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Adding the Hotstart telecommand implementation to predict visible satellites for GPS and Galileo constellations

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Javier
2018-11-05 17:53:53 +01:00
parent 40efd08b56
commit 01a1954b15
19 changed files with 458 additions and 43 deletions
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src/algorithms/libs/rtklib/rtklib_conversions.cc
+55 -3
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@@ -116,7 +116,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glona
eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
@@ -174,7 +174,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
@@ -231,7 +231,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
@@ -291,3 +291,55 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
return rtklib_sat;
}
alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
{
alm_t rtklib_alm;
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gps_alm.i_satellite_PRN;
rtklib_alm.svh = gps_alm.i_SV_health;
rtklib_alm.svconf = gps_alm.i_AS_status;
rtklib_alm.week = gps_alm.i_WNa;
rtklib_alm.toa = gpst2time(gps_alm.i_WNa, gps_alm.d_Toa);
rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
rtklib_alm.e = gps_alm.d_e_eccentricity;
rtklib_alm.i0 = gps_alm.d_Delta_i + 0.3;
rtklib_alm.OMG0 = gps_alm.d_OMEGA0;
rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT;
rtklib_alm.omg = gps_alm.d_OMEGA;
rtklib_alm.M0 = gps_alm.d_M_0;
rtklib_alm.f0 = gps_alm.d_A_f0;
rtklib_alm.f1 = gps_alm.d_A_f1;
rtklib_alm.toas = gps_alm.d_Toa;
return rtklib_alm;
}
alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
{
alm_t rtklib_alm;
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gal_alm.i_satellite_PRN;
rtklib_alm.svh = gal_alm.E1B_HS;
rtklib_alm.svconf = gal_alm.E1B_HS;
rtklib_alm.week = gal_alm.d_WNa;
rtklib_alm.toa = gpst2time(gal_alm.d_WNa, gal_alm.d_Toa);
rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
rtklib_alm.e = gal_alm.d_e_eccentricity;
rtklib_alm.i0 = gal_alm.d_Delta_i + 0.31111;
rtklib_alm.OMG0 = gal_alm.d_OMEGA0;
rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT;
rtklib_alm.omg = gal_alm.d_OMEGA;
rtklib_alm.M0 = gal_alm.d_M_0;
rtklib_alm.f0 = gal_alm.d_A_f0;
rtklib_alm.f1 = gal_alm.d_A_f1;
rtklib_alm.toas = gal_alm.d_Toa;
return rtklib_alm;
}