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Merge branch 'next' of github.com:gnss-sdr/gnss-sdr into pps_lime

This commit is contained in:
Javier Arribas 2022-09-15 11:29:33 +02:00
parent dd1ce7893c 30dd2e5048
commit 039065c383
5 changed files with 143 additions and 0 deletions
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5
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -203,6 +203,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
* 104 | Galileo E1B + Galileo E5a + Galileo E6B
* 105 | Galileo E1B + Galileo E5b + Galileo E6B
* 106 | GPS L1 C/A + Galileo E1B + Galileo E6B
* 107 | GPS L1 C/A + Galileo E6B
* Skipped previous values to avoid overlapping
* 500 | BeiDou B1I
* 501 | BeiDou B1I + GPS L1 C/A
@ -400,6 +401,10 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
{
pvt_output_parameters.type_of_receiver = 106; // GPS L1 C/A + Galileo E1B + Galileo E6B
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 107; // GPS L1 C/A + Galileo E6B
}
// BeiDou B1I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{

67
src/algorithms/PVT/libs/rinex_printer.cc
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@ -709,6 +709,29 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
d_rinex_header_written = true; // do not write header anymore
}
break;
case 107: // GPS L1 C/A + Galileo E6B
if (gps_ephemeris_iter != pvt_solver->gps_ephemeris_map.cend())
{
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
// we have Galileo ephemeris, maybe from assistance
const std::string gal_signal("E6");
rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navMixFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navMixfilename);
log_rinex_nav(navMixFile, pvt_solver->gps_ephemeris_map, pvt_solver->galileo_ephemeris_map);
}
else
{
// we do not have galileo ephemeris, print only GPS data
rinex_obs_header(obsFile, gps_ephemeris_iter->second, rx_time);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
output_navfilename.push_back(navfilename);
log_rinex_nav(navFile, pvt_solver->gps_ephemeris_map);
}
d_rinex_header_written = true; // do not write header anymore
}
break;
case 500: // BDS B1I only
if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend())
{
@ -1196,6 +1219,34 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
}
}
break;
case 107:
if (gps_ephemeris_iter != pvt_solver->gps_ephemeris_map.cend())
{
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
// we have Galileo ephemeris, maybe from assistance
log_rinex_obs(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gnss_observables_map);
if (!d_rinex_header_updated and (pvt_solver->gps_utc_model.A0 != 0))
{
update_obs_header(obsFile, pvt_solver->gps_utc_model);
update_nav_header(navMixFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
d_rinex_header_updated = true;
}
}
else
{
// we do not have galileo ephemeris, print only GPS data
log_rinex_obs(obsFile, gps_ephemeris_iter->second, rx_time, gnss_observables_map);
if (!d_rinex_header_updated and (pvt_solver->gps_utc_model.A0 != 0))
{
update_obs_header(obsFile, pvt_solver->gps_utc_model);
update_nav_header(navFile, pvt_solver->gps_utc_model, pvt_solver->gps_iono, gps_ephemeris_iter->second);
d_rinex_header_updated = true;
}
}
}
break;
case 500: // BDS B1I only
if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend())
{
@ -1321,6 +1372,16 @@ void Rinex_Printer::log_rinex_nav_gps_nav(int type_of_rx, const std::map<int32_t
case 106: // GPS L1 C/A + Galileo E1B + Galileo E6B
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
break;
case 107: // GPS L1 C/A + Galileo E6B
if (navMixFile.tellp() != 0)
{
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
}
else
{
log_rinex_nav(navFile, new_eph);
}
break;
case 1000: // L1+L2+L5
log_rinex_nav(navFile, new_eph);
break;
@ -1378,6 +1439,12 @@ void Rinex_Printer::log_rinex_nav_gal_nav(int type_of_rx, const std::map<int32_t
case 106: // GPS L1 C/A + Galileo E1B + Galileo E6B
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
break;
case 107: // GPS L1 C/A + Galileo E6B
if (navMixFile.tellp() != 0)
{
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
}
break;
case 1001: // L1+E1+L2+L5+E5a
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
break;

1
src/algorithms/PVT/libs/rinex_printer.h
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@ -142,6 +142,7 @@ public:
* 104 | Galileo E1B + Galileo E5a + Galileo E6B
* 105 | Galileo E1B + Galileo E5b + Galileo E6B
* 106 | GPS L1 C/A + Galileo E1B + Galileo E6B
* 107 | GPS L1 C/A + Galileo E6B
* 500 | BeiDou B1I
* 501 | BeiDou B1I + GPS L1 C/A
* 502 | BeiDou B1I + Galileo E1B

69
src/algorithms/PVT/libs/rtcm_printer.cc
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@ -831,6 +831,23 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
}
break;
case 107: // GPS L1 C/A + Galileo E6B (print only GPS data)
if (flag_write_RTCM_1019_output == true)
{
for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map)
{
Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
break;
default:
break;
}
@ -1444,6 +1461,58 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
d_rtcm_writing_started = true;
break;
case 107:
if (rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map)
{
Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (rtcm_MSM_rate_ms != 0)
{
auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (const auto& gnss_observables_iter : gnss_observables_map)
{
const std::string system(gnss_observables_iter.second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = pvt_solver->gps_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
{
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
d_rtcm_writing_started = true;
break;
default:
break;
}

1
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -125,6 +125,7 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
d_rtklib_freq_index[1] = 3;
break;
case 106: // GPS L1 C/A + Galileo E1B + Galileo E6B
case 107: // GPS L1 C/A + Galileo E6B
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
break;