";
}
if (this->gnss_id_mask[i] == 2)
{
system = "Galileo";
}
systems[i] = system;
}
return systems;
}
uint16_t Galileo_HAS_data::get_nsatprime() const
{
auto Nsatprime = static_cast<uint16_t>(this->delta_clock_c0_clock_subset.size());
return Nsatprime;
}

26
src/core/system_parameters/galileo_has_data.h
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@ -51,10 +51,26 @@ class Galileo_HAS_data
public:
Galileo_HAS_data() = default;
std::vector<int> get_PRNs_in_mask(uint8_t nsys) const;
std::vector<int> get_PRNs_in_submask(uint8_t nsys) const;
std::vector<std::string> get_signals_in_mask(uint8_t nsys) const;
uint8_t get_gnss_id(int nsat) const;
std::vector<std::string> get_signals_in_mask(uint8_t nsys) const; //!< Get a vector of Nsys std::string with signals in mask for system nsys, with 0 <= nsys < Nsys
std::vector<std::string> get_systems_string() const; //!< Get Nsys system name strings
std::vector<std::vector<float>> get_code_bias_m() const; //!< Get Nsat x Ncodes code biases in [m]
std::vector<std::vector<float>> get_phase_bias_cycle() const; //!< Get Nsat x Nphases phase biases in [cycles]
std::vector<float> get_delta_radial_m() const; //!< Get Nsat delta radial corrections in [m]
std::vector<float> get_delta_radial_m(uint8_t nsys) const; //!< Get delta radial corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_along_track_m() const; //!< Get Nsat delta along_track corrections in [m]
std::vector<float> get_delta_along_track_m(uint8_t nsys) const; //!< Get alog-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_cross_track_m() const; //!< Get Nsat delta cross_track corrections in [m]
std::vector<float> get_delta_cross_track_m(uint8_t nsys) const; //!< Get delta cross_track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_clock_c0_m() const; //!< Get Nsat delta clock C0 corrections in [m]
std::vector<float> get_delta_clock_c0_m(uint8_t nsys) const; //!< Get delta clock C0 corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_mask(uint8_t nsys) const; //!< Get PRNs in mask for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_submask(uint8_t nsys) const; //!< Get PRNs in submask for system nsys, with 0 <= nsys < Nsys
std::vector<uint16_t> get_gnss_iod(uint8_t nsys) const; //!< Get GNSS IODs for for system nsys, with 0 <= nsys < Nsys
std::vector<uint8_t> get_num_satellites() const; //!< Get Nsys number of satellites
uint16_t get_nsat() const; //!< Get total number of satellites with corrections
uint16_t get_nsatprime() const; //!< Get number of satellites in clock subset corrections
uint16_t get_validity_interval_s(uint8_t validity_interval_index) const; //!< Get validity interbal in [s] from the validity_interval_index
uint8_t get_gnss_id(int nsat) const; //!< Get GNSS ID from the nsat satellite
// Mask
std::vector<uint8_t> gnss_id_mask;
@ -96,7 +112,7 @@ public:
uint8_t has_status;
uint8_t message_id;
uint8_t Nsys; // in Mask
uint8_t Nsys; //!< Number of GNSS for which corrections are provided
uint8_t validity_interval_index_orbit_corrections; // in Orbit corrections
uint8_t validity_interval_index_clock_fullset_corrections; // in Clock full-set corrections
uint8_t validity_interval_index_clock_subset_corrections; // in Clock subset corrections