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2
CMakeLists.txt
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@ -317,7 +317,7 @@ set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
set(GNSSSDR_BOOST_MIN_VERSION "1.45") set(GNSSSDR_BOOST_MIN_VERSION "1.45")
set(GNSSSDR_PYTHON_MIN_VERSION "2.7") set(GNSSSDR_PYTHON_MIN_VERSION "2.7")
set(GNSSSDR_MAKO_MIN_VERSION "0.4.2") set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
set(GNSSSDR_ARMADILLO_MIN_VERSION "4.200.0") set(GNSSSDR_ARMADILLO_MIN_VERSION "5.300.0")
set(GNSSSDR_MATIO_MIN_VERSION "1.5.3") set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")

4
CONTRIBUTING.md
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@ -67,7 +67,7 @@ GitHub](https://github.com/join).
GitHub](https://github.com/gnss-sdr/gnss-sdr/fork). This will copy the GitHub](https://github.com/gnss-sdr/gnss-sdr/fork). This will copy the
whole gnss-sdr repository to your personal account. whole gnss-sdr repository to your personal account.
3. Then, go to your favourite working folder in your computer and 3. Then, go to your favorite working folder in your computer and
clone your forked repository by typing (replacing ```YOUR_USERNAME``` by clone your forked repository by typing (replacing ```YOUR_USERNAME``` by
the actual username of your GitHub account): the actual username of your GitHub account):
@ -128,7 +128,7 @@ $ git pull --rebase upstream next
### How to submit a pull request ### How to submit a pull request
Before submitting you code, please be sure to [apply clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting). Before submitting your code, please be sure to [apply clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting).
When the contribution is ready, you can [submit a pull When the contribution is ready, you can [submit a pull
request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your

32
README.md
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@ -304,7 +304,7 @@ $ cmake ../
$ make $ make
~~~~~~ ~~~~~~
By default, CMake will build the Release version, meaning that the compiler will generate a fast, optimized executable. This is the recommended build type when using a RF front-end and you need to attain real time. If working with a file (and thus without real-time constraints), you may want to obtain more information about the internals of the receiver, as well as more fine-grained logging. This can be done by building the Debug version, by doing: By default, CMake will build the Release version, meaning that the compiler will generate a fast, optimized executable. This is the recommended build type when using an RF front-end and you need to attain real time. If working with a file (and thus without real-time constraints), you may want to obtain more information about the internals of the receiver, as well as more fine-grained logging. This can be done by building the Debug version, by doing:
~~~~~~ ~~~~~~
$ cmake -DCMAKE_BUILD_TYPE=Debug ../ $ cmake -DCMAKE_BUILD_TYPE=Debug ../
@ -698,7 +698,7 @@ Getting started
We use a [DBSRX2](https://www.ettus.com/product/details/DBSRX2) to do the task, but you can try the newer Ettus' daughter boards as well. We use a [DBSRX2](https://www.ettus.com/product/details/DBSRX2) to do the task, but you can try the newer Ettus' daughter boards as well.
3. The easiest way to capture a signal file is to use the GNU Radio Companion GUI. Only two blocks are needed: a USRP signal source connected to complex float file sink. You need to tune the USRP central frequency and decimation factor using USRP signal source properties box. We suggest using a decimation factor of 20 if you use the USRP2. This will give you 100/20 = 5 MSPS which will be enough to receive GPS L1 C/A signals. The front-end gain should also be configured. In our test with the DBSRX2 we obtained good results with ```G=50```. 3. The easiest way to capture a signal file is to use the GNU Radio Companion GUI. Only two blocks are needed: a USRP signal source connected to complex float file sink. You need to tune the USRP central frequency and decimation factor using USRP signal source properties box. We suggest using a decimation factor of 20 if you use the USRP2. This will give you 100/20 = 5 MSPS which will be enough to receive GPS L1 C/A signals. The front-end gain should also be configured. In our test with the DBSRX2 we obtained good results with ```G=50```.
4. Capture at least 80 seconds of signal in open sky conditions. During the process, be aware of USRP driver buffer underruns messages. If your hard disk is not fast enough to write data at this speed you can capture to a virtual RAM drive. 80 seconds of signal at 5 MSPS occupies less than 3 Gbytes using ```gr_complex<float>```. 4. Capture at least 80 seconds of signal in open sky conditions. During the process, be aware of USRP driver buffer underruns messages. If your hard disk is not fast enough to write data at this speed you can capture to a virtual RAM drive. 80 seconds of signal at 5 MSPS occupies less than 3 Gbytes using ```gr_complex<float>```.
5. If you have no access to a RF front-end, you can download a sample raw data file (that contains GPS and Galileo signals) from [here](http://sourceforge.net/projects/gnss-sdr/files/data/). 5. If you have no access to an RF front-end, you can download a sample raw data file (that contains GPS and Galileo signals) from [here](http://sourceforge.net/projects/gnss-sdr/files/data/).
3. You are ready to configure the receiver to use your captured file among other parameters: 3. You are ready to configure the receiver to use your captured file among other parameters:
1. The default configuration file resides at [/usr/local/share/gnss-sdr/conf/default.conf](./conf/gnss-sdr.conf). 1. The default configuration file resides at [/usr/local/share/gnss-sdr/conf/default.conf](./conf/gnss-sdr.conf).
2. You need to review/modify at least the following settings: 2. You need to review/modify at least the following settings:
@ -718,7 +718,7 @@ For more information, check out our [quick start guide](http://gnss-sdr.org/quic
Using GNSS-SDR Using GNSS-SDR
============== ==============
With GNSS-SDR, you can define you own receiver, work with captured raw data or from a RF front-end, dump into files intermediate signals, or tune every single algorithm used in the signal processing. All the configuration is done in a single file. Those configuration files reside at the [gnss-sdr/conf/](./conf/) folder (or at /usr/local/share/gnss-sdr/conf if you installed the program). By default, the executable ```gnss-sdr``` will read the configuration available at ```gnss-sdr/conf/gnss-sdr.conf``` (or at (usr/local/share/gnss-sdr/conf/default.conf if you installed the program). You can edit that file to fit your needs, or even better, define a new ```my_receiver.conf``` file with your own configuration. This new receiver can be generated by invoking gnss-sdr with the ```--config_file``` flag pointing to your configuration file: With GNSS-SDR, you can define your own receiver, work with captured raw data or from an RF front-end, dump into files intermediate signals, or tune every single algorithm used in the signal processing. All the configuration is done in a single file. Those configuration files reside at the [gnss-sdr/conf/](./conf/) folder (or at /usr/local/share/gnss-sdr/conf if you installed the program). By default, the executable ```gnss-sdr``` will read the configuration available at ```gnss-sdr/conf/gnss-sdr.conf``` (or at (usr/local/share/gnss-sdr/conf/default.conf if you installed the program). You can edit that file to fit your needs, or even better, define a new ```my_receiver.conf``` file with your own configuration. This new receiver can be generated by invoking gnss-sdr with the ```--config_file``` flag pointing to your configuration file:
~~~~~~ ~~~~~~
$ gnss-sdr --config_file=/path/to/my_receiver.conf $ gnss-sdr --config_file=/path/to/my_receiver.conf
@ -770,7 +770,7 @@ Since the configuration is just a set of property names and values without any m
### GNSS block factory ### GNSS block factory
Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called [GNSSBlockFactory](./src/core/receiver/gnss_block_factory.h). This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration enables extending the application capacities in a high degree. It also allows to produce fully customized receivers, for instance a testbed for acquisition algorithms, and to place observers at any point of the receiver chain. Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called [GNSSBlockFactory](./src/core/receiver/gnss_block_factory.h). This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration enables extending the application capacities in a high degree. It also allows producing fully customized receivers, for instance a testbed for acquisition algorithms, and to place observers at any point of the receiver chain.
More information can be found at the [Control Plane page](http://gnss-sdr.org/docs/control-plane/). More information can be found at the [Control Plane page](http://gnss-sdr.org/docs/control-plane/).
@ -784,9 +784,9 @@ GNU Radio's class ```gr::basic_block``` is the abstract base class for all signa
A signal processing flow is constructed by creating a tree of hierarchical blocks, which at any level may also contain terminal nodes that actually implement signal processing functions. A signal processing flow is constructed by creating a tree of hierarchical blocks, which at any level may also contain terminal nodes that actually implement signal processing functions.
Class ```gr::top_block``` is the top-level hierarchical block representing a flowgraph. It defines GNU Radio runtime functions used during the execution of the program: run(), start(), stop(), wait(), etc. A a subclass called [GNSSBlockInterface](./src/core/interfaces/gnss_block_interface.h) is the common interface for all the GNSS-SDR modules. It defines pure virtual methods, that are required to be implemented by a derived class. Class ```gr::top_block``` is the top-level hierarchical block representing a flowgraph. It defines GNU Radio runtime functions used during the execution of the program: run(), start(), stop(), wait(), etc. A subclass called [GNSSBlockInterface](./src/core/interfaces/gnss_block_interface.h) is the common interface for all the GNSS-SDR modules. It defines pure virtual methods, that are required to be implemented by a derived class.
Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver blocks depicted in the figure above. This hierarchy provides the definition of different algorithms and different implementations, which will be instantiated according to the configuration. This strategy allows multiple implementations sharing a common interface, achieving the objective of decoupling interfaces from implementations: it defines a family of algorithms, encapsulates each one, and makes them interchangeable. Hence, we let the algorithm vary independently from the program that uses it. Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver blocks depicted in the figure above. This hierarchy provides the definition of different algorithms and different implementations, which will be instantiated according to the configuration. This strategy allows multiple implementations sharing a common interface, achieving the objective of decoupling interfaces from implementations: it defines a family of algorithms, encapsulates each one, and makes them interchangeable. Hence, we let the algorithm vary independently of the program that uses it.
Internally, GNSS-SDR makes use of the complex data types defined by [VOLK](http://libvolk.org/ "Vector-Optimized Library of Kernels home"). They are fundamental for handling sample streams in which samples are complex numbers with real and imaginary components of 8, 16 or 32 bits, common formats delivered by GNSS (and generic SDR) radio frequency front-ends. The following list shows the data type names that GNSS-SDR exposes through the configuration file: Internally, GNSS-SDR makes use of the complex data types defined by [VOLK](http://libvolk.org/ "Vector-Optimized Library of Kernels home"). They are fundamental for handling sample streams in which samples are complex numbers with real and imaginary components of 8, 16 or 32 bits, common formats delivered by GNSS (and generic SDR) radio frequency front-ends. The following list shows the data type names that GNSS-SDR exposes through the configuration file:
@ -806,7 +806,7 @@ More information about the available processing blocks and their configuration p
The input of a software receiver are the raw bits that come out from the front-end's analog-to-digital converter (ADC). Those bits can be read from a file stored in the hard disk or directly in real-time from a hardware device through USB or Ethernet buses. The input of a software receiver are the raw bits that come out from the front-end's analog-to-digital converter (ADC). Those bits can be read from a file stored in the hard disk or directly in real-time from a hardware device through USB or Ethernet buses.
The Signal Source module is in charge of implementing the hardware driver, that is, the portion of the code that communicates with the RF front-end and receives the samples coming from the ADC. This communication is usually performed through USB or Ethernet buses. Since real-time processing requires a highly optimized implementation of the whole receiver, this module also allows to read samples from a file stored in a hard disk, and thus processing without time constraints. Relevant parameters of those samples are the intermediate frequency (or baseband I&Q components), the sampling rate and number of bits per sample, that must be specified by the user in the configuration file. The Signal Source module is in charge of implementing the hardware driver, that is, the portion of the code that communicates with the RF front-end and receives the samples coming from the ADC. This communication is usually performed through USB or Ethernet buses. Since real-time processing requires a highly optimized implementation of the whole receiver, this module also allows reading samples from a file stored in a hard disk, and thus processing without time constraints. Relevant parameters of those samples are the intermediate frequency (or baseband I&Q components), the sampling rate and number of bits per sample, that must be specified by the user in the configuration file.
This module also performs bit-depth adaptation, since most of the existing RF front-ends provide samples quantized with 2 or 3 bits, while operations inside the processor are performed on 32- or 64-bit words, depending on its architecture. Although there are implementations of the most intensive computational processes (mainly correlation) that take advantage of specific data types and architectures for the sake of efficiency, the approach is processor-specific and hardly portable. We suggest to keep signal samples in standard data types and letting the compiler select the best library version (implemented using SIMD or any other processor-specific technology) of the required routines for a given processor. This module also performs bit-depth adaptation, since most of the existing RF front-ends provide samples quantized with 2 or 3 bits, while operations inside the processor are performed on 32- or 64-bit words, depending on its architecture. Although there are implementations of the most intensive computational processes (mainly correlation) that take advantage of specific data types and architectures for the sake of efficiency, the approach is processor-specific and hardly portable. We suggest to keep signal samples in standard data types and letting the compiler select the best library version (implemented using SIMD or any other processor-specific technology) of the required routines for a given processor.
@ -822,7 +822,7 @@ SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=4000000 ; Sampling frequency in samples per second (Sps) SignalSource.sampling_frequency=4000000 ; Sampling frequency in samples per second (Sps)
~~~~~~ ~~~~~~
Type ```gr_complex``` refers to a GNU Radio typedef equivalent to ```std::complex<float>```. In order to save some storage space, you might wanted to store your signal in a more efficient format such as an I/Q interleaved ```short`` integer sample stream. In that case, change the corresponding line to: Type ```gr_complex``` refers to a GNU Radio typedef equivalent to ```std::complex<float>```. In order to save some storage space, you might want to store your signal in a more efficient format such as an I/Q interleaved ```short`` integer sample stream. In that case, change the corresponding line to:
~~~~~~ ~~~~~~
SignalSource.item_type=ishort SignalSource.item_type=ishort
@ -846,7 +846,7 @@ Sometimes, samples are stored in files with a format which is not in the list of
Within a byte the samples may be packed in big endian ```big_endian_bytes=true``` (if the most significant byte value is stored at the memory location with the lowest address, the next byte value in significance is stored at the following memory location, and so on) or little endian ```big_endian_bytes=false``` (if the least significant byte value is at the lowest address, and the other bytes follow in increasing order of significance). If the order is big endian then the most significant two bits will form the first sample output, otherwise the least significant two bits will be used. Within a byte the samples may be packed in big endian ```big_endian_bytes=true``` (if the most significant byte value is stored at the memory location with the lowest address, the next byte value in significance is stored at the following memory location, and so on) or little endian ```big_endian_bytes=false``` (if the least significant byte value is at the lowest address, and the other bytes follow in increasing order of significance). If the order is big endian then the most significant two bits will form the first sample output, otherwise the least significant two bits will be used.
Additionally the samples may be either real ```sample_type=real```, or complex. If the sample type is complex, then the samples are either stored in the order: real, imag, real, imag, ... ```sample_type=iq``` or in the order: imag, real, imag, real, ... ```sample_type=qi```. Additionally, the samples may be either real ```sample_type=real```, or complex. If the sample type is complex, then the samples are either stored in the order: real, imag, real, imag, ... ```sample_type=iq``` or in the order: imag, real, imag, real, ... ```sample_type=qi```.
Finally, if the data is stored as shorts ```item_type=short```, then it may be stored in either big endian ```big_endian_items=true``` or little endian ```big_endian_items=false```. If the shorts are big endian then the 2nd byte in each short is output first. Finally, if the data is stored as shorts ```item_type=short```, then it may be stored in either big endian ```big_endian_items=true``` or little endian ```big_endian_items=false```. If the shorts are big endian then the 2nd byte in each short is output first.
@ -1008,7 +1008,7 @@ If your signal source is providing baseband signal samples of type ```gr_complex
SignalConditioner.implementation=Pass_Through SignalConditioner.implementation=Pass_Through
~~~~~~ ~~~~~~
If you need to adapt some aspect of you signal, you can enable the Signal Conditioner and configure three internal blocks: a data type adpater, an input signal and a resampler. If you need to adapt some aspect of your signal, you can enable the Signal Conditioner and configure three internal blocks: a data type adapter, an input signal and a resampler.
~~~~~~ ~~~~~~
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks ;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
@ -1104,7 +1104,7 @@ More documentation at the [Resampler Blocks page](http://gnss-sdr.org/docs/sp-bl
### Channel ### Channel
A channel encapsulates all signal processing devoted to a single satellite. Thus, it is a large composite object which encapsulates the acquisition, tracking and navigation data decoding modules. As a composite object, it can be treated as a single entity, meaning that it can be easily replicated. Since the number of channels is selectable by the user in the configuration file, this approach helps improving the scalability and maintainability of the receiver. A channel encapsulates all signal processing devoted to a single satellite. Thus, it is a large composite object which encapsulates the acquisition, tracking and navigation data decoding modules. As a composite object, it can be treated as a single entity, meaning that it can be easily replicated. Since the number of channels is selectable by the user in the configuration file, this approach helps to improve the scalability and maintainability of the receiver.
Each channel must be assigned to a GNSS signal, according to the following identifiers: Each channel must be assigned to a GNSS signal, according to the following identifiers:
@ -1146,7 +1146,7 @@ Channel6.signal=1B ;
Channel7.signal=1B ; Channel7.signal=1B ;
~~~~~~ ~~~~~~
This module is also in charge of managing the interplay between acquisition and tracking. Acquisition can be initialized in several ways, depending on the prior information available (called cold start when the receiver has no information about its position nor the satellites almanac; warm start when a rough location and the approximate time of day are available, and the receiver has a recently recorded almanac broadcast; or hot start when the receiver was tracking a satellite and the signal line of sight broke for a short period of time, but the ephemeris and almanac data is still valid, or this information is provided by other means), and an acquisition process can finish deciding that the satellite is not present, that longer integration is needed in order to confirm the presence of the satellite, or declaring the satellite present. In the latter case, acquisition process should stop and trigger the tracking module with coarse estimations of the synchronization parameters. The mathematical abstraction used to design this logic is known as finite state machine (FSM), that is a behavior model composed of a finite number of states, transitions between those states, and actions. For the implementation, we use the [Boost.Statechart library](http://www.boost.org/libs/statechart/doc/tutorial.html), which provides desirable features such as support for asynchronous state machines, multi-threading, type-safety, error handling and compile-time validation. This module is also in charge of managing the interplay between acquisition and tracking. Acquisition can be initialized in several ways, depending on the prior information available (called cold start when the receiver has no information about its position nor the satellites' almanac; warm start when a rough location and the approximate time of day are available, and the receiver has a recently recorded almanac broadcast; or hot start when the receiver was tracking a satellite and the signal line of sight broke for a short period of time, but the ephemeris and almanac data is still valid, or this information is provided by other means), and an acquisition process can finish deciding that the satellite is not present, that longer integration is needed in order to confirm the presence of the satellite, or declaring the satellite present. In the latter case, acquisition process should stop and trigger the tracking module with coarse estimations of the synchronization parameters. The mathematical abstraction used to design this logic is known as finite state machine (FSM), that is a behavior model composed of a finite number of states, transitions between those states, and actions.
The abstract class [ChannelInterface](./src/core/interfaces/channel_interface.h) represents an interface to a channel GNSS block. Check [Channel](./src/algorithms/channel/adapters/channel.h) for an actual implementation. The abstract class [ChannelInterface](./src/core/interfaces/channel_interface.h) represents an interface to a channel GNSS block. Check [Channel](./src/algorithms/channel/adapters/channel.h) for an actual implementation.
@ -1256,7 +1256,7 @@ More documentation at the [Tracking Blocks page](http://gnss-sdr.org/docs/sp-blo
#### Decoding of the navigation message #### Decoding of the navigation message
Most of GNSS signal links are modulated by a navigation message containing the time the message was transmitted, orbital parameters of satellites (also known as ephemeris) and an almanac (information about the general system health, rough orbits of all satellites in the network as well as data related to error correction). Navigation data bits are structured in words, pages, subframes, frames and superframes. Sometimes, bits corresponding to a single parameter are spread over different words, and values extracted from different frames are required for proper decoding. Some words are for synchronization purposes, others for error control an others contain actual information. There are also error control mechanisms, from parity checks to forward error correction (FEC) encoding and interleaving, depending on the system. All this decoding complexity is managed by a finite state machine implemented with the [Boost.Statechart library](http://www.boost.org/libs/statechart/doc/tutorial.html). Most of GNSS signal links are modulated by a navigation message containing the time the message was transmitted, orbital parameters of satellites (also known as ephemeris) and an almanac (information about the general system health, rough orbits of all satellites in the network as well as data related to error correction). Navigation data bits are structured in words, pages, subframes, frames and superframes. Sometimes, bits corresponding to a single parameter are spread over different words, and values extracted from different frames are required for proper decoding. Some words are for synchronization purposes, others for error control and others contain actual information. There are also error control mechanisms, from parity checks to forward error correction (FEC) encoding and interleaving, depending on the system. All this decoding complexity is managed by a finite state machine.
The common interface is [TelemetryDecoderInterface](./src/core/interfaces/telemetry_decoder_interface.h). Check [GpsL1CaTelemetryDecoder](./src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.h) for an example of the GPS L1 NAV message decoding adapter, and [gps_l1_ca_telemetry_decoder_cc](./src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h) for an actual implementation of a signal processing block. Configuration example: The common interface is [TelemetryDecoderInterface](./src/core/interfaces/telemetry_decoder_interface.h). Check [GpsL1CaTelemetryDecoder](./src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.h) for an example of the GPS L1 NAV message decoding adapter, and [gps_l1_ca_telemetry_decoder_cc](./src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h) for an actual implementation of a signal processing block. Configuration example:
@ -1343,7 +1343,7 @@ PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2 PVT.rinex_version=2
~~~~~~ ~~~~~~
* **RTCM SC-104** provides standards that define the data structure for differential GNSS correction information for a variety of differential correction applications. Developed by the Radio Technical Commission for Maritime Services ([RTCM](http://www.rtcm.org/overview.php#Standards "Radio Technical Commission for Maritime Services")), they have become an industry standard for communication of correction information. GNSS-SDR implements RTCM version 3.2, defined in the document *RTCM 10403.2, Differential GNSS (Global Navigation Satellite Systems) Services - Version 3* (February 1, 2013), which can be [purchased online](https://ssl29.pair.com/dmarkle/puborder.php?show=3 "RTCM Online Publication Order Form"). By default, the generated RTCM binary messages are dumped into a text file in hexadecimal format. However, GNSS-SDR is equipped with a TCP/IP server, acting as an NTRIP source that can feed an NTRIP server. NTRIP (Networked Transport of RTCM via Internet Protocol) is an open standard protocol that can be freely download from [BKG](http://igs.bkg.bund.de/root_ftp/NTRIP/documentation/NtripDocumentation.pdf "Networked Transport of RTCM via Internet Protocol (Ntrip) Version 1.0"), and it is designed for disseminating differential correction data (*e.g.* in the RTCM-104 format) or other kinds of GNSS streaming data to stationary or mobile users over the Internet. The TCP/IP server can be enabled by setting ```PVT.flag_rtcm_server=true``` in the configuration file, and will be active during the execution of the software receiver. By default, the server will operate on port 2101 (which is the recommended port for RTCM services according to the Internet Assigned Numbers Authority, [IANA](http://www.iana.org/assignments/service-names-port-numbers "Service Name and Transport Protocol Port Number Registry")), and will identify the Reference Station with ID=1234. This behaviour can be changed in the configuration file: * **RTCM SC-104** provides standards that define the data structure for differential GNSS correction information for a variety of differential correction applications. Developed by the Radio Technical Commission for Maritime Services ([RTCM](http://www.rtcm.org/overview.php#Standards "Radio Technical Commission for Maritime Services")), they have become an industry standard for communication of correction information. GNSS-SDR implements RTCM version 3.2, defined in the document *RTCM 10403.2, Differential GNSS (Global Navigation Satellite Systems) Services - Version 3* (February 1, 2013), which can be [purchased online](https://ssl29.pair.com/dmarkle/puborder.php?show=3 "RTCM Online Publication Order Form"). By default, the generated RTCM binary messages are dumped into a text file in hexadecimal format. However, GNSS-SDR is equipped with a TCP/IP server, acting as an NTRIP source that can feed an NTRIP server. NTRIP (Networked Transport of RTCM via Internet Protocol) is an open standard protocol that can be freely downloaded from [BKG](http://igs.bkg.bund.de/root_ftp/NTRIP/documentation/NtripDocumentation.pdf "Networked Transport of RTCM via Internet Protocol (Ntrip) Version 1.0"), and it is designed for disseminating differential correction data (*e.g.* in the RTCM-104 format) or other kinds of GNSS streaming data to stationary or mobile users over the Internet. The TCP/IP server can be enabled by setting ```PVT.flag_rtcm_server=true``` in the configuration file, and will be active during the execution of the software receiver. By default, the server will operate on port 2101 (which is the recommended port for RTCM services according to the Internet Assigned Numbers Authority, [IANA](http://www.iana.org/assignments/service-names-port-numbers "Service Name and Transport Protocol Port Number Registry")), and will identify the Reference Station with ID=1234. This behaviour can be changed in the configuration file:
~~~~~~ ~~~~~~
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.rtcm_tcp_port=2102 PVT.rtcm_tcp_port=2102
@ -1400,9 +1400,9 @@ There is a list of papers related to GNSS-SDR in our [publications page](http://
Ok, now what? Ok, now what?
============= =============
In order to start using GNSS-SDR, you may want to populate ```gnss-sdr/data``` folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output of a Radio Frequency front-end's Analog-to-Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz). Prepare your configuration file, and then you are ready for running ```gnss-sdr --config_file=your_configuration.conf```, and seeing how the file is processed. In order to start using GNSS-SDR, you may want to populate ```gnss-sdr/data``` folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output of a Radio Frequency front-end's Analog-to-Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intermediate frequency (on the order of MHz). Prepare your configuration file, and then you are ready for running ```gnss-sdr --config_file=your_configuration.conf```, and seeing how the file is processed.
Another interesting option is working in real-time with a RF front-end. We provide drivers for UHD-compatible hardware such as the [USRP family](http://www.ettus.com/product), for OsmoSDR and other front-ends (HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time. Another interesting option is working in real-time with an RF front-end. We provide drivers for UHD-compatible hardware such as the [USRP family](http://www.ettus.com/product), for OsmoSDR and other front-ends (HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time.
You can find more information at the [GNSS-SDR Documentation page](http://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers). You can find more information at the [GNSS-SDR Documentation page](http://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers).

2
conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf
View File

@ -6,8 +6,6 @@
;######### GLOBAL OPTIONS ################## ;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Sps]. ;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Sps].
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
GNSS-SDR.internal_fs_sps=7000000 GNSS-SDR.internal_fs_sps=7000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############

89
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -38,6 +38,7 @@
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> #include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include "display.h"
#include <algorithm> #include <algorithm>
#include <iostream> #include <iostream>
#include <map> #include <map>
@ -386,7 +387,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL); msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file //save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_L2CM_L5.xml"; std::string file_name = "eph_GPS_CNAV.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0) if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{ {
@ -535,13 +536,13 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// ############ 1. READ PSEUDORANGES #### // ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{ {
if (in[i][epoch].Flag_valid_pseudorange == true) if (in[i][epoch].Flag_valid_pseudorange)
{ {
std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("L5") == 0))) if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1C") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2S") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1B") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("5X") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1G") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2G") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("L5") == 0)))
{ {
// store valid observables in a map. // store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch])); gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
@ -611,36 +612,36 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
flag_display_pvt = true; flag_display_pvt = true;
last_pvt_display_T_rx_s = current_RX_time; last_pvt_display_T_rx_s = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) && (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0 if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) and (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{ {
flag_write_RTCM_1019_output = true; flag_write_RTCM_1019_output = true;
last_RTCM_1019_output_time = current_RX_time; last_RTCM_1019_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) && (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0 if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) and (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{ {
flag_write_RTCM_1020_output = true; flag_write_RTCM_1020_output = true;
last_RTCM_1020_output_time = current_RX_time; last_RTCM_1020_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) and (d_rtcm_MT1045_rate_ms != 0))
{ {
flag_write_RTCM_1045_output = true; flag_write_RTCM_1045_output = true;
last_RTCM_1045_output_time = current_RX_time; last_RTCM_1045_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) && (d_rtcm_MT1077_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) and (d_rtcm_MT1077_rate_ms != 0))
{ {
last_RTCM_1077_output_time = current_RX_time; last_RTCM_1077_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) and (d_rtcm_MT1087_rate_ms != 0))
{ {
last_RTCM_1087_output_time = current_RX_time; last_RTCM_1087_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) and (d_rtcm_MT1097_rate_ms != 0))
{ {
last_RTCM_1097_output_time = current_RX_time; last_RTCM_1097_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) && (d_rtcm_MSM_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) and (d_rtcm_MSM_rate_ms != 0))
{ {
flag_write_RTCM_MSM_output = true; flag_write_RTCM_MSM_output = true;
last_RTCM_MSM_output_time = current_RX_time; last_RTCM_MSM_output_time = current_RX_time;
@ -789,7 +790,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{ {
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
@ -799,7 +800,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("1B"); std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -809,7 +810,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("5X"); std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -819,7 +820,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("7X"); std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -880,7 +881,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -896,7 +897,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
std::string gal_signal("1B"); std::string gal_signal("1B");
@ -907,7 +908,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -969,7 +970,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
} }
if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6)) // Galileo
{ {
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
} }
@ -977,15 +978,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
} }
if ((type_of_rx == 9) || (type_of_rx == 10) || (type_of_rx == 11)) // GPS L1 C/A + Galileo if ((type_of_rx == 9) or (type_of_rx == 10) or (type_of_rx == 11)) // GPS L1 C/A + Galileo
{ {
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
} }
if ((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a if ((type_of_rx == 14) or (type_of_rx == 15)) // Galileo E1B + Galileo E5a
{ {
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
} }
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
{ {
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map); rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
} }
@ -1040,7 +1041,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -1053,7 +1054,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -1066,7 +1067,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -1079,7 +1080,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1092,7 +1093,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1105,7 +1106,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1114,11 +1115,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{ {
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -1127,11 +1128,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
@ -1144,7 +1145,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1157,7 +1158,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1170,7 +1171,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1183,7 +1184,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1196,7 +1197,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1205,11 +1206,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1218,11 +1219,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1231,11 +1232,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -2064,9 +2065,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// DEBUG MESSAGE: Display position in console output // DEBUG MESSAGE: Display position in console output
if (d_ls_pvt->is_valid_position() and flag_display_pvt) if (d_ls_pvt->is_valid_position() and flag_display_pvt)
{ {
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) std::cout << TEXT_BOLD_GREEN << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << std::endl; << " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()

10
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -132,7 +132,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
for (gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) gnss_observables_iter++) //CHECK INCONSISTENCY when combining GLONASS + other system
{ {
switch (gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
@ -241,6 +241,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{ {
/* By the moment, GPS L2 observables are not used in pseudorange computations if GPS L1 is available
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris // 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure // (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < valid_obs; i++)
@ -250,11 +251,12 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, eph_data[i].week,
1); //Band 2 (L2) 1); //Band 2 (L2)
break; break;
} }
} }
*/
} }
else else
{ {
@ -404,7 +406,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
// ********************************************************************** // **********************************************************************
this->set_valid_position(false); this->set_valid_position(false);
if (valid_obs > 0 || glo_valid_obs > 0) if ((valid_obs + glo_valid_obs) > 3)
{ {
int result = 0; int result = 0;
nav_t nav_data; nav_t nav_data;
@ -495,5 +497,5 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
} }
} }
} }
return this->is_valid_position(); return is_valid_position();
} }

103
src/algorithms/libs/gnss_sdr_sample_counter.cc
View File

@ -1,12 +1,12 @@
/*! /*!
* \file gnss_sdr_sample_counter.cc * \file gnss_sdr_sample_counter.cc
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks * \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2017. jarribas(at)cttc.es * \author Javier Arribas 2018. jarribas(at)cttc.es
* *
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -32,40 +32,101 @@
#include "gnss_sdr_sample_counter.h" #include "gnss_sdr_sample_counter.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
gnss_sdr_sample_counter::gnss_sdr_sample_counter() : gr::sync_block("sample_counter", gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs) : gr::sync_decimator("sample_counter",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0)) static_cast<unsigned int>(std::floor(_fs * 0.001)))
{ {
this->message_port_register_out(pmt::mp("sample_counter")); message_port_register_out(pmt::mp("sample_counter"));
last_T_rx_s = 0; set_max_noutput_items(1);
report_interval_s = 1; //default reporting 1 second current_T_rx_ms = 0;
flag_enable_send_msg = false; //enable it for reporting time with asynchronous message current_s = 0;
current_m = 0;
current_h = 0;
current_days = 0;
report_interval_ms = 1000; // default reporting 1 second
flag_enable_send_msg = false; // enable it for reporting time with asynchronous message
flag_m = false;
flag_h = false;
flag_days = false;
} }
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter() gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs)
{ {
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter()); gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs));
return sample_counter_; return sample_counter_;
} }
int gnss_sdr_sample_counter::work(int noutput_items, int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_const_void_star &input_items __attribute__((unused)),
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items)
{ {
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // input Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
if ((current_T_rx_ms % report_interval_ms) == 0)
{
current_s++;
if ((current_s % 60) == 0)
{
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
double current_T_rx_s = in[noutput_items - 1].Tracking_sample_counter / static_cast<double>(in[noutput_items - 1].fs); if (flag_days)
if ((current_T_rx_s - last_T_rx_s) > report_interval_s)
{ {
std::cout << "Current receiver time: " << floor(current_T_rx_s) << " [s]" << std::endl; std::string day;
if (flag_enable_send_msg == true) if (current_days == 1)
{ {
this->message_port_pub(pmt::mp("receiver_time"), pmt::from_double(current_T_rx_s)); day = " day ";
} }
last_T_rx_s = current_T_rx_s; else
{
day = " days ";
} }
return noutput_items; std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
std::cout << "Current receiver time: " << current_s << " s" << std::endl;
}
}
}
if (flag_enable_send_msg)
{
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
}
current_T_rx_ms++;
return 1;
} }

32
src/algorithms/libs/gnss_sdr_sample_counter.h
View File

@ -1,12 +1,12 @@
/*! /*!
* \file gnss_sdr_sample_counter.h * \file gnss_sdr_sample_counter.h
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks * \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2017. jarribas(at)cttc.es * \author Javier Arribas 2018. jarribas(at)cttc.es
* *
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -28,10 +28,10 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_sample_counter_H_ #ifndef GNSS_SDR_SAMPLE_COUNTER_H_
#define GNSS_SDR_sample_counter_H_ #define GNSS_SDR_SAMPLE_COUNTER_H_
#include <gnuradio/sync_block.h> #include <gnuradio/sync_decimator.h>
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
@ -39,20 +39,28 @@ class gnss_sdr_sample_counter;
typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr; typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr;
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(); gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
class gnss_sdr_sample_counter : public gr::sync_block class gnss_sdr_sample_counter : public gr::sync_decimator
{ {
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(); private:
gnss_sdr_sample_counter(); gnss_sdr_sample_counter(double _fs);
double last_T_rx_s; long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run
double report_interval_s; unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beginning of the run
int report_interval_ms;
bool flag_enable_send_msg; bool flag_enable_send_msg;
public: public:
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
int work(int noutput_items, int work(int noutput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items); gr_vector_void_star &output_items);
}; };
#endif /*GNSS_SDR_sample_counter_H_*/ #endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/

16
src/algorithms/libs/rtklib/rtklib.h
View File

@ -452,27 +452,27 @@ typedef struct
} alm_t; } alm_t;
typedef struct typedef struct { /* GPS/QZS/GAL broadcast ephemeris type */
{ /* GPS/QZS/GAL broadcast ephemeris type */
int sat; /* satellite number */ int sat; /* satellite number */
int iode, iodc; /* IODE,IODC */ int iode,iodc; /* IODE,IODC */
int sva; /* SV accuracy (URA index) */ int sva; /* SV accuracy (URA index) */
int svh; /* SV health (0:ok) */ int svh; /* SV health (0:ok) */
int week; /* GPS/QZS: gps week, GAL: galileo week */ int week; /* GPS/QZS: gps week, GAL: galileo week */
int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */ int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */
int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */ int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */
gtime_t toe, toc, ttr; /* Toe,Toc,T_trans */ gtime_t toe,toc,ttr; /* Toe,Toc,T_trans */
/* SV orbit parameters */ /* SV orbit parameters */
double A, e, i0, OMG0, omg, M0, deln, OMGd, idot; double A,e,i0,OMG0,omg,M0,deln,OMGd,idot;
double crc, crs, cuc, cus, cic, cis; double crc,crs,cuc,cus,cic,cis;
double toes; /* Toe (s) in week */ double toes; /* Toe (s) in week */
double fit; /* fit interval (h) */ double fit; /* fit interval (h) */
double f0, f1, f2; /* SV clock parameters (af0,af1,af2) */ double f0,f1,f2; /* SV clock parameters (af0,af1,af2) */
double tgd[4]; /* group delay parameters */ double tgd[4]; /* group delay parameters */
/* GPS/QZS:tgd[0]=TGD */ /* GPS/QZS:tgd[0]=TGD */
/* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */ /* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
/* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */ /* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */
double Adot, ndot; /* Adot,ndot for CNAV */ double isc[4]; /* GPS :isc[0]=ISCL1, isc[1]=ISCL2, isc[2]=ISCL5I, isc[3]=ISCL5Q */
double Adot,ndot; /* Adot,ndot for CNAV */
} eph_t; } eph_t;

22
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -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 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, 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 //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.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1; 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 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, 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.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A; rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0; rtklib_sat.M0 = gps_eph.d_M_0;
@ -199,9 +199,9 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
rtklib_sat.f1 = gps_eph.d_A_f1; rtklib_sat.f1 = gps_eph.d_A_f1;
rtklib_sat.f2 = gps_eph.d_A_f2; rtklib_sat.f2 = gps_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_eph.d_TGD; rtklib_sat.tgd[0] = gps_eph.d_TGD;
rtklib_sat.tgd[1] = 0; rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0; rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0; rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = gps_eph.d_Toe; rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc); rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW); rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
@ -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 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, 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; rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170 const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A; rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
@ -260,9 +260,13 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
rtklib_sat.f1 = gps_cnav_eph.d_A_f1; rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
rtklib_sat.f2 = gps_cnav_eph.d_A_f2; rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD; rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
rtklib_sat.tgd[1] = 0; rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0; rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0; rtklib_sat.tgd[3] = 0.0;
rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.d_Toe1; rtklib_sat.toes = gps_cnav_eph.d_Toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc); rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW); rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW);

133
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -78,18 +78,70 @@ double gettgd(int sat, const nav_t *nav)
return 0.0; return 0.0;
} }
/* get isc parameter (m) -----------------------------------------------------*/
double getiscl1(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[0];
}
return 0.0;
}
double getiscl2(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[1];
}
return 0.0;
}
double getiscl5i(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[2];
}
return 0.0;
}
double getiscl5q(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[3];
}
return 0.0;
}
/* psendorange with code bias correction -------------------------------------*/ /* psendorange with code bias correction -------------------------------------*/
double prange(const obsd_t *obs, const nav_t *nav, const double *azel, double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var) int iter, const prcopt_t *opt, double *var)
{ {
const double *lam = nav->lam[obs->sat - 1]; const double *lam = nav->lam[obs->sat - 1];
double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma_; double PC = 0.0;
int i = 0, j = 1, sys; double P1 = 0.0;
double P2 = 0.0;
double P1_P2 = 0.0;
double P1_C1 = 0.0;
double P2_C2 = 0.0;
//Intersignal corrections (m). See GPS IS-200 CNAV message
double ISCl1 = 0.0;
double ISCl2 = 0.0;
double ISCl5i = 0.0;
double ISCl5q = 0.0;
double gamma_ = 0.0;
int i = 0;
int j = 1;
int sys = satsys(obs->sat, NULL);
*var = 0.0; *var = 0.0;
if (!(sys = satsys(obs->sat, NULL))) if (sys == SYS_NONE)
{ {
trace(4, "prange: satsys NULL\n"); trace(4, "prange: satsys NULL\n");
return 0.0; return 0.0;
@ -97,12 +149,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */ /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (sys & (SYS_GAL | SYS_SBS)) if (sys == SYS_GAL or sys == SYS_SBS)
{ {
j = 2; j = 2;
} }
else if (sys == SYS_GPS or sys == SYS_GLO)
if (sys == SYS_GPS)
{ {
if (obs->code[1] != CODE_NONE) if (obs->code[1] != CODE_NONE)
{ {
@ -114,7 +165,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
} }
if (NFREQ < 2 || lam[i] == 0.0 || lam[j] == 0.0) if (lam[i] == 0.0 or lam[j] == 0.0)
{ {
trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n"); trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n");
printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]); printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]);
@ -139,7 +190,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
} }
} }
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */ /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO)
{
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
}
P1 = obs->P[i]; P1 = obs->P[i];
P2 = obs->P[j]; P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat - 1][0]; P1_P2 = nav->cbias[obs->sat - 1][0];
@ -147,10 +202,20 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
P2_C2 = nav->cbias[obs->sat - 1][2]; P2_C2 = nav->cbias[obs->sat - 1][2];
/* if no P1-P2 DCB, use TGD instead */ /* if no P1-P2 DCB, use TGD instead */
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS))) //CHECK! if (P1_P2 == 0.0)
{ {
P1_P2 = (1.0 - gamma_) * gettgd(obs->sat, nav); P1_P2 = gettgd(obs->sat, nav);
} }
if (sys == SYS_GPS)
{
ISCl1 = getiscl1(obs->sat, nav);
ISCl2 = getiscl2(obs->sat, nav);
ISCl5i = getiscl5i(obs->sat, nav);
ISCl5q = getiscl5q(obs->sat, nav);
}
//CHECK IF IT IS STILL NEEDED
if (opt->ionoopt == IONOOPT_IFLC) if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */ { /* dual-frequency */
@ -170,25 +235,59 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* iono-free combination */ /* iono-free combination */
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0); PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
} }
////////////////////////////////////////////
else else
{ /* single-frequency */ { /* single-frequency */
if ((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)) if (obs->code[i] == CODE_NONE and obs->code[j] == CODE_NONE)
{ {
return 0.0; return 0.0;
} }
else if ((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE)) else if (obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE)
{ {
P1 += P1_C1; /* C1->P1 */ P1 += P1_C1; /* C1->P1 */
PC = P1 - P1_P2 / (1.0 - gamma_); PC = P1 + P1_P2;
} }
else if ((obs->code[i] == CODE_NONE) && (obs->code[j] != CODE_NONE)) else if (obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE)
{
if (sys == SYS_GPS)
{
P2 += P2_C2; /* C2->P2 */
//PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
if (obs->code[j] == CODE_L2S) //L2 single freq.
{
PC = P2 + P1_P2 - ISCl2;
}
else if (obs->code[j] == CODE_L5X) //L5 single freq.
{
PC = P2 + P1_P2 - ISCl5i;
}
}
else if (sys == SYS_GAL or sys == SYS_GLO) // Gal. E5a single freq.
{ {
P2 += P2_C2; /* C2->P2 */ P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_); PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
} }
}
/* dual-frequency */ /* dual-frequency */
else else if (sys == SYS_GPS)
{
if (obs->code[j] == CODE_L2S) /* L1 + L2 */
{
//By the moment, GPS L2 pseudoranges are not used
//PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
}
else if (obs->code[j] == CODE_L5X) /* L1 + L5 */
{
//By the moment, GPS L5 pseudoranges are not used
//PC = (P2 + ISCl5i - gamma_ * (P1 + ISCl5i)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
}
}
else if (sys == SYS_GAL or sys == SYS_GLO) /* E1 + E5a */
{ {
P1 += P1_C1; P1 += P1_C1;
P2 += P2_C2; P2 += P2_C2;
@ -199,9 +298,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
{ {
PC -= P1_C1; PC -= P1_C1;
} /* sbas clock based C1 */ } /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0); *var = std::pow(ERR_CBIAS, 2.0);
return PC; return PC;
} }

6
src/algorithms/libs/rtklib/rtklib_pntpos.h
View File

@ -69,6 +69,12 @@ double varerr(const prcopt_t *opt, double el, int sys);
/* get tgd parameter (m) -----------------------------------------------------*/ /* get tgd parameter (m) -----------------------------------------------------*/
double gettgd(int sat, const nav_t *nav); double gettgd(int sat, const nav_t *nav);
/* get isc parameter (m) -----------------------------------------------------*/
double getiscl1(int sat, const nav_t *nav);
double getiscl2(int sat, const nav_t *nav);
double getiscl5i(int sat, const nav_t *nav);
double getiscl5q(int sat, const nav_t *nav);
/* psendorange with code bias correction -------------------------------------*/ /* psendorange with code bias correction -------------------------------------*/
double prange(const obsd_t *obs, const nav_t *nav, const double *azel, double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var); int iter, const prcopt_t *opt, double *var);

2
src/algorithms/libs/rtklib/rtklib_rtcm.cc
View File

@ -69,7 +69,7 @@ int init_rtcm(rtcm_t *rtcm)
obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}}; obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph0 = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0}, geph_t geph0 = {0, -1, 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};
ssr_t ssr0 = {{{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'}; ssr_t ssr0 = {{{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'};

2
src/algorithms/libs/rtklib/rtklib_rtcm2.cc
View File

@ -219,7 +219,7 @@ int decode_type17(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
int i = 48, week, prn, sat; int i = 48, week, prn, sat;

12
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
View File

@ -846,7 +846,7 @@ int decode_type1019(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_GPS; int i = 24 + 12, prn, sat, week, sys = SYS_GPS;
@ -1293,7 +1293,7 @@ int decode_type1044(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_QZS; int i = 24 + 12, prn, sat, week, sys = SYS_QZS;
@ -1398,7 +1398,7 @@ int decode_type1045(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL; int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1502,7 +1502,7 @@ int decode_type1046(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL; int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1606,7 +1606,7 @@ int decode_type1047(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
; ;
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
@ -1716,7 +1716,7 @@ int decode_type63(rtcm_t *rtcm)
{ {
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA; double toc, sqrtA;
char *msg; char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_BDS; int i = 24 + 12, prn, sat, week, sys = SYS_BDS;

17
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -253,12 +253,11 @@ const unsigned int tbl_CRC24Q[] = {
0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538}; 0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538};
extern "C" extern "C" {
{ void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *); extern void dgetrf_(int *, int *, double *, int *, int *, int *);
extern void dgetrf_(int *, int *, double *, int *, int *, int *); extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
extern void dgetri_(int *, double *, int *, int *, double *, int *, int *); extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
} }
@ -1388,10 +1387,10 @@ double time2gpst(gtime_t t, int *week)
{ {
gtime_t t0 = epoch2time(gpst0); gtime_t t0 = epoch2time(gpst0);
time_t sec = t.time - t0.time; time_t sec = t.time - t0.time;
int w = (int)(sec / (86400 * 7)); int w = static_cast<int>(sec / 604800);
if (week) *week = w; if (week) *week = w;
return (double)(sec - (double)w * 86400 * 7) + t.sec; return (static_cast<double>(sec - static_cast<time_t>(w * 604800)) + t.sec);
} }
@ -2993,7 +2992,7 @@ int readnav(const char *file, nav_t *nav)
{ {
FILE *fp; FILE *fp;
eph_t eph0 = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, eph_t eph0 = {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};
geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0}; geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0};
char buff[4096], *p; char buff[4096], *p;
long toe_time, tof_time, toc_time, ttr_time; long toe_time, tof_time, toc_time, ttr_time;

2
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@ -592,7 +592,7 @@ int rtksvrinit(rtksvr_t *svr)
'0', '0', '0', 0, 0, 0}; '0', '0', '0', 0, 0, 0};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, eph_t eph0 = {0, -1, -1, 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, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0}, geph_t geph0 = {0, -1, 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};
seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0}; seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/Doxyfile.in
View File

@ -145,7 +145,7 @@ INLINE_INHERITED_MEMB = NO
# shortest path that makes the file name unique will be used # shortest path that makes the file name unique will be used
# The default value is: YES. # The default value is: YES.
FULL_PATH_NAMES = YES FULL_PATH_NAMES = NO
# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. # The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
# Stripping is only done if one of the specified strings matches the left-hand # Stripping is only done if one of the specified strings matches the left-hand

4
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md
View File

@ -7,7 +7,7 @@ and contact information about the original VOLK library.
The boilerplate of this code was initially generated with The boilerplate of this code was initially generated with
```volk_modtool```, an application provided by VOLK that creates the ```volk_modtool```, an application provided by VOLK that creates the
skeleton than can then be filled with custom kernels. Some modifications skeleton that can then be filled with custom kernels. Some modifications
were added to accommodate the specificities of Global Navigation were added to accommodate the specificities of Global Navigation
Satellite Systems (GNSS) signal processing. Those changes are clearly Satellite Systems (GNSS) signal processing. Those changes are clearly
indicated in the source code, and do not break compatibility. indicated in the source code, and do not break compatibility.
@ -39,7 +39,7 @@ This library is automatically built and installed along with GNSS-SDR if
it is not found by CMake on your system at configure time. it is not found by CMake on your system at configure time.
However, you can install and use VOLK_GNSSSDR kernels as you use VOLK's, However, you can install and use VOLK_GNSSSDR kernels as you use VOLK's,
independently from GNSS-SDR. independently of GNSS-SDR.
First, make sure that the required dependencies are installed in your First, make sure that the required dependencies are installed in your
machine: machine:

27
src/algorithms/observables/adapters/hybrid_observables.cc
View File

@ -32,40 +32,27 @@
#include "hybrid_observables.h" #include "hybrid_observables.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include <glog/logging.h> #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
HybridObservables::HybridObservables(ConfigurationInterface* configuration, HybridObservables::HybridObservables(ConfigurationInterface* configuration,
std::string role, std::string role, unsigned int in_streams, unsigned int out_streams) :
unsigned int in_streams, role_(role), in_streams_(in_streams), out_streams_(out_streams)
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_dump_filename = "./observables.dat"; std::string default_dump_filename = "./observables.dat";
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
unsigned int default_depth = 0;
if (GPS_L1_CA_HISTORY_DEEP == GALILEO_E1_HISTORY_DEEP) observables_ = hybrid_make_observables_cc(in_streams_, out_streams_, dump_, dump_filename_);
{ DLOG(INFO) << "Observables block ID (" << observables_->unique_id() << ")";
default_depth = GPS_L1_CA_HISTORY_DEEP;
}
else
{
default_depth = 500;
}
unsigned int history_deep = configuration->property(role + ".history_depth", default_depth);
observables_ = hybrid_make_observables_cc(in_streams_, dump_, dump_filename_, history_deep);
DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
} }
HybridObservables::~HybridObservables() {} HybridObservables::~HybridObservables()
{}
void HybridObservables::connect(gr::top_block_sptr top_block) void HybridObservables::connect(gr::top_block_sptr top_block)

503
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -1,11 +1,12 @@
/*! /*!
* \file hybrid_observables_cc.cc * \file hybrid_observables_cc.cc
* \brief Implementation of the pseudorange computation block for Galileo E1 * \brief Implementation of the pseudorange computation block
* \author Javier Arribas 2017. jarribas(at)cttc.es * \author Javier Arribas 2017. jarribas(at)cttc.es
* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -29,50 +30,49 @@
*/ */
#include "hybrid_observables_cc.h" #include "hybrid_observables_cc.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include <armadillo> #include <armadillo>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <gnuradio/block_detail.h>
#include <gnuradio/buffer.h>
#include <matio.h> #include <matio.h>
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
#include <map> #include <limits>
#include <vector> #include "display.h"
#include <utility>
using google::LogMessage; using google::LogMessage;
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename)
{ {
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history)); return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels_in, nchannels_out, dump, dump_filename));
} }
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) : gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename) : gr::block("hybrid_observables_cc",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro))) gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
{ {
// initialize internal vars
d_dump = dump; d_dump = dump;
d_nchannels = nchannels; d_nchannels = nchannels_out;
d_dump_filename = dump_filename; d_dump_filename = dump_filename;
history_deep = deep_history;
T_rx_s = 0.0; T_rx_s = 0.0;
T_rx_step_s = 1e-3; // todo: move to gnss-sdr config T_rx_step_s = 0.001; // 1 ms
max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{ {
d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>()); d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
} }
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump == true) if (d_dump)
{ {
if (d_dump_file.is_open() == false) if (!d_dump_file.is_open())
{ {
try try
{ {
@ -83,6 +83,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump,
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {
LOG(WARNING) << "Exception opening observables dump file " << e.what(); LOG(WARNING) << "Exception opening observables dump file " << e.what();
d_dump = false;
} }
} }
} }
@ -91,7 +92,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump,
hybrid_observables_cc::~hybrid_observables_cc() hybrid_observables_cc::~hybrid_observables_cc()
{ {
if (d_dump_file.is_open() == true) if (d_dump_file.is_open())
{ {
try try
{ {
@ -102,10 +103,10 @@ hybrid_observables_cc::~hybrid_observables_cc()
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
} }
if (d_dump == true) if (d_dump)
{ {
std::cout << "Writing observables .mat files ..."; std::cout << "Writing observables .mat files ...";
hybrid_observables_cc::save_matfile(); save_matfile();
std::cout << " done." << std::endl; std::cout << " done." << std::endl;
} }
} }
@ -230,7 +231,10 @@ int hybrid_observables_cc::save_matfile()
mat_t *matfp; mat_t *matfp;
matvar_t *matvar; matvar_t *matvar;
std::string filename = d_dump_filename; std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4); if (filename.size() > 4)
{
filename.erase(filename.end() - 4, filename.end());
}
filename.append(".mat"); filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long *>(matfp) != NULL) if (reinterpret_cast<long *>(matfp) != NULL)
@ -294,304 +298,291 @@ int hybrid_observables_cc::save_matfile()
return 0; return 0;
} }
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int, Gnss_Synchro> &a, const std::pair<int, Gnss_Synchro> &b)
{ {
return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter); if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
{
return false;
}
std::deque<Gnss_Synchro>::iterator it;
arma::vec t = arma::vec(data.size());
arma::vec dop = t;
arma::vec cph = t;
arma::vec tow = t;
arma::vec tiv = arma::vec(1);
arma::vec result;
tiv(0) = ti;
unsigned int aux = 0;
for (it = data.begin(); it != data.end(); it++)
{
t(aux) = it->RX_time;
dop(aux) = it->Carrier_Doppler_hz;
cph(aux) = it->Carrier_phase_rads;
tow(aux) = it->TOW_at_current_symbol_s;
aux++;
}
arma::interp1(t, dop, tiv, result);
out.Carrier_Doppler_hz = result(0);
arma::interp1(t, cph, tiv, result);
out.Carrier_phase_rads = result(0);
arma::interp1(t, tow, tiv, result);
out.TOW_at_current_symbol_s = result(0);
return result.is_finite();
}
double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
{
if (a.Flag_valid_word)
{
return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs));
}
else
{
return 0.0;
}
} }
bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro &a, unsigned long int b) void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items_required)
{ {
return (a.Tracking_sample_counter) < (b);
}
bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro &a, double b)
{
return ((static_cast<double>(a.Tracking_sample_counter) + static_cast<double>(a.Code_phase_samples)) / static_cast<double>(a.fs)) < (b);
}
bool Hybrid_pairCompare_gnss_synchro_d_TOW(const std::pair<int, Gnss_Synchro> &a, const std::pair<int, Gnss_Synchro> &b)
{
return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s);
}
bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro &a, double b)
{
return (a.TOW_at_current_symbol_s) < (b);
}
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
bool zero_samples = true;
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{ {
int items = detail()->input(i)->items_available(); ninput_items_required[i] = 0;
if (items > 0) zero_samples = false;
ninput_items_required[i] = items; // set the required available samples in each call
} }
ninput_items_required[d_nchannels] = 1;
}
if (zero_samples == true) void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
{
while (data.size() > 0)
{ {
for (unsigned int i = 0; i < d_nchannels; i++) if ((T_rx_s - data.front().RX_time) > max_delta)
{ {
ninput_items_required[i] = 1; // set the required available samples in each call data.pop_front();
}
else
{
return;
} }
} }
} }
void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Synchro> &data)
{
std::vector<Gnss_Synchro>::iterator it;
int hybrid_observables_cc::general_work(int noutput_items, /////////////////////// DEBUG //////////////////////////
gr_vector_int &ninput_items, // Logs if there is a pseudorange difference between
gr_vector_const_void_star &input_items, // signals of the same satellite higher than a threshold
////////////////////////////////////////////////////////
#ifndef NDEBUG
std::vector<Gnss_Synchro>::iterator it2;
double thr_ = 250.0 / SPEED_OF_LIGHT; // Maximum pseudorange difference = 250 meters
for (it = data.begin(); it != (data.end() - 1); it++)
{
for (it2 = it + 1; it2 != data.end(); it2++)
{
if (it->PRN == it2->PRN and it->System == it2->System)
{
double tow_dif_ = std::fabs(it->TOW_at_current_symbol_s - it2->TOW_at_current_symbol_s);
if (tow_dif_ > thr_)
{
DLOG(INFO) << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange";
std::cout << TEXT_RED << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange" << TEXT_RESET << std::endl;
}
}
}
}
#endif
///////////////////////////////////////////////////////////
double TOW_ref = std::numeric_limits<double>::lowest();
for (it = data.begin(); it != data.end(); it++)
{
if (it->TOW_at_current_symbol_s > TOW_ref)
{
TOW_ref = it->TOW_at_current_symbol_s;
}
}
for (it = data.begin(); it != data.end(); it++)
{
double traveltime_s = TOW_ref - it->TOW_at_current_symbol_s + GPS_STARTOFFSET_ms / 1000.0;
it->RX_time = TOW_ref + GPS_STARTOFFSET_ms / 1000.0;
it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
}
}
int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items) gr_vector_void_star &output_items)
{ {
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
int n_outputs = 0;
int n_consume[d_nchannels];
double past_history_s = 100e-3;
Gnss_Synchro current_gnss_synchro[d_nchannels]; unsigned int i;
Gnss_Synchro aux = Gnss_Synchro(); int total_input_items = 0;
for (unsigned int i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)
{ {
current_gnss_synchro[i] = aux; total_input_items += ninput_items[i];
}
/*
* 1. Read the GNSS SYNCHRO objects from available channels.
* Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel
* Record all synchronization data into queues
*/
for (unsigned int i = 0; i < d_nchannels; i++)
{
n_consume[i] = ninput_items[i]; // full throttle
for (int j = 0; j < n_consume[i]; j++)
{
d_gnss_synchro_history_queue[i].push_back(in[i][j]);
}
} }
consume(d_nchannels, 1);
T_rx_s += T_rx_step_s;
bool channel_history_ok; //////////////////////////////////////////////////////////////////////////
do if ((total_input_items == 0) and (d_num_valid_channels == 0))
{ {
channel_history_ok = true; return 0;
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history_queue[i].size() < history_deep)
{
channel_history_ok = false;
} }
} //////////////////////////////////////////////////////////////////////////
if (channel_history_ok == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_map_iter;
std::deque<Gnss_Synchro>::const_iterator gnss_synchro_deque_iter;
// 1. If the RX time is not set, set the Rx time std::vector<std::deque<Gnss_Synchro>>::iterator it;
if (T_rx_s == 0) if (total_input_items > 0)
{ {
// 0. Read a gnss_synchro snapshot from the queue and store it in a map i = 0;
std::map<int, Gnss_Synchro> gnss_synchro_map; for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
for (unsigned int i = 0; i < d_nchannels; i++)
{ {
gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID, if (ninput_items[i] > 0)
d_gnss_synchro_history_queue[i].front())); {
// Add the new Gnss_Synchros to their corresponding deque
for (int aux = 0; aux < ninput_items[i]; aux++)
{
if (in[i][aux].Flag_valid_word)
{
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (it->size() > 1)
{
if (it->front().PRN != it->back().PRN)
{
it->clear();
} }
gnss_synchro_map_iter = min_element(gnss_synchro_map.cbegin(),
gnss_synchro_map.cend(),
Hybrid_pairCompare_gnss_synchro_sample_counter);
T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
} }
}
// 2. Realign RX time in all valid channels }
std::map<int, Gnss_Synchro> realigned_gnss_synchro_map; // container for the aligned set of observables for the selected T_rx consume(i, ninput_items[i]);
std::map<int, Gnss_Synchro> adjacent_gnss_synchro_map; // container for the previous observable values to interpolate }
// shift channels history to match the reference TOW i++;
for (unsigned int i = 0; i < d_nchannels; i++) }
}
for (i = 0; i < d_nchannels; i++)
{ {
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].cbegin(), if (d_gnss_synchro_history.at(i).size() > 2)
d_gnss_synchro_history_queue[i].cend(),
T_rx_s,
Hybrid_valueCompare_gnss_synchro_receiver_time);
if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].cend())
{ {
if (gnss_synchro_deque_iter->Flag_valid_word == true) valid_channels[i] = true;
{
double T_rx_channel = static_cast<double>(gnss_synchro_deque_iter->Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s = T_rx_channel - T_rx_s;
// check that T_rx difference is less than a threshold (the correlation interval)
if (delta_T_rx_s * 1000.0 < static_cast<double>(gnss_synchro_deque_iter->correlation_length_ms))
{
// record the word structure in a map for pseudorange computation
// save the previous observable
int distance = std::distance(d_gnss_synchro_history_queue[i].cbegin(), gnss_synchro_deque_iter);
if (distance > 0)
{
if (d_gnss_synchro_history_queue[i].at(distance - 1).Flag_valid_word)
{
double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
} }
else else
{ {
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter)); valid_channels[i] = false;
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
} }
} }
d_num_valid_channels = valid_channels.count();
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data
if (d_num_valid_channels == 0)
{
return 0;
}
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
{
if (valid_channels[i])
{
clean_history(d_gnss_synchro_history.at(i));
if (d_gnss_synchro_history.at(i).size() < 2)
{
valid_channels[i] = false;
}
}
}
// Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time
d_num_valid_channels = valid_channels.count();
double T_rx_s_out = T_rx_s - (max_delta / 2.0);
if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0))
{
return 0;
}
std::vector<Gnss_Synchro> epoch_data;
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (valid_channels[i])
{
Gnss_Synchro interpolated_gnss_synchro = it->back();
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
{
epoch_data.push_back(interpolated_gnss_synchro);
} }
else else
{ {
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter)); valid_channels[i] = false;
} }
} }
i++;
} }
} d_num_valid_channels = valid_channels.count();
} if (d_num_valid_channels == 0)
if (!realigned_gnss_synchro_map.empty())
{ {
/* return 0;
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.cbegin(),
realigned_gnss_synchro_map.cend(),
Hybrid_pairCompare_gnss_synchro_d_TOW);
double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
// compute interpolated TOW value at T_rx_s
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
Gnss_Synchro adj_obs;
adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
double ref_adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
double d_ref_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
double selected_T_rx_s = T_rx_s;
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s +
(selected_T_rx_s - ref_adj_T_rx_s) * (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
double pseudorange_m;
double channel_T_rx_s;
double channel_fs_hz;
double channel_TOW_s;
for (gnss_synchro_map_iter = realigned_gnss_synchro_map.cbegin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.cend(); gnss_synchro_map_iter++)
{
channel_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
channel_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
// compute interpolated observation values
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
// TOW at the selected receiver time T_rx_s
int element_key = gnss_synchro_map_iter->second.Channel_ID;
try
{
adj_obs = adjacent_gnss_synchro_map.at(element_key);
} }
catch (const std::exception &ex) correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
for (i = 0; i < d_nchannels; i++)
{ {
continue; if (valid_channels[i])
{
out[i][0] = (*it2);
out[i][0].Flag_valid_pseudorange = true;
it2++;
} }
else
double adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz; {
out[i][0] = Gnss_Synchro();
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s); out[i][0].Flag_valid_pseudorange = false;
// Doppler and Accumulated carrier phase
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
// compute the pseudorange (no rx time offset correction)
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
// convert to meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// Save the estimated RX time (no RX clock offset correction yet!)
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
} }
}
if (d_dump == true) if (d_dump)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
{ {
double tmp_double; double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)
{ {
tmp_double = current_gnss_synchro[i].RX_time; tmp_double = out[i][0].RX_time;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s; tmp_double = out[i][0].TOW_at_current_symbol_s;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz; tmp_double = out[i][0].Carrier_Doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_phase_rads / GPS_TWO_PI; tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m; tmp_double = out[i][0].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].PRN; tmp_double = static_cast<double>(out[i][0].PRN);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(current_gnss_synchro[i].Flag_valid_pseudorange); tmp_double = static_cast<double>(out[i][0].Flag_valid_pseudorange);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
} }
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {
LOG(WARNING) << "Exception writing observables dump file " << e.what(); LOG(WARNING) << "Exception writing observables dump file " << e.what();
d_dump = false;
} }
} }
return 1;
for (unsigned int i = 0; i < d_nchannels; i++)
{
out[i][n_outputs] = current_gnss_synchro[i];
}
n_outputs++;
}
// Move RX time
T_rx_s = T_rx_s + T_rx_step_s;
// pop old elements from queue
for (unsigned int i = 0; i < d_nchannels; i++)
{
while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
{
d_gnss_synchro_history_queue[i].pop_front();
}
}
}
}
while (channel_history_ok == true && noutput_items > n_outputs);
// Multi-rate consume!
for (unsigned int i = 0; i < d_nchannels; i++)
{
consume(i, n_consume[i]); // which input, how many items
}
return n_outputs;
} }

29
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -1,12 +1,13 @@
/*! /*!
* \file hybrid_observables_cc.h * \file hybrid_observables_cc.h
* \brief Interface of the observables computation block for Galileo E1 * \brief Interface of the observables computation block
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas 2013. jarribas(at)cttc.es * \author Javier Arribas 2013. jarribas(at)cttc.es
* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -37,6 +38,9 @@
#include <gnuradio/block.h> #include <gnuradio/block.h>
#include <fstream> #include <fstream>
#include <string> #include <string>
#include <vector> //std::vector
#include <deque>
#include <boost/dynamic_bitset.hpp>
class hybrid_observables_cc; class hybrid_observables_cc;
@ -44,10 +48,10 @@ class hybrid_observables_cc;
typedef boost::shared_ptr<hybrid_observables_cc> hybrid_observables_cc_sptr; typedef boost::shared_ptr<hybrid_observables_cc> hybrid_observables_cc_sptr;
hybrid_observables_cc_sptr hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
/*! /*!
* \brief This class implements a block that computes Galileo observables * \brief This class implements a block that computes observables
*/ */
class hybrid_observables_cc : public gr::block class hybrid_observables_cc : public gr::block
{ {
@ -59,21 +63,26 @@ public:
private: private:
friend hybrid_observables_cc_sptr friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(std::deque<Gnss_Synchro>& data);
double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();
//Tracking observable history //Tracking observable history
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue; std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
boost::dynamic_bitset<> valid_channels;
double T_rx_s; double T_rx_s;
double T_rx_step_s; double T_rx_step_s;
double max_delta;
bool d_dump; bool d_dump;
unsigned int d_nchannels; unsigned int d_nchannels;
unsigned int history_deep; unsigned int d_num_valid_channels;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
int save_matfile();
}; };
#endif #endif

10
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@ -399,32 +399,32 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
if (d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) if (d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{ {
//TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_5 + GALILEO_INAV_PAGE_PART_SECONDS + (static_cast<double>(required_symbols)) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND; d_TOW_at_current_symbol = d_nav.TOW_5 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols - 1) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_5 = false; d_nav.flag_TOW_5 = false;
} }
else if (d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) else if (d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{ {
//TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS + (static_cast<double>(required_symbols)) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND; d_TOW_at_current_symbol = d_nav.TOW_6 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols - 1) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_6 = false; d_nav.flag_TOW_6 = false;
} }
else else
{ {
//this page has no timing information //this page has no timing information
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD; d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
} }
} }
else //if there is not a new preamble, we define the TOW of the current symbol else //if there is not a new preamble, we define the TOW of the current symbol
{ {
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD; d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD;
} }
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true) //if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
{ {
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64))); delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0)));
} }
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true) if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)

17
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -93,8 +93,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_GPS_frame_4bytes = 0; d_GPS_frame_4bytes = 0;
d_prev_GPS_frame_4bytes = 0; d_prev_GPS_frame_4bytes = 0;
d_flag_parity = false; d_flag_parity = false;
d_TOW_at_Preamble = 0; d_TOW_at_Preamble = 0.0;
d_TOW_at_current_symbol = 0; d_TOW_at_current_symbol = 0.0;
flag_TOW_set = false; flag_TOW_set = false;
d_average_count = 0; d_average_count = 0;
d_flag_preamble = false; d_flag_preamble = false;
@ -104,6 +104,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_channel = 0; d_channel = 0;
flag_PLL_180_deg_phase_locked = false; flag_PLL_180_deg_phase_locked = false;
d_preamble_time_samples = 0; d_preamble_time_samples = 0;
d_TOW_at_current_symbol_ms = 0;
} }
@ -350,18 +351,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter) //double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs; // /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency) // update TOW at the preamble instant (account with decoder latency)
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0; d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2.0 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_GPS_FSM.d_nav.d_TOW) * 1000 + 161;
//d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
d_TOW_at_current_symbol = d_TOW_at_Preamble;
flag_TOW_set = true; flag_TOW_set = true;
d_flag_new_tow_available = false; d_flag_new_tow_available = false;
} }
else else
{ {
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD; d_TOW_at_current_symbol += GPS_L1_CA_CODE_PERIOD;
d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS;
} }
current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol; current_symbol.TOW_at_current_symbol_s = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
//current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.Flag_valid_word = flag_TOW_set; current_symbol.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true) if (flag_PLL_180_deg_phase_locked == true)

5
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@ -107,8 +107,9 @@ private:
unsigned long int d_preamble_time_samples; unsigned long int d_preamble_time_samples;
long double d_TOW_at_Preamble; double d_TOW_at_Preamble;
long double d_TOW_at_current_symbol; double d_TOW_at_current_symbol;
unsigned int d_TOW_at_current_symbol_ms;
bool flag_TOW_set; bool flag_TOW_set;
bool flag_PLL_180_deg_phase_locked; bool flag_PLL_180_deg_phase_locked;

12
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
View File

@ -32,6 +32,7 @@
#include "gps_l2c_telemetry_decoder_cc.h" #include "gps_l2c_telemetry_decoder_cc.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "display.h"
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
@ -132,32 +133,31 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
// get ephemeris object for this SV // get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris()); std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << std::endl; std::cout << TEXT_BLUE << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_iono() == true) if (d_CNAV_Message.have_new_iono() == true)
{ {
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono()); std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << std::endl; std::cout << TEXT_BLUE << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_utc_model() == true) if (d_CNAV_Message.have_new_utc_model() == true)
{ {
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model()); std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl; std::cout << TEXT_BLUE << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
//update TOW at the preamble instant //update TOW at the preamble instant
d_TOW_at_Preamble = static_cast<int>(msg.tow); d_TOW_at_Preamble = static_cast<double>(msg.tow);
//std::cout<<"["<<(int)msg.prn<<"] deco delay: "<<delay<<"[symbols]"<<std::endl;
//* The time of the last input symbol can be computed from the message ToW and //* The time of the last input symbol can be computed from the message ToW and
//* delay by the formulae: //* delay by the formulae:
//* \code //* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory //* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD; d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0; //d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
d_flag_valid_word = true; d_flag_valid_word = true;
} }
else else

61
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -38,6 +38,7 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -49,43 +50,40 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
{ {
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
float pll_bw_hz; std::string item_type = configuration->property(role + ".item_type", default_item_type);
float pll_bw_narrow_hz;
float dll_bw_hz;
float dll_bw_narrow_hz;
float early_late_space_chips;
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false); bool dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0); float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25); float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
int extend_correlation_symbols; int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1); float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15); float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6); float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15); float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
bool track_pilot = configuration->property(role + ".track_pilot", false); bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused! int vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
@ -116,7 +114,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
} }
channel_ = 0; channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")"; DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
} }

2
src/algorithms/tracking/adapters/galileo_e1_tcp_connector_tracking.cc
View File

@ -75,7 +75,7 @@ GalileoE1TcpConnectorTracking::GalileoE1TcpConnectorTracking(
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6); very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
port_ch0 = configuration->property(role + ".port_ch0", 2060); port_ch0 = configuration->property(role + ".port_ch0", 2060);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

104
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -40,6 +40,7 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "Galileo_E5a.h" #include "Galileo_E5a.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h> #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -50,56 +51,68 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
{ {
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
float pll_bw_hz; std::string item_type = configuration->property(role + ".item_type", default_item_type);
float dll_bw_hz;
float pll_bw_narrow_hz;
float dll_bw_narrow_hz;
int ti_ms;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0); bool dump = configuration->property(role + ".dump", false);
dump = configuration->property(role + ".dump", false); unified_ = configuration->property(role + ".unified", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0); float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0); float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
ti_ms = configuration->property(role + ".ti_ms", 3); int ti_ms = configuration->property(role + ".ti_ms", 3);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused! int vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS));
vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)); int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > Galileo_E5a_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = Galileo_E5a_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
if (unified_)
{
char sig_[3] = "5X";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz,
pll_bw_narrow_hz, dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,
early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot, 'E', sig_);
}
else
{
tracking_ = galileo_e5a_dll_pll_make_tracking_cc( tracking_ = galileo_e5a_dll_pll_make_tracking_cc(
f_if, 0, fs_in, vector_length, dump, dump_filename,
fs_in, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz,
vector_length, dll_bw_narrow_hz, ti_ms,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
ti_ms,
early_late_space_chips); early_late_space_chips);
} }
}
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
@ -117,6 +130,9 @@ GalileoE5aDllPllTracking::~GalileoE5aDllPllTracking()
void GalileoE5aDllPllTracking::start_tracking() void GalileoE5aDllPllTracking::start_tracking()
{ {
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking(); tracking_->start_tracking();
} }
@ -126,12 +142,18 @@ void GalileoE5aDllPllTracking::start_tracking()
void GalileoE5aDllPllTracking::set_channel(unsigned int channel) void GalileoE5aDllPllTracking::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel); tracking_->set_channel(channel);
} }
void GalileoE5aDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) void GalileoE5aDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{ {
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro); tracking_->set_gnss_synchro(p_gnss_synchro);
} }
@ -153,10 +175,16 @@ void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GalileoE5aDllPllTracking::get_left_block() gr::basic_block_sptr GalileoE5aDllPllTracking::get_left_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }
gr::basic_block_sptr GalileoE5aDllPllTracking::get_right_block() gr::basic_block_sptr GalileoE5aDllPllTracking::get_right_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }

3
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h
View File

@ -41,6 +41,7 @@
#include "tracking_interface.h" #include "tracking_interface.h"
#include "galileo_e5a_dll_pll_tracking_cc.h" #include "galileo_e5a_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -94,11 +95,13 @@ public:
private: private:
galileo_e5a_dll_pll_tracking_cc_sptr tracking_; galileo_e5a_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_; size_t item_size_;
unsigned int channel_; unsigned int channel_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
bool unified_;
}; };
#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ */ #endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ */

3
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
View File

@ -80,8 +80,7 @@ GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused!
vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

2
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
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@ -72,7 +72,7 @@ GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

3
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_c_aid_tracking.cc
View File

@ -78,8 +78,7 @@ GlonassL2CaDllPllCAidTracking::GlonassL2CaDllPllCAidTracking(
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused!
vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

2
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_tracking.cc
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@ -70,7 +70,7 @@ GlonassL2CaDllPllTracking::GlonassL2CaDllPllTracking(
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

3
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
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@ -79,8 +79,7 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

49
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -40,6 +40,7 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h> #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -50,16 +51,11 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
{ {
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
item_type = configuration->property(role + ".item_type", default_item_type); std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false); bool dump = configuration->property(role + ".dump", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0); float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
@ -69,24 +65,37 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5); float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1); int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1) symbols_extended_correlator = 1; if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
{
symbols_extended_correlator = 20;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex);
char sig_[3] = "1C"; char sig_[3] = "1C";
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking( tracking_ = dll_pll_veml_make_tracking(
fs_in, fs_in, vector_length, dump,
vector_length, dump_filename, pll_bw_hz, dll_bw_hz,
dump, pll_bw_narrow_hz, dll_bw_narrow_hz,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
early_late_space_chips, early_late_space_chips,
early_late_space_chips, early_late_space_chips,
early_late_space_narrow_chips, early_late_space_narrow_chips,

3
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_gpu.cc
View File

@ -72,8 +72,7 @@ GpsL1CaDllPllTrackingGPU::GpsL1CaDllPllTrackingGPU(
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

2
src/algorithms/tracking/adapters/gps_l1_ca_tcp_connector_tracking.cc
View File

@ -67,7 +67,7 @@ GpsL1CaTcpConnectorTracking::GpsL1CaTcpConnectorTracking(
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
port_ch0 = configuration->property(role + ".port_ch0", 2060); port_ch0 = configuration->property(role + ".port_ch0", 2060);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################

80
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -39,6 +39,7 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "GPS_L2C.h" #include "GPS_L2C.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -50,45 +51,55 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
{ {
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
float pll_bw_hz; std::string item_type = configuration->property(role + ".item_type", default_item_type);
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0); bool dump = configuration->property(role + ".dump", false);
dump = configuration->property(role + ".dump", false); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); unified_ = configuration->property(role + ".unified", false);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused! int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS))); int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
{
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
if (unified_)
{
char sig_[3] = "2S";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz, pll_bw_hz, dll_bw_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_chips,
early_late_space_chips,
1, false, 'G', sig_);
}
else
{
tracking_ = gps_l2_m_dll_pll_make_tracking_cc( tracking_ = gps_l2_m_dll_pll_make_tracking_cc(
f_if, 0, fs_in, vector_length, dump,
fs_in, dump_filename, pll_bw_hz, dll_bw_hz,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips); early_late_space_chips);
} }
}
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
@ -106,6 +117,9 @@ GpsL2MDllPllTracking::~GpsL2MDllPllTracking()
void GpsL2MDllPllTracking::start_tracking() void GpsL2MDllPllTracking::start_tracking()
{ {
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking(); tracking_->start_tracking();
} }
@ -115,12 +129,18 @@ void GpsL2MDllPllTracking::start_tracking()
void GpsL2MDllPllTracking::set_channel(unsigned int channel) void GpsL2MDllPllTracking::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel); tracking_->set_channel(channel);
} }
void GpsL2MDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) void GpsL2MDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{ {
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro); tracking_->set_gnss_synchro(p_gnss_synchro);
} }
@ -142,10 +162,16 @@ void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL2MDllPllTracking::get_left_block() gr::basic_block_sptr GpsL2MDllPllTracking::get_left_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }
gr::basic_block_sptr GpsL2MDllPllTracking::get_right_block() gr::basic_block_sptr GpsL2MDllPllTracking::get_right_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }

3
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h
View File

@ -40,6 +40,7 @@
#include "tracking_interface.h" #include "tracking_interface.h"
#include "gps_l2_m_dll_pll_tracking_cc.h" #include "gps_l2_m_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -93,11 +94,13 @@ public:
private: private:
gps_l2_m_dll_pll_tracking_cc_sptr tracking_; gps_l2_m_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_; size_t item_size_;
unsigned int channel_; unsigned int channel_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
bool unified_;
}; };
#endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_H_ #endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_H_

91
src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc
View File

@ -39,6 +39,7 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "GPS_L5.h" #include "GPS_L5.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -50,45 +51,66 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking(
{ {
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
float pll_bw_hz; std::string item_type = configuration->property(role + ".item_type", default_item_type);
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0); bool dump = configuration->property(role + ".dump", false);
dump = configuration->property(role + ".dump", false); unified_ = configuration->property(role + ".unified", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch"; std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
default_dump_filename); //unused! int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))); int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5i_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5i_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ################### //################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
if (unified_)
{
char sig_[3] = "L5";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz,
pll_bw_narrow_hz, dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,
early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot, 'G', sig_);
}
else
{
tracking_ = gps_l5i_dll_pll_make_tracking_cc( tracking_ = gps_l5i_dll_pll_make_tracking_cc(
f_if, 0, fs_in, vector_length, dump,
fs_in, dump_filename, pll_bw_hz, dll_bw_hz,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips); early_late_space_chips);
} }
}
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
@ -106,6 +128,9 @@ GpsL5iDllPllTracking::~GpsL5iDllPllTracking()
void GpsL5iDllPllTracking::start_tracking() void GpsL5iDllPllTracking::start_tracking()
{ {
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking(); tracking_->start_tracking();
} }
@ -115,12 +140,18 @@ void GpsL5iDllPllTracking::start_tracking()
void GpsL5iDllPllTracking::set_channel(unsigned int channel) void GpsL5iDllPllTracking::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel); tracking_->set_channel(channel);
} }
void GpsL5iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) void GpsL5iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{ {
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro); tracking_->set_gnss_synchro(p_gnss_synchro);
} }
@ -142,10 +173,16 @@ void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL5iDllPllTracking::get_left_block() gr::basic_block_sptr GpsL5iDllPllTracking::get_left_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }
gr::basic_block_sptr GpsL5iDllPllTracking::get_right_block() gr::basic_block_sptr GpsL5iDllPllTracking::get_right_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }

9
src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h
View File

@ -34,11 +34,12 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_gps_l5i_dll_pll_tracking_H_ #ifndef GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_
#define GNSS_SDR_gps_l5i_dll_pll_tracking_H_ #define GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_
#include "tracking_interface.h" #include "tracking_interface.h"
#include "gps_l5i_dll_pll_tracking_cc.h" #include "gps_l5i_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -92,11 +93,13 @@ public:
private: private:
gps_l5i_dll_pll_tracking_cc_sptr tracking_; gps_l5i_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_; size_t item_size_;
unsigned int channel_; unsigned int channel_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
bool unified_;
}; };
#endif // GNSS_SDR_gps_l5i_dll_pll_tracking_H_ #endif // GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_

37
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -916,6 +916,7 @@ void dll_pll_veml_tracking::log_data(bool integrating)
tmp_L = std::abs<float>(d_L_accu); tmp_L = std::abs<float>(d_L_accu);
if (integrating) if (integrating)
{ {
//TODO: Improve this solution!
// It compensates the amplitude difference while integrating // It compensates the amplitude difference while integrating
if (d_extend_correlation_symbols_count > 0) if (d_extend_correlation_symbols_count > 0)
{ {
@ -1315,7 +1316,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_Prompt_buffer_deque.pop_front(); d_Prompt_buffer_deque.pop_front();
} }
} }
else // Signal does not have secondary code. Search a bit transition by sign change else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{ {
if (d_synchonizing) if (d_synchonizing)
{ {
@ -1346,6 +1347,10 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_current_symbol = 1; d_current_symbol = 1;
} }
} }
else
{
next_state = true;
}
if (next_state) if (next_state)
{ // reset extended correlator { // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0); d_VE_accu = gr_complex(0.0, 0.0);
@ -1357,6 +1362,21 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_Prompt_buffer_deque.clear(); d_Prompt_buffer_deque.clear();
d_current_symbol = 0; d_current_symbol = 0;
d_synchonizing = false; d_synchonizing = false;
if (d_enable_extended_integration)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
float new_correlation_time = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
d_carrier_loop_filter.set_pdi(new_correlation_time);
d_code_loop_filter.set_pdi(new_correlation_time);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips] // Set narrow taps delay values [chips]
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz); d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz); d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz);
@ -1372,21 +1392,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip); d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip); d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
} }
// UPDATE INTEGRATION TIME
if (d_enable_extended_integration)
{
d_extend_correlation_symbols_count = 0;
float new_correlation_time_s = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
d_carrier_loop_filter.set_pdi(new_correlation_time_s);
d_code_loop_filter.set_pdi(new_correlation_time_s);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
} }
else else
{ {

4
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@ -267,8 +267,8 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
// process vars // process vars
float carr_error_filt_hz; float carr_error_filt_hz = 0.0;
float code_error_filt_chips; float code_error_filt_chips = 0.0;
tcp_packet_data tcp_data; tcp_packet_data tcp_data;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder

7
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@ -297,10 +297,9 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
// process vars // process vars
float carr_error; float carr_error = 0.0;
float carr_nco; float code_error = 0.0;
float code_error; float code_nco = 0.0;
float code_nco;
tcp_packet_data tcp_data; tcp_packet_data tcp_data;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder

11
src/core/receiver/gnss_block_factory.cc
View File

@ -250,8 +250,15 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
GPS_channels += configuration->property("Channels_2S.count", 0); GPS_channels += configuration->property("Channels_2S.count", 0);
GPS_channels += configuration->property("Channels_L5.count", 0); GPS_channels += configuration->property("Channels_L5.count", 0);
unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0); unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
Glonass_channels += configuration->property("Channels_2G.count", 0); unsigned int extra_channels = 1; // For monitor channel sample counter
return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels); return GetBlock(configuration, "Observables", implementation,
Galileo_channels +
GPS_channels +
Glonass_channels +
extra_channels,
Galileo_channels +
GPS_channels +
Glonass_channels);
} }

30
src/core/receiver/gnss_flowgraph.cc
View File

@ -246,6 +246,30 @@ void GNSSFlowgraph::connect()
} }
DLOG(INFO) << "Signal source connected to signal conditioner"; DLOG(INFO) << "Signal source connected to signal conditioner";
//connect the signal source to sample counter
//connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if(fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs);
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception & e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID; int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -294,12 +318,6 @@ void GNSSFlowgraph::connect()
{ {
LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
} }
//connect the sample counter to the channel 0
if (i == 0)
{
ch_out_sample_counter = gnss_sdr_make_sample_counter();
top_block_->connect(channels_.at(i)->get_right_block(), 0, ch_out_sample_counter, 0);
}
} }
/* /*

12
src/core/system_parameters/GPS_CNAV.h
View File

@ -122,13 +122,13 @@ const std::vector<std::pair<int, int> > CNAV_URA_NED1({{55, 3}});
const std::vector<std::pair<int, int> > CNAV_URA_NED2({{58, 3}}); const std::vector<std::pair<int, int> > CNAV_URA_NED2({{58, 3}});
const std::vector<std::pair<int, int> > CNAV_TOC({{61, 11}}); const std::vector<std::pair<int, int> > CNAV_TOC({{61, 11}});
const double CNAV_TOC_LSB = 300.0; const double CNAV_TOC_LSB = 300.0;
const std::vector<std::pair<int, int> > CNAV_AF0({{72, 26}}); const std::vector<std::pair<int,int> > CNAV_AF0({{72,26}});
const double CNAV_AF0_LSB = TWO_N60; const double CNAV_AF0_LSB = TWO_N35;
const std::vector<std::pair<int, int> > CNAV_AF1({{98, 20}}); const std::vector<std::pair<int,int> > CNAV_AF1({{98,20}});
const double CNAV_AF1_LSB = TWO_N48; const double CNAV_AF1_LSB = TWO_N48;
const std::vector<std::pair<int, int> > CNAV_AF2({{118, 10}}); const std::vector<std::pair<int,int> > CNAV_AF2({{118,10}});
const double CNAV_AF2_LSB = TWO_N35; const double CNAV_AF2_LSB = TWO_N60;
const std::vector<std::pair<int, int> > CNAV_TGD({{128, 13}}); const std::vector<std::pair<int,int> > CNAV_TGD({{128,13}});
const double CNAV_TGD_LSB = TWO_N35; const double CNAV_TGD_LSB = TWO_N35;
const std::vector<std::pair<int, int> > CNAV_ISCL1({{141, 13}}); const std::vector<std::pair<int, int> > CNAV_ISCL1({{141, 13}});
const double CNAV_ISCL1_LSB = TWO_N35; const double CNAV_ISCL1_LSB = TWO_N35;

3
src/core/system_parameters/GPS_L1_CA.h
View File

@ -53,6 +53,7 @@ const double GPS_L1_FREQ_HZ = FREQ1; //!< L1 [Hz]
const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s] const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips] const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds] const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds]
const unsigned int GPS_L1_CA_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms]
const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds] const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
/*! /*!
@ -70,7 +71,7 @@ const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (thi
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int GPS_L1_CA_HISTORY_DEEP = 500; const int GPS_L1_CA_HISTORY_DEEP = 100;
// NAVIGATION MESSAGE DEMODULATION AND DECODING // NAVIGATION MESSAGE DEMODULATION AND DECODING

2
src/core/system_parameters/MATH_CONSTANTS.h
View File

@ -31,6 +31,8 @@
#ifndef GNSS_SDR_MATH_CONSTANTS_H_ #ifndef GNSS_SDR_MATH_CONSTANTS_H_
#define GNSS_SDR_MATH_CONSTANTS_H_ #define GNSS_SDR_MATH_CONSTANTS_H_
#include<string>
/* Constants for scaling the ephemeris found in the data message /* 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 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 Additionally some of the PI*2^N terms are used in the tracking stuff

82
src/core/system_parameters/display.h Normal file
View File

@ -0,0 +1,82 @@
/*!
* \file display.h
* \brief Defines useful display constants
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_DISPLAY_H_
#define GNSS_SDR_DISPLAY_H_
#include <string>
#ifndef NO_DISPLAY_COLORS
#define DISPLAY_COLORS 1
#endif
#ifdef DISPLAY_COLORS
const std::string TEXT_RESET = "\033[0m";
const std::string TEXT_BLACK = "\033[30m";
const std::string TEXT_RED = "\033[31m";
const std::string TEXT_GREEN = "\033[32m";
const std::string TEXT_YELLOW = "\033[33m";
const std::string TEXT_BLUE = "\033[34m";
const std::string TEXT_MAGENTA = "\033[35m";
const std::string TEXT_CYAN = "\033[36m";
const std::string TEXT_WHITE = "\033[37m";
const std::string TEXT_BOLD_BLACK = "\033[1m\033[30m";
const std::string TEXT_BOLD_RED = "\033[1m\033[31m";
const std::string TEXT_BOLD_GREEN = "\033[1m\033[32m";
const std::string TEXT_BOLD_YELLOW = "\033[1m\033[33m";
const std::string TEXT_BOLD_BLUE = "\033[1m\033[34m";
const std::string TEXT_BOLD_MAGENTA = "\033[1m\033[35m";
const std::string TEXT_BOLD_CYAN = "\033[1m\033[36m";
const std::string TEXT_BOLD_WHITE = "\033[1m\033[37m";
#else
const std::string TEXT_RESET = "";
const std::string TEXT_BLACK = "";
const std::string TEXT_RED = "";
const std::string TEXT_GREEN = "";
const std::string TEXT_YELLOW = "";
const std::string TEXT_BLUE = "";
const std::string TEXT_MAGENTA = "";
const std::string TEXT_CYAN = "";
const std::string TEXT_WHITE = "";
const std::string TEXT_BOLD_BLACK = "";
const std::string TEXT_BOLD_RED = "";
const std::string TEXT_BOLD_GREEN = "";
const std::string TEXT_BOLD_YELLOW = "";
const std::string TEXT_BOLD_BLUE = "";
const std::string TEXT_BOLD_MAGENTA = "";
const std::string TEXT_BOLD_CYAN = "";
const std::string TEXT_BOLD_WHITE = "";
#endif /* DISPLAY_COLORS */
#endif /* GNSS_SDR_DISPLAY_H_ */

5
src/core/system_parameters/gps_cnav_ephemeris.h
View File

@ -157,6 +157,11 @@ public:
archive& make_nvp("d_IDOT", d_IDOT); //!< Rate of Inclination Angle [semi-circles/s] archive& make_nvp("d_IDOT", d_IDOT); //!< Rate of Inclination Angle [semi-circles/s]
archive& make_nvp("i_GPS_week", i_GPS_week); //!< GPS week number, aka WN [week] archive& make_nvp("i_GPS_week", i_GPS_week); //!< GPS week number, aka WN [week]
archive& make_nvp("d_TGD", d_TGD); //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s] archive& make_nvp("d_TGD", d_TGD); //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL1", d_ISCL1); //!< Estimated Group Delay Differential: L1P(Y)-L1C/A correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL2", d_ISCL2); //!< Estimated Group Delay Differential: L1P(Y)-L2C correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL5I", d_ISCL5I); //!< Estimated Group Delay Differential: L1P(Y)-L5i correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL5Q", d_ISCL5Q); //!< Estimated Group Delay Differential: L1P(Y)-L5q correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_DELTA_A", d_DELTA_A); //!< Semi-major axis difference at reference time [m] archive& make_nvp("d_DELTA_A", d_DELTA_A); //!< Semi-major axis difference at reference time [m]
archive& make_nvp("d_A_DOT", d_A_DOT); //!< Change rate in semi-major axis [m/s] archive& make_nvp("d_A_DOT", d_A_DOT); //!< Change rate in semi-major axis [m/s]
archive& make_nvp("d_DELTA_OMEGA_DOT", d_DELTA_OMEGA_DOT); //!< Rate of Right Ascension difference [semi-circles/s] archive& make_nvp("d_DELTA_OMEGA_DOT", d_DELTA_OMEGA_DOT); //!< Rate of Right Ascension difference [semi-circles/s]

87
src/core/system_parameters/gps_cnav_navigation_message.cc
View File

@ -179,7 +179,7 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.i_satellite_PRN = PRN; ephemeris_record.i_satellite_PRN = PRN;
d_TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW)); d_TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW));
d_TOW = d_TOW * CNAV_TOW_LSB; d_TOW *= CNAV_TOW_LSB;
ephemeris_record.d_TOW = d_TOW; ephemeris_record.d_TOW = d_TOW;
alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG)); alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
@ -193,24 +193,24 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.i_GPS_week = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN)); ephemeris_record.i_GPS_week = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN));
ephemeris_record.i_signal_health = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH)); ephemeris_record.i_signal_health = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
ephemeris_record.d_Top = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1)); ephemeris_record.d_Top = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1));
ephemeris_record.d_Top = ephemeris_record.d_Top * CNAV_TOP1_LSB; ephemeris_record.d_Top *= CNAV_TOP1_LSB;
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA)); ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
ephemeris_record.d_Toe1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1)); ephemeris_record.d_Toe1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1));
ephemeris_record.d_Toe1 = ephemeris_record.d_Toe1 * CNAV_TOE1_LSB; ephemeris_record.d_Toe1 *= CNAV_TOE1_LSB;
ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A)); ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
ephemeris_record.d_DELTA_A = ephemeris_record.d_DELTA_A * CNAV_DELTA_A_LSB; ephemeris_record.d_DELTA_A *= CNAV_DELTA_A_LSB;
ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT)); ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
ephemeris_record.d_A_DOT = ephemeris_record.d_A_DOT * CNAV_A_DOT_LSB; ephemeris_record.d_A_DOT *= CNAV_A_DOT_LSB;
ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0)); ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
ephemeris_record.d_Delta_n = ephemeris_record.d_Delta_n * CNAV_DELTA_N0_LSB; ephemeris_record.d_Delta_n *= CNAV_DELTA_N0_LSB;
ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT)); ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
ephemeris_record.d_DELTA_DOT_N = ephemeris_record.d_DELTA_DOT_N * CNAV_DELTA_N0_DOT_LSB; ephemeris_record.d_DELTA_DOT_N *= CNAV_DELTA_N0_DOT_LSB;
ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0)); ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
ephemeris_record.d_M_0 = ephemeris_record.d_M_0 * CNAV_M0_LSB; ephemeris_record.d_M_0 *= CNAV_M0_LSB;
ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY)); ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY));
ephemeris_record.d_e_eccentricity = ephemeris_record.d_e_eccentricity * CNAV_E_ECCENTRICITY_LSB; ephemeris_record.d_e_eccentricity *= CNAV_E_ECCENTRICITY_LSB;
ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA)); ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
ephemeris_record.d_OMEGA = ephemeris_record.d_OMEGA * CNAV_OMEGA_LSB; ephemeris_record.d_OMEGA *= CNAV_OMEGA_LSB;
ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG)); ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG)); ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
@ -219,53 +219,79 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
break; break;
case 11: // Ephemeris 2/2 case 11: // Ephemeris 2/2
ephemeris_record.d_Toe2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2)); ephemeris_record.d_Toe2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2));
ephemeris_record.d_Toe2 = ephemeris_record.d_Toe2 * CNAV_TOE2_LSB; ephemeris_record.d_Toe2 *= CNAV_TOE2_LSB;
ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0)); ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
ephemeris_record.d_OMEGA0 = ephemeris_record.d_OMEGA0 * CNAV_OMEGA0_LSB; ephemeris_record.d_OMEGA0 *= CNAV_OMEGA0_LSB;
ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT)); ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
ephemeris_record.d_DELTA_OMEGA_DOT = ephemeris_record.d_DELTA_OMEGA_DOT * CNAV_DELTA_OMEGA_DOT_LSB; ephemeris_record.d_DELTA_OMEGA_DOT *= CNAV_DELTA_OMEGA_DOT_LSB;
ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0)); ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
ephemeris_record.d_i_0 = ephemeris_record.d_i_0 * CNAV_I0_LSB; ephemeris_record.d_i_0 *= CNAV_I0_LSB;
ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT)); ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
ephemeris_record.d_IDOT = ephemeris_record.d_IDOT * CNAV_I0_DOT_LSB; ephemeris_record.d_IDOT *= CNAV_I0_DOT_LSB;
ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS)); ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
ephemeris_record.d_Cis = ephemeris_record.d_Cis * CNAV_CIS_LSB; ephemeris_record.d_Cis *= CNAV_CIS_LSB;
ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC)); ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CIC_LSB; ephemeris_record.d_Cic *= CNAV_CIC_LSB;
ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS)); ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
ephemeris_record.d_Crs = ephemeris_record.d_Crs * CNAV_CRS_LSB; ephemeris_record.d_Crs *= CNAV_CRS_LSB;
ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC)); ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CRC_LSB; ephemeris_record.d_Crc *= CNAV_CRC_LSB;
ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS)); ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
ephemeris_record.d_Cus = ephemeris_record.d_Cus * CNAV_CUS_LSB; ephemeris_record.d_Cus *= CNAV_CUS_LSB;
ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC)); ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
ephemeris_record.d_Cuc = ephemeris_record.d_Cuc * CNAV_CUS_LSB; ephemeris_record.d_Cuc *= CNAV_CUC_LSB;
b_flag_ephemeris_2 = true; b_flag_ephemeris_2 = true;
break; break;
case 30: // (CLOCK, IONO, GRUP DELAY) case 30: // (CLOCK, IONO, GRUP DELAY)
//clock //clock
ephemeris_record.d_Toc = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC)); ephemeris_record.d_Toc = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC));
ephemeris_record.d_Toc = ephemeris_record.d_Toc * CNAV_TOC_LSB; ephemeris_record.d_Toc *= CNAV_TOC_LSB;
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0)); ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1)); ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2)); ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0)); ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
ephemeris_record.d_A_f0 = ephemeris_record.d_A_f0 * CNAV_AF0_LSB; ephemeris_record.d_A_f0 *= CNAV_AF0_LSB;
ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1)); ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
ephemeris_record.d_A_f1 = ephemeris_record.d_A_f1 * CNAV_AF1_LSB; ephemeris_record.d_A_f1 *= CNAV_AF1_LSB;
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2)); ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB; ephemeris_record.d_A_f2 *= CNAV_AF2_LSB;
//group delays //group delays
//Check if the grup delay values are not available. See IS-GPS-200, Table 30-IV.
//Bit string "1000000000000" is -4096 in 2 complement
ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD)); ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
ephemeris_record.d_TGD = ephemeris_record.d_TGD * CNAV_TGD_LSB; if (ephemeris_record.d_TGD < -4095.9)
{
ephemeris_record.d_TGD = 0.0;
}
ephemeris_record.d_TGD *= CNAV_TGD_LSB;
ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1)); ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
ephemeris_record.d_ISCL1 = ephemeris_record.d_ISCL1 * CNAV_ISCL1_LSB; if (ephemeris_record.d_ISCL1 < -4095.9)
{
ephemeris_record.d_ISCL1 = 0.0;
}
ephemeris_record.d_ISCL1 *= CNAV_ISCL1_LSB;
ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2)); ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
ephemeris_record.d_ISCL2 = ephemeris_record.d_ISCL2 * CNAV_ISCL2_LSB; if (ephemeris_record.d_ISCL2 < -4095.9)
{
ephemeris_record.d_ISCL2 = 0.0;
}
ephemeris_record.d_ISCL2 *= CNAV_ISCL2_LSB;
ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I)); ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
ephemeris_record.d_ISCL5I = ephemeris_record.d_ISCL5I * CNAV_ISCL5I_LSB; if (ephemeris_record.d_ISCL5I < -4095.9)
{
ephemeris_record.d_ISCL5I = 0.0;
}
ephemeris_record.d_ISCL5I *= CNAV_ISCL5I_LSB;
ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q)); ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
ephemeris_record.d_ISCL5Q = ephemeris_record.d_ISCL5Q * CNAV_ISCL5Q_LSB; if (ephemeris_record.d_ISCL5Q < -4095.9)
{
ephemeris_record.d_ISCL5Q = 0.0;
}
ephemeris_record.d_ISCL5Q *= CNAV_ISCL5Q_LSB;
//iono //iono
iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0)); iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB; iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;
@ -297,7 +323,6 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2)); ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB; ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
utc_model_record.d_A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0)); utc_model_record.d_A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0));
utc_model_record.d_A0 = utc_model_record.d_A0 * CNAV_A0_LSB; utc_model_record.d_A0 = utc_model_record.d_A0 * CNAV_A0_LSB;
utc_model_record.d_A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1)); utc_model_record.d_A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1));

28
src/core/system_parameters/gps_navigation_message.cc
View File

@ -39,7 +39,7 @@ m * \file gps_navigation_message.cc
void Gps_Navigation_Message::reset() void Gps_Navigation_Message::reset()
{ {
b_valid_ephemeris_set_flag = false; b_valid_ephemeris_set_flag = false;
d_TOW = 0; d_TOW = 0.0;
d_TOW_SF1 = 0; d_TOW_SF1 = 0;
d_TOW_SF2 = 0; d_TOW_SF2 = 0;
d_TOW_SF3 = 0; d_TOW_SF3 = 0;
@ -70,7 +70,7 @@ void Gps_Navigation_Message::reset()
i_SV_accuracy = 0; i_SV_accuracy = 0;
i_SV_health = 0; i_SV_health = 0;
d_TGD = 0; d_TGD = 0;
d_IODC = -1; d_IODC = -1.0;
i_AODO = 0; i_AODO = 0;
b_fit_interval_flag = false; b_fit_interval_flag = false;
@ -290,7 +290,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
//TOW = bin2dec(subframe(31:47)) * 6; //TOW = bin2dec(subframe(31:47)) * 6;
d_TOW_SF1 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF1 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
//we are in the first subframe (the transmitted TOW is the start time of the next subframe) ! //we are in the first subframe (the transmitted TOW is the start time of the next subframe) !
d_TOW_SF1 = d_TOW_SF1 * 6; d_TOW_SF1 = d_TOW_SF1 * 6.0;
d_TOW = d_TOW_SF1; // Set transmission time d_TOW = d_TOW_SF1; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
@ -316,7 +316,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
case 2: //--- It is subframe 2 ------------------- case 2: //--- It is subframe 2 -------------------
d_TOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF2 = d_TOW_SF2 * 6; d_TOW_SF2 = d_TOW_SF2 * 6.0;
d_TOW = d_TOW_SF2; // Set transmission time d_TOW = d_TOW_SF2; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
@ -346,7 +346,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
case 3: // --- It is subframe 3 ------------------------------------- case 3: // --- It is subframe 3 -------------------------------------
d_TOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF3 = d_TOW_SF3 * 6; d_TOW_SF3 = d_TOW_SF3 * 6.0;
d_TOW = d_TOW_SF3; // Set transmission time d_TOW = d_TOW_SF3; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
@ -375,7 +375,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
int SV_data_ID; int SV_data_ID;
int SV_page; int SV_page;
d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF4 = d_TOW_SF4 * 6; d_TOW_SF4 = d_TOW_SF4 * 6.0;
d_TOW = d_TOW_SF4; // Set transmission time d_TOW = d_TOW_SF4; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
@ -385,9 +385,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
if (SV_page > 24 && SV_page < 33) // Page 4 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110) if (SV_page > 24 && SV_page < 33) // Page 4 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
//! \TODO read almanac //! \TODO read almanac
if (SV_data_ID) if(SV_data_ID){}
{
}
} }
if (SV_page == 52) // Page 13 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110) if (SV_page == 52) // Page 13 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
@ -449,11 +447,11 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
break; break;
case 5: //--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time. case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
int SV_data_ID_5; int SV_data_ID_5;
int SV_page_5; int SV_page_5;
d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF5 = d_TOW_SF5 * 6; d_TOW_SF5 = d_TOW_SF5 * 6.0;
d_TOW = d_TOW_SF5; // Set transmission time d_TOW = d_TOW_SF5; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
@ -463,9 +461,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
if (SV_page_5 < 25) if (SV_page_5 < 25)
{ {
//! \TODO read almanac //! \TODO read almanac
if (SV_data_ID_5) if(SV_data_ID_5){}
{
}
} }
if (SV_page_5 == 51) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110) if (SV_page_5 == 51) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
@ -672,9 +668,9 @@ bool Gps_Navigation_Message::satellite_validation()
// First Step: // First Step:
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
// and check if the data have been filled (!=0) // and check if the data have been filled (!=0)
if (d_TOW_SF1 != 0 and d_TOW_SF2 != 0 and d_TOW_SF3 != 0) if (d_TOW_SF1 != 0.0 and d_TOW_SF2 != 0.0 and d_TOW_SF3 != 0.0)
{ {
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC != -1) if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC != -1.0)
{ {
flag_data_valid = true; flag_data_valid = true;
b_valid_ephemeris_set_flag = true; b_valid_ephemeris_set_flag = true;

3
src/tests/CMakeLists.txt
View File

@ -351,9 +351,6 @@ include_directories(
# Unit testing # Unit testing
################################################################################ ################################################################################
if(ENABLE_UNIT_TESTING) if(ENABLE_UNIT_TESTING)
if( ${ARMADILLO_VERSION_STRING} STRGREATER "5.300") # make sure interp1 is present
add_definitions(-DMODERN_ARMADILLO)
endif( ${ARMADILLO_VERSION_STRING} STRGREATER "5.300")
add_executable(run_tests ${CMAKE_CURRENT_SOURCE_DIR}/test_main.cc) add_executable(run_tests ${CMAKE_CURRENT_SOURCE_DIR}/test_main.cc)
target_link_libraries(run_tests ${CLANG_FLAGS} target_link_libraries(run_tests ${CLANG_FLAGS}

2
src/tests/test_main.cc
View File

@ -146,12 +146,10 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
#if MODERN_ARMADILLO
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc" #include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc" #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
#endif #endif
#endif
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc" #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc" #include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"

3
src/tests/unit-tests/control-plane/control_thread_test.cc
View File

@ -117,6 +117,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages)
config->set_property("Observables.item_type", "gr_complex"); config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT"); config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex"); config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config); std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
@ -177,6 +178,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages2)
config->set_property("Observables.item_type", "gr_complex"); config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT"); config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex"); config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::unique_ptr<ControlThread> control_thread2(new ControlThread(config)); std::unique_ptr<ControlThread> control_thread2(new ControlThread(config));
@ -240,6 +242,7 @@ TEST_F(ControlThreadTest, StopReceiverProgrammatically)
config->set_property("Observables.item_type", "gr_complex"); config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT"); config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex"); config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config); std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
gr::msg_queue::sptr control_queue = gr::msg_queue::make(0); gr::msg_queue::sptr control_queue = gr::msg_queue::make(0);

7
src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
View File

@ -49,6 +49,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>(); std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false"); config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000"); config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source"); config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex"); config->set_property("SignalSource.item_type", "gr_complex");
@ -82,7 +83,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
TEST(GNSSFlowgraph, InstantiateConnectStartStop) TEST(GNSSFlowgraph, InstantiateConnectStartStop)
{ {
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>(); std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000"); config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source"); config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex"); config->set_property("SignalSource.item_type", "gr_complex");
@ -116,7 +117,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStop)
TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B) TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
{ {
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>(); std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000"); config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source"); config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex"); config->set_property("SignalSource.item_type", "gr_complex");
@ -151,7 +152,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
TEST(GNSSFlowgraph, InstantiateConnectStartStopHybrid) TEST(GNSSFlowgraph, InstantiateConnectStartStopHybrid)
{ {
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>(); std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000"); config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source"); config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex"); config->set_property("SignalSource.item_type", "gr_complex");

291
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -36,11 +36,8 @@
#include <armadillo> #include <armadillo>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "gnss_satellite.h" #include "gnss_satellite.h"
@ -57,9 +54,10 @@
#include "observables_dump_reader.h" #include "observables_dump_reader.h"
#include "tlm_dump_reader.h" #include "tlm_dump_reader.h"
#include "gps_l1_ca_dll_pll_tracking.h" #include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "hybrid_observables.h" #include "hybrid_observables.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
#include "gnss_sdr_sample_counter.h"
#include <matio.h>
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES ######### // ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@ -186,18 +184,17 @@ public:
int configure_generator(); int configure_generator();
int generate_signal(); int generate_signal();
void check_results_carrier_phase( void check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles, arma::mat& true_ch0,
arma::vec& true_ch1_phase_cycles, arma::mat& true_ch1,
arma::vec& true_ch0_tow_s, arma::vec& true_tow_s,
arma::vec& measuded_ch0_phase_cycles, arma::mat& measured_ch0,
arma::vec& measuded_ch1_phase_cycles, arma::mat& measured_ch1);
arma::vec& measuded_ch0_RX_time_s);
void check_results_code_psudorange( void check_results_code_psudorange(
arma::vec& true_ch0_dist_m, arma::vec& true_ch1_dist_m, arma::mat& true_ch0,
arma::vec& true_ch0_tow_s, arma::mat& true_ch1,
arma::vec& measuded_ch0_Pseudorange_m, arma::vec& true_tow_s,
arma::vec& measuded_ch1_Pseudorange_m, arma::mat& measured_ch0,
arma::vec& measuded_ch0_RX_time_s); arma::mat& measured_ch1);
HybridObservablesTest() HybridObservablesTest()
{ {
@ -284,39 +281,49 @@ void HybridObservablesTest::configure_receiver()
// Set Tracking // Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "15.0"); config->set_property("Tracking_1C.pll_bw_hz", "35.0");
config->set_property("Tracking_1C.dll_bw_hz", "0.5"); config->set_property("Tracking_1C.dll_bw_hz", "0.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5"); config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true"); config->set_property("TelemetryDecoder_1C.dump", "true");
config->set_property("Observables.dump", "true"); config->set_property("Observables.dump", "true");
} }
void HybridObservablesTest::check_results_carrier_phase( void HybridObservablesTest::check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles, arma::mat& true_ch0,
arma::vec& true_ch1_phase_cycles, arma::mat& true_ch1,
arma::vec& true_ch0_tow_s, arma::vec& true_tow_s,
arma::vec& measuded_ch0_phase_cycles, arma::mat& measured_ch0,
arma::vec& measuded_ch1_phase_cycles, arma::mat& measured_ch1)
arma::vec& measuded_ch0_RX_time_s)
{ {
//1. True value interpolation to match the measurement times //1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_phase_interp; arma::vec true_ch0_phase_interp;
arma::vec true_ch1_phase_interp; arma::vec true_ch1_phase_interp;
arma::interp1(true_ch0_tow_s, true_ch0_phase_cycles, measuded_ch0_RX_time_s, true_ch0_phase_interp); arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);
arma::interp1(true_ch0_tow_s, true_ch1_phase_cycles, measuded_ch0_RX_time_s, true_ch1_phase_interp); arma::interp1(true_tow_s, true_ch1.col(3), t, true_ch1_phase_interp);
arma::vec meas_ch0_phase_interp;
arma::vec meas_ch1_phase_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_phase_interp);
//2. RMSE //2. RMSE
arma::vec err_ch0_cycles; arma::vec err_ch0_cycles;
arma::vec err_ch1_cycles; arma::vec err_ch1_cycles;
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time) //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
err_ch0_cycles = measuded_ch0_phase_cycles - true_ch0_phase_interp - measuded_ch0_phase_cycles(0) + true_ch0_phase_interp(0); err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);
err_ch1_cycles = measuded_ch1_phase_cycles - true_ch1_phase_interp - measuded_ch1_phase_cycles(0) + true_ch1_phase_interp(0); err_ch1_cycles = meas_ch1_phase_interp - true_ch1_phase_interp - meas_ch1_phase_interp(0) + true_ch1_phase_interp(0);
arma::vec err2_ch0 = arma::square(err_ch0_cycles); arma::vec err2_ch0 = arma::square(err_ch0_cycles);
double rmse_ch0 = sqrt(arma::mean(err2_ch0)); double rmse_ch0 = sqrt(arma::mean(err2_ch0));
@ -343,58 +350,68 @@ void HybridObservablesTest::check_results_carrier_phase(
//5. report //5. report
std::streamsize ss = std::cout.precision(); std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE=" std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE = "
<< rmse_ch0 << ", mean=" << error_mean_ch0 << rmse_ch0 << ", mean = " << error_mean_ch0
<< ", stdev=" << sqrt(error_var_ch0) << ", stdev = " << sqrt(error_var_ch0)
<< " (max,min)=" << max_error_ch0 << " (max,min) = " << max_error_ch0
<< "," << min_error_ch0 << "," << min_error_ch0
<< " [cycles]" << std::endl; << " [cycles]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
ASSERT_LT(rmse_ch0, 1e-2); ASSERT_LT(rmse_ch0, 5e-2);
ASSERT_LT(error_mean_ch0, 1e-2); ASSERT_LT(error_mean_ch0, 5e-2);
ASSERT_GT(error_mean_ch0, -1e-2); ASSERT_GT(error_mean_ch0, -5e-2);
ASSERT_LT(error_var_ch0, 1e-2); ASSERT_LT(error_var_ch0, 5e-2);
ASSERT_LT(max_error_ch0, 5e-2); ASSERT_LT(max_error_ch0, 5e-2);
ASSERT_GT(min_error_ch0, -5e-2); ASSERT_GT(min_error_ch0, -5e-2);
//5. report //5. report
ss = std::cout.precision(); ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE=" std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE = "
<< rmse_ch1 << ", mean=" << error_mean_ch1 << rmse_ch1 << ", mean = " << error_mean_ch1
<< ", stdev=" << sqrt(error_var_ch1) << ", stdev = " << sqrt(error_var_ch1)
<< " (max,min)=" << max_error_ch1 << " (max,min) = " << max_error_ch1
<< "," << min_error_ch1 << "," << min_error_ch1
<< " [cycles]" << std::endl; << " [cycles]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
ASSERT_LT(rmse_ch1, 1e-2); ASSERT_LT(rmse_ch1, 5e-2);
ASSERT_LT(error_mean_ch1, 1e-2); ASSERT_LT(error_mean_ch1, 5e-2);
ASSERT_GT(error_mean_ch1, -1e-2); ASSERT_GT(error_mean_ch1, -5e-2);
ASSERT_LT(error_var_ch1, 1e-2); ASSERT_LT(error_var_ch1, 5e-2);
ASSERT_LT(max_error_ch1, 5e-2); ASSERT_LT(max_error_ch1, 5e-2);
ASSERT_GT(min_error_ch1, -5e-2); ASSERT_GT(min_error_ch1, -5e-2);
} }
void HybridObservablesTest::check_results_code_psudorange( void HybridObservablesTest::check_results_code_psudorange(
arma::vec& true_ch0_dist_m, arma::mat& true_ch0,
arma::vec& true_ch1_dist_m, arma::mat& true_ch1,
arma::vec& true_ch0_tow_s, arma::vec& true_tow_s,
arma::vec& measuded_ch0_Pseudorange_m, arma::mat& measured_ch0,
arma::vec& measuded_ch1_Pseudorange_m, arma::mat& measured_ch1)
arma::vec& measuded_ch0_RX_time_s)
{ {
//1. True value interpolation to match the measurement times //1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_dist_interp; arma::vec true_ch0_dist_interp;
arma::vec true_ch1_dist_interp; arma::vec true_ch1_dist_interp;
arma::interp1(true_ch0_tow_s, true_ch0_dist_m, measuded_ch0_RX_time_s, true_ch0_dist_interp); arma::interp1(true_tow_s, true_ch0.col(1), t, true_ch0_dist_interp);
arma::interp1(true_ch0_tow_s, true_ch1_dist_m, measuded_ch0_RX_time_s, true_ch1_dist_interp); arma::interp1(true_tow_s, true_ch1.col(1), t, true_ch1_dist_interp);
arma::vec meas_ch0_dist_interp;
arma::vec meas_ch1_dist_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
// generate delta pseudoranges // generate delta pseudoranges
arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp; arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
arma::vec delta_measured_dist_m = measuded_ch0_Pseudorange_m - measuded_ch1_Pseudorange_m; arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
//2. RMSE //2. RMSE
arma::vec err; arma::vec err;
@ -413,10 +430,10 @@ void HybridObservablesTest::check_results_code_psudorange(
//5. report //5. report
std::streamsize ss = std::cout.precision(); std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Delta Observables RMSE=" std::cout << std::setprecision(10) << "Delta Observables RMSE = "
<< rmse << ", mean=" << error_mean << rmse << ", mean = " << error_mean
<< ", stdev=" << sqrt(error_var) << ", stdev = " << sqrt(error_var)
<< " (max,min)=" << max_error << " (max,min) = " << max_error
<< "," << min_error << "," << min_error
<< " [meters]" << std::endl; << " [meters]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
@ -425,8 +442,8 @@ void HybridObservablesTest::check_results_code_psudorange(
ASSERT_LT(error_mean, 0.5); ASSERT_LT(error_mean, 0.5);
ASSERT_GT(error_mean, -0.5); ASSERT_GT(error_mean, -0.5);
ASSERT_LT(error_var, 0.5); ASSERT_LT(error_var, 0.5);
ASSERT_LT(max_error, 2); ASSERT_LT(max_error, 2.0);
ASSERT_GT(min_error, -2); ASSERT_GT(min_error, -2.0);
} }
@ -474,9 +491,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block = gr::make_top_block("Telemetry_Decoder test"); top_block = gr::make_top_block("Telemetry_Decoder test");
std::shared_ptr<TrackingInterface> tracking_ch0 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1); std::shared_ptr<TrackingInterface> tracking_ch0 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1); std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch0 = HybridObservablesTest_msg_rx_make(); boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch0 = HybridObservablesTest_msg_rx_make();
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch1 = HybridObservablesTest_msg_rx_make(); boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch1 = HybridObservablesTest_msg_rx_make();
@ -528,7 +543,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch2 = HybridObservablesTest_tlm_msg_rx_make(); boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch2 = HybridObservablesTest_tlm_msg_rx_make();
//Observables //Observables
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 2, 2)); std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 3, 2));
ASSERT_NO_THROW({ ASSERT_NO_THROW({
tracking_ch0->set_channel(gnss_synchro_ch0.Channel_ID); tracking_ch0->set_channel(gnss_synchro_ch0.Channel_ID);
@ -552,7 +567,10 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make(); gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink_ch0 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro)); gr::blocks::null_sink::sptr sink_ch0 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gr::blocks::null_sink::sptr sink_ch1 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro)); gr::blocks::null_sink::sptr sink_ch1 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0); top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
//ch0 //ch0
top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch0->get_left_block(), 0); top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch0->get_left_block(), 0);
top_block->connect(tracking_ch0->get_right_block(), 0, tlm_ch0->get_left_block(), 0); top_block->connect(tracking_ch0->get_right_block(), 0, tlm_ch0->get_left_block(), 0);
@ -566,6 +584,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block->connect(observables->get_right_block(), 0, sink_ch0, 0); top_block->connect(observables->get_right_block(), 0, sink_ch0, 0);
top_block->connect(observables->get_right_block(), 1, sink_ch1, 0); top_block->connect(observables->get_right_block(), 1, sink_ch1, 0);
top_block->connect(samp_counter, 0, observables->get_left_block(), 2);
}) << "Failure connecting the blocks."; }) << "Failure connecting the blocks.";
tracking_ch0->start_tracking(); tracking_ch0->start_tracking();
@ -587,20 +607,15 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false) if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
{ {
throw std::exception(); throw std::exception();
}; }
}) << "Failure opening true observables file"; }) << "Failure opening true observables file";
long int nepoch = true_observables.num_epochs(); unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
std::cout << "True observation epochs=" << nepoch << std::endl; std::cout << "True observation epochs = " << nepoch << std::endl;
arma::vec true_ch0_dist_m = arma::zeros(nepoch, 1); // Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
arma::vec true_ch0_acc_carrier_phase_cycles = arma::zeros(nepoch, 1); arma::mat true_ch0 = arma::zeros<arma::mat>(nepoch, 4);
arma::vec true_ch0_Doppler_Hz = arma::zeros(nepoch, 1); arma::mat true_ch1 = arma::zeros<arma::mat>(nepoch, 4);
arma::vec true_ch0_tow_s = arma::zeros(nepoch, 1);
arma::vec true_ch1_dist_m = arma::zeros(nepoch, 1);
arma::vec true_ch1_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_ch1_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_ch1_tow_s = arma::zeros(nepoch, 1);
true_observables.restart(); true_observables.restart();
long int epoch_counter = 0; long int epoch_counter = 0;
@ -609,23 +624,23 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
{ {
if (round(true_observables.prn[0]) != gnss_synchro_ch0.PRN) if (round(true_observables.prn[0]) != gnss_synchro_ch0.PRN)
{ {
std::cout << "True observables SV PRN do not match" << round(true_observables.prn[1]) << std::endl; std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception(); throw std::exception();
} }
if (round(true_observables.prn[1]) != gnss_synchro_ch1.PRN) if (round(true_observables.prn[1]) != gnss_synchro_ch1.PRN)
{ {
std::cout << "True observables SV PRN do not match " << round(true_observables.prn[1]) << std::endl; std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception(); throw std::exception();
} }
true_ch0_tow_s(epoch_counter) = true_observables.gps_time_sec[0]; true_ch0(epoch_counter, 0) = true_observables.gps_time_sec[0];
true_ch0_dist_m(epoch_counter) = true_observables.dist_m[0]; true_ch0(epoch_counter, 1) = true_observables.dist_m[0];
true_ch0_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[0]; true_ch0(epoch_counter, 2) = true_observables.doppler_l1_hz[0];
true_ch0_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[0]; true_ch0(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[0];
true_ch1_tow_s(epoch_counter) = true_observables.gps_time_sec[1]; true_ch1(epoch_counter, 0) = true_observables.gps_time_sec[1];
true_ch1_dist_m(epoch_counter) = true_observables.dist_m[1]; true_ch1(epoch_counter, 1) = true_observables.dist_m[1];
true_ch1_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[1]; true_ch1(epoch_counter, 2) = true_observables.doppler_l1_hz[1];
true_ch1_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[1]; true_ch1(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[1];
epoch_counter++; epoch_counter++;
} }
@ -637,83 +652,85 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false) if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
{ {
throw std::exception(); throw std::exception();
}; }
}) << "Failure opening dump observables file"; }) << "Failure opening dump observables file";
nepoch = estimated_observables.num_epochs(); nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
std::cout << "Measured observation epochs=" << nepoch << std::endl; std::cout << "Measured observation epochs = " << nepoch << std::endl;
arma::vec measuded_ch0_RX_time_s = arma::zeros(nepoch, 1); // Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
arma::vec measuded_ch0_TOW_at_current_symbol_s = arma::zeros(nepoch, 1); arma::mat measured_ch0 = arma::zeros<arma::mat>(nepoch, 5);
arma::vec measuded_ch0_Carrier_Doppler_hz = arma::zeros(nepoch, 1); arma::mat measured_ch1 = arma::zeros<arma::mat>(nepoch, 5);
arma::vec measuded_ch0_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Pseudorange_m = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_RX_time_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_TOW_at_current_symbol_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Carrier_Doppler_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Pseudorange_m = arma::zeros(nepoch, 1);
estimated_observables.restart(); estimated_observables.restart();
epoch_counter = 0; epoch_counter = 0;
long int epoch_counter2 = 0;
while (estimated_observables.read_binary_obs()) while (estimated_observables.read_binary_obs())
{ {
measuded_ch0_RX_time_s(epoch_counter) = estimated_observables.RX_time[0]; if (static_cast<bool>(estimated_observables.valid[0]))
measuded_ch0_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[0]; {
measuded_ch0_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[0]; measured_ch0(epoch_counter, 0) = estimated_observables.RX_time[0];
measuded_ch0_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[0]; measured_ch0(epoch_counter, 1) = estimated_observables.TOW_at_current_symbol_s[0];
measuded_ch0_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[0]; measured_ch0(epoch_counter, 2) = estimated_observables.Carrier_Doppler_hz[0];
measured_ch0(epoch_counter, 3) = estimated_observables.Acc_carrier_phase_hz[0];
measuded_ch1_RX_time_s(epoch_counter) = estimated_observables.RX_time[1]; measured_ch0(epoch_counter, 4) = estimated_observables.Pseudorange_m[0];
measuded_ch1_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[1];
measuded_ch1_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[1];
measuded_ch1_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[1];
measuded_ch1_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[1];
epoch_counter++; epoch_counter++;
} }
if (static_cast<bool>(estimated_observables.valid[1]))
{
measured_ch1(epoch_counter2, 0) = estimated_observables.RX_time[1];
measured_ch1(epoch_counter2, 1) = estimated_observables.TOW_at_current_symbol_s[1];
measured_ch1(epoch_counter2, 2) = estimated_observables.Carrier_Doppler_hz[1];
measured_ch1(epoch_counter2, 3) = estimated_observables.Acc_carrier_phase_hz[1];
measured_ch1(epoch_counter2, 4) = estimated_observables.Pseudorange_m[1];
epoch_counter2++;
}
}
//Cut measurement tail zeros
arma::uvec index = arma::find(measured_ch0.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch0.shed_rows(index(0) + 1, nepoch - 1);
}
index = arma::find(measured_ch1.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch1.shed_rows(index(0) + 1, nepoch - 1);
}
//Cut measurement initial transitory of the measurements //Cut measurement initial transitory of the measurements
arma::uvec initial_meas_point = arma::find(measuded_ch0_RX_time_s >= true_ch0_tow_s(0), 1, "first"); index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch0.shed_rows(0, index(0));
}
index = arma::find(measured_ch1.col(0) >= true_ch1(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch1.shed_rows(0, index(0));
}
measuded_ch0_RX_time_s = measuded_ch0_RX_time_s.subvec(initial_meas_point(0), measuded_ch0_RX_time_s.size() - 1); //Correct the clock error using true values (it is not possible for a receiver to correct
measuded_ch0_Pseudorange_m = measuded_ch0_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch0_Pseudorange_m.size() - 1);
measuded_ch0_Acc_carrier_phase_hz = measuded_ch0_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch0_Acc_carrier_phase_hz.size() - 1);
measuded_ch1_RX_time_s = measuded_ch1_RX_time_s.subvec(initial_meas_point(0), measuded_ch1_RX_time_s.size() - 1);
measuded_ch1_Pseudorange_m = measuded_ch1_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch1_Pseudorange_m.size() - 1);
measuded_ch1_Acc_carrier_phase_hz = measuded_ch1_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch1_Acc_carrier_phase_hz.size() - 1);
//correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the //the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations) //decoding of the ephemeris data and solve the PVT equations)
//find the reference satellite and compute the receiver time offset at obsevable level //Find the reference satellite (the nearest) and compute the receiver time offset at observable level
arma::vec receiver_time_offset_s; arma::vec receiver_time_offset_s;
if (measuded_ch0_Pseudorange_m(0) < measuded_ch1_Pseudorange_m(0)) if (measured_ch0(0, 4) < measured_ch1(0, 4))
{ {
receiver_time_offset_s = true_ch0_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0; receiver_time_offset_s = true_ch0.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
} }
else else
{ {
receiver_time_offset_s = true_ch1_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0; receiver_time_offset_s = true_ch1.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
} }
arma::vec corrected_reference_TOW_s = true_ch0_tow_s - receiver_time_offset_s; arma::vec corrected_reference_TOW_s = true_ch0.col(0) - receiver_time_offset_s;
std::cout << "Receiver time offset: " << receiver_time_offset_s(0) * 1e3 << " [ms]" << std::endl;
std::cout << " receiver_time_offset_s [0]: " << receiver_time_offset_s(0) << std::endl; //Compare measured observables
check_results_code_psudorange(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
check_results_carrier_phase(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
//compare measured observables std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
check_results_code_psudorange(true_ch0_dist_m, true_ch1_dist_m, corrected_reference_TOW_s,
measuded_ch0_Pseudorange_m, measuded_ch1_Pseudorange_m, measuded_ch0_RX_time_s);
check_results_carrier_phase(true_ch0_acc_carrier_phase_cycles,
true_ch1_acc_carrier_phase_cycles,
corrected_reference_TOW_s,
measuded_ch0_Acc_carrier_phase_hz,
measuded_ch1_Acc_carrier_phase_hz,
measuded_ch0_RX_time_s);
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
} }

15
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
View File

@ -265,13 +265,12 @@ void GpsL1CATelemetryDecoderTest::configure_receiver()
// Set Tracking // Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "20.0"); config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "1.5"); config->set_property("Tracking_1C.dll_bw_hz", "1.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5"); config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true"); config->set_property("TelemetryDecoder_1C.dump", "true");
} }
@ -293,9 +292,9 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp); arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE //2. RMSE
arma::vec err; //arma::vec err = meas_value - true_value_interp + 0.001;
arma::vec err = meas_value - true_value_interp - 0.001;
err = meas_value - true_value_interp + 0.001;
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
@ -317,10 +316,10 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
<< " [Seconds]" << std::endl; << " [Seconds]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
ASSERT_LT(rmse, 0.2E-6); ASSERT_LT(rmse, 0.3E-6);
ASSERT_LT(error_mean, 0.2E-6); ASSERT_LT(error_mean, 0.3E-6);
ASSERT_GT(error_mean, -0.2E-6); ASSERT_GT(error_mean, -0.3E-6);
ASSERT_LT(error_var, 0.2E-6); ASSERT_LT(error_var, 0.3E-6);
ASSERT_LT(max_error, 0.5E-6); ASSERT_LT(max_error, 0.5E-6);
ASSERT_GT(min_error, -0.5E-6); ASSERT_GT(min_error, -0.5E-6);
} }

1
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
View File

@ -39,6 +39,7 @@
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "gnss_block_factory.h" #include "gnss_block_factory.h"
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"

2
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -394,7 +394,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
true_obs_data.restart(); true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl; std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD; gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz; gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0; gnss_synchro.Acq_samplestamp_samples = 0;

2
src/utils/matlab/libs/geoFunctions/deg2dms.m
View File

@ -9,7 +9,7 @@ function dmsOutput = deg2dms(deg)
%%% Save the sign for later processing %%% Save the sign for later processing
neg_arg = false; neg_arg = false;
if deg < 0 if deg < 0
% Only positive numbers should be used while spliting into deg/min/sec % Only positive numbers should be used while splitting into deg/min/sec
deg = -deg; deg = -deg;
neg_arg = true; neg_arg = true;
end end

2
src/utils/matlab/libs/geoFunctions/dms2mat.m
View File

@ -84,7 +84,7 @@ msign = signvec .* (d==0 & m~=0);
ssign = signvec .* (d==0 & m==0 & s~=0); ssign = signvec .* (d==0 & m==0 & s~=0);
% In the application of signs below, the comparison with 0 is used so that % In the application of signs below, the comparison with 0 is used so that
% the sign vector contains only +1 and -1. Any zero occurances causes % the sign vector contains only +1 and -1. Any zero occurrences causes
% data to be lost when the sign has been applied to a higher component % data to be lost when the sign has been applied to a higher component
% of d:m:s. Use fix function to eliminate potential round-off errors. % of d:m:s. Use fix function to eliminate potential round-off errors.

2
src/utils/matlab/libs/plotNavigation.m
View File

@ -47,7 +47,7 @@ function plotNavigation(navSolutions, settings,plot_skyplot)
if (~isempty(navSolutions)) if (~isempty(navSolutions))
%% If reference position is not provided, then set reference position %% If reference position is not provided, then set reference position
%% to the average postion %% to the average position
if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ... if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ...
|| isnan(settings.truePosition.U) || isnan(settings.truePosition.U)