mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-26 17:06:58 +00:00
code cleaning
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@401 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
b34a85c642
commit
05f09d1570
@ -135,20 +135,18 @@ void gnss_sdr_supl_client::print_assistance()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
int gnss_sdr_supl_client::get_assistance(int i_mcc, int i_mns, int i_lac, int i_ci)
|
||||
{
|
||||
|
||||
// SET SUPL CLIENT INFORMATION
|
||||
// GSM CELL PARAMETERS
|
||||
mcc = i_mcc;
|
||||
mns = i_mns;
|
||||
lac = i_lac;
|
||||
ci = i_ci;
|
||||
supl_set_gsm_cell(&ctx,mcc,mns,lac,ci);
|
||||
supl_set_gsm_cell(&ctx, mcc, mns, lac, ci);
|
||||
|
||||
// PERFORM SUPL COMMUNICATION
|
||||
char *cstr = new char[server_name.length() + 1];
|
||||
@ -159,7 +157,7 @@ int gnss_sdr_supl_client::get_assistance(int i_mcc, int i_mns, int i_lac, int i_
|
||||
|
||||
//std::cout<<"mcc="<<mcc<<"mns="<<mns<<"lac="<<lac<<"ci="<<ci<<std::endl;
|
||||
err = supl_get_assist(&ctx, cstr, &assist);
|
||||
if (err==0)
|
||||
if (err == 0)
|
||||
{
|
||||
read_supl_data();
|
||||
}
|
||||
@ -186,7 +184,6 @@ void gnss_sdr_supl_client::read_supl_data()
|
||||
gps_time.d_tv_sec = (double)assist.time.stamp.tv_sec;
|
||||
gps_time.d_tv_usec = (double)assist.time.stamp.tv_usec;
|
||||
gps_time.valid = true;
|
||||
|
||||
}
|
||||
|
||||
// READ UTC MODEL
|
||||
@ -215,8 +212,7 @@ void gnss_sdr_supl_client::read_supl_data()
|
||||
gps_iono.d_beta1 = (double)assist.iono.b1 * BETA_1_LSB;
|
||||
gps_iono.d_beta2 = (double)assist.iono.b2 * BETA_2_LSB;
|
||||
gps_iono.d_beta3 = (double)assist.iono.b3 * BETA_3_LSB;
|
||||
gps_iono.valid=true;
|
||||
|
||||
gps_iono.valid = true;
|
||||
}
|
||||
|
||||
// READ SV ALMANAC
|
||||
@ -279,7 +275,7 @@ void gnss_sdr_supl_client::read_supl_data()
|
||||
gps_eph_iterator->second.i_satellite_PRN = e->prn;
|
||||
// SV navigation model
|
||||
gps_eph_iterator->second.i_code_on_L2 = e->bits;
|
||||
gps_eph_iterator->second.i_SV_accuracy = e->ura;//User Range Accuracy (URA)
|
||||
gps_eph_iterator->second.i_SV_accuracy = e->ura; //User Range Accuracy (URA)
|
||||
gps_eph_iterator->second.i_SV_health = e->health;
|
||||
gps_eph_iterator->second.d_IODC = (double)e->IODC;
|
||||
//miss P flag (1 bit)
|
||||
@ -343,8 +339,8 @@ void gnss_sdr_supl_client::read_supl_data()
|
||||
}
|
||||
}
|
||||
|
||||
bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
|
||||
|
||||
bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
|
||||
{
|
||||
try
|
||||
{
|
||||
@ -356,14 +352,14 @@ bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
|
||||
}
|
||||
catch (std::exception& e)
|
||||
{
|
||||
LOG_AT_LEVEL(ERROR)<< e.what() << "File: "<< file_name;
|
||||
LOG_AT_LEVEL(ERROR) << e.what() << "File: " << file_name;
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool gnss_sdr_supl_client::save_ephemeris_xml(const std::string file_name)
|
||||
|
||||
bool gnss_sdr_supl_client::save_ephemeris_xml(const std::string file_name)
|
||||
{
|
||||
try
|
||||
{
|
||||
|
||||
@ -31,13 +31,12 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
#ifndef GNSS_SDR_VERSION
|
||||
#define GNSS_SDR_VERSION "0.0.1"
|
||||
#define GNSS_SDR_VERSION "0.0.2"
|
||||
#endif
|
||||
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <boost/exception/diagnostic_information.hpp>
|
||||
#include <boost/exception_ptr.hpp>
|
||||
|
||||
#include <gflags/gflags.h>
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
@ -48,17 +47,14 @@
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include "concurrent_queue.h"
|
||||
#include "concurrent_map.h"
|
||||
|
||||
#include "gps_ephemeris.h"
|
||||
#include "gps_almanac.h"
|
||||
#include "gps_iono.h"
|
||||
#include "gps_utc_model.h"
|
||||
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_almanac.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
#include <sys/time.h>
|
||||
#include <ctime>
|
||||
#include <memory>
|
||||
@ -143,7 +139,7 @@ int main(int argc, char** argv)
|
||||
boost::filesystem::create_directory(p);
|
||||
}
|
||||
std::cout << "Logging with be done at "
|
||||
<< FLAGS_log_dir << std::endl;
|
||||
<< FLAGS_log_dir << std::endl;
|
||||
}
|
||||
|
||||
std::unique_ptr<ControlThread> control_thread(new ControlThread());
|
||||
@ -153,22 +149,24 @@ int main(int argc, char** argv)
|
||||
gettimeofday(&tv, NULL);
|
||||
long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
|
||||
try{
|
||||
control_thread->run();
|
||||
}catch( boost::exception & e )
|
||||
try
|
||||
{
|
||||
DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
|
||||
control_thread->run();
|
||||
}
|
||||
catch( boost::exception & e )
|
||||
{
|
||||
DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
|
||||
}
|
||||
catch(std::exception const& ex)
|
||||
{
|
||||
DLOG(FATAL) <<"STD exception: "<<ex.what();
|
||||
DLOG(FATAL) << "STD exception: " << ex.what();
|
||||
}
|
||||
// report the elapsed time
|
||||
gettimeofday(&tv, NULL);
|
||||
long long int end = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
std::cout << "Total GNSS-SDR run time "
|
||||
<< ((double)(end - begin))/1000000.0
|
||||
<< " [seconds]" << std::endl;
|
||||
<< ((double)(end - begin))/1000000.0
|
||||
<< " [seconds]" << std::endl;
|
||||
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR program ended." << std::endl;
|
||||
|
||||
@ -1,16 +1,43 @@
|
||||
/*!
|
||||
* \file front_end_cal.cc
|
||||
* \brief Implementation of the Front-end calibration program.
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2013 (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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <exception>
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <gflags/gflags.h>
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
||||
#include "file_configuration.h"
|
||||
|
||||
#include "gps_navigation_message.h"
|
||||
#include "gps_ephemeris.h"
|
||||
#include "gps_almanac.h"
|
||||
@ -21,362 +48,377 @@
|
||||
#include <ctime>
|
||||
#include <memory>
|
||||
#include <math.h>
|
||||
|
||||
#include "front_end_cal.h"
|
||||
|
||||
|
||||
extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
|
||||
extern concurrent_map<Gps_Iono> global_gps_iono_map;
|
||||
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
|
||||
extern concurrent_map<Gps_Almanac> global_gps_almanac_map;
|
||||
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
|
||||
extern concurrent_map<Gps_Iono> global_gps_iono_map;
|
||||
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
|
||||
extern concurrent_map<Gps_Almanac> global_gps_almanac_map;
|
||||
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
|
||||
FrontEndCal::FrontEndCal()
|
||||
{
|
||||
{}
|
||||
|
||||
}
|
||||
FrontEndCal::~FrontEndCal()
|
||||
{
|
||||
|
||||
}
|
||||
{}
|
||||
|
||||
bool FrontEndCal::read_assistance_from_XML()
|
||||
{
|
||||
gnss_sdr_supl_client supl_client_ephemeris_;
|
||||
std::string eph_xml_filename="gps_ephemeris.xml";
|
||||
std::cout<< "SUPL: Try read GPS ephemeris from XML file "<<eph_xml_filename<<std::endl;
|
||||
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename)==true)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
|
||||
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
|
||||
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
|
||||
gps_eph_iter++)
|
||||
{
|
||||
std::cout<<"SUPL: Read XML Ephemeris for GPS SV "<<gps_eph_iter->first<<std::endl;
|
||||
std::cout << "New Ephemeris record inserted with Toe="<<gps_eph_iter->second.d_Toe<<" and GPS Week="<<gps_eph_iter->second.i_GPS_week<<std::endl;
|
||||
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN,gps_eph_iter->second);
|
||||
}
|
||||
return true;
|
||||
}else{
|
||||
std::cout<< "ERROR: SUPL client error reading XML"<<std::endl;
|
||||
return false;
|
||||
}
|
||||
gnss_sdr_supl_client supl_client_ephemeris_;
|
||||
std::string eph_xml_filename = "gps_ephemeris.xml";
|
||||
std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
|
||||
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
|
||||
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
|
||||
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
|
||||
gps_eph_iter++)
|
||||
{
|
||||
std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
|
||||
std::cout << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week << std::endl;
|
||||
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "ERROR: SUPL client error reading XML" << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
int FrontEndCal::Get_SUPL_Assist()
|
||||
{
|
||||
//#########GNSS Asistence #################################
|
||||
gnss_sdr_supl_client supl_client_acquisition_;
|
||||
gnss_sdr_supl_client supl_client_ephemeris_;
|
||||
int supl_mcc; // Current network MCC (Mobile country code), 3 digits.
|
||||
int supl_mns; //Current network MNC (Mobile Network code), 2 or 3 digits.
|
||||
int supl_lac; // Current network LAC (Location area code),16 bits, 1-65520 are valid values.
|
||||
int supl_ci; // Cell Identity (16 bits, 0-65535 are valid values).
|
||||
// GNSS Assistance configuration
|
||||
int error=0;
|
||||
bool enable_gps_supl_assistance=configuration_->property("GNSS-SDR.SUPL_gps_enabled",false);
|
||||
if (enable_gps_supl_assistance==true)
|
||||
//SUPL SERVER TEST. Not operational yet!
|
||||
{
|
||||
DLOG(INFO) << "SUPL RRLP GPS assistance enabled!"<<std::endl;
|
||||
std::string default_acq_server="supl.nokia.com";
|
||||
std::string default_eph_server="supl.google.com";
|
||||
supl_client_ephemeris_.server_name=configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server",default_acq_server);
|
||||
supl_client_acquisition_.server_name=configuration_->property("GNSS-SDR.SUPL_gps_acquisition_server",default_eph_server);
|
||||
supl_client_ephemeris_.server_port=configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_port",7275);
|
||||
supl_client_acquisition_.server_port=configuration_->property("GNSS-SDR.SUPL_gps_acquisition_port",7275);
|
||||
supl_mcc=configuration_->property("GNSS-SDR.SUPL_MCC",244);
|
||||
supl_mns=configuration_->property("GNSS-SDR.SUPL_MNS",5);
|
||||
//#########GNSS Asistence #################################
|
||||
gnss_sdr_supl_client supl_client_acquisition_;
|
||||
gnss_sdr_supl_client supl_client_ephemeris_;
|
||||
int supl_mcc; // Current network MCC (Mobile country code), 3 digits.
|
||||
int supl_mns; //Current network MNC (Mobile Network code), 2 or 3 digits.
|
||||
int supl_lac; // Current network LAC (Location area code),16 bits, 1-65520 are valid values.
|
||||
int supl_ci; // Cell Identity (16 bits, 0-65535 are valid values).
|
||||
// GNSS Assistance configuration
|
||||
int error = 0;
|
||||
bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
|
||||
if (enable_gps_supl_assistance == true)
|
||||
//SUPL SERVER TEST. Not operational yet!
|
||||
{
|
||||
DLOG(INFO) << "SUPL RRLP GPS assistance enabled!" << std::endl;
|
||||
std::string default_acq_server = "supl.nokia.com";
|
||||
std::string default_eph_server = "supl.google.com";
|
||||
supl_client_ephemeris_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server", default_acq_server);
|
||||
supl_client_acquisition_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_acquisition_server", default_eph_server);
|
||||
supl_client_ephemeris_.server_port = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_port", 7275);
|
||||
supl_client_acquisition_.server_port = configuration_->property("GNSS-SDR.SUPL_gps_acquisition_port", 7275);
|
||||
supl_mcc = configuration_->property("GNSS-SDR.SUPL_MCC", 244);
|
||||
supl_mns = configuration_->property("GNSS-SDR.SUPL_MNS", 5);
|
||||
|
||||
std::string default_lac="0x59e2";
|
||||
std::string default_ci="0x31b0";
|
||||
try {
|
||||
supl_lac = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_LAC",default_lac));
|
||||
} catch(boost::bad_lexical_cast &) {
|
||||
supl_lac=0x59e2;
|
||||
}
|
||||
try {
|
||||
supl_ci = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_CI",default_ci));
|
||||
} catch(boost::bad_lexical_cast &) {
|
||||
supl_ci=0x31b0;
|
||||
}
|
||||
std::string default_lac = "0x59e2";
|
||||
std::string default_ci = "0x31b0";
|
||||
try
|
||||
{
|
||||
supl_lac = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_LAC", default_lac));
|
||||
}
|
||||
catch(boost::bad_lexical_cast &)
|
||||
{
|
||||
supl_lac = 0x59e2;
|
||||
}
|
||||
try
|
||||
{
|
||||
supl_ci = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_CI", default_ci));
|
||||
}
|
||||
catch(boost::bad_lexical_cast &)
|
||||
{
|
||||
supl_ci = 0x31b0;
|
||||
}
|
||||
|
||||
bool SUPL_read_gps_assistance_xml=configuration_->property("GNSS-SDR.SUPL_read_gps_assistance_xml",false);
|
||||
if (SUPL_read_gps_assistance_xml==true)
|
||||
{
|
||||
// read assistance from file
|
||||
read_assistance_from_XML();
|
||||
}else{
|
||||
bool SUPL_read_gps_assistance_xml = configuration_->property("GNSS-SDR.SUPL_read_gps_assistance_xml", false);
|
||||
if (SUPL_read_gps_assistance_xml == true)
|
||||
{
|
||||
// read assistance from file
|
||||
read_assistance_from_XML();
|
||||
}
|
||||
else
|
||||
{
|
||||
// Request ephemeris from SUPL server
|
||||
supl_client_ephemeris_.request = 1;
|
||||
DLOG(INFO) << "SUPL: Trying to read GPS ephemeris from SUPL server...";
|
||||
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
|
||||
if (error == 0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
|
||||
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
|
||||
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
|
||||
gps_eph_iter++)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first;
|
||||
DLOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week;
|
||||
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
|
||||
}
|
||||
//Save ephemeris to XML file
|
||||
std::string eph_xml_filename = "gps_ephemeris.xml";
|
||||
if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename) == true)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: XML Ephemeris file created.";
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Ephemeris returned " << error;
|
||||
DLOG(INFO) << "Please check Internet connection and SUPL server configuration" << error;
|
||||
}
|
||||
|
||||
// Request ephemeris from SUPL server
|
||||
supl_client_ephemeris_.request=1;
|
||||
DLOG(INFO) << "SUPL: Try read GPS ephemeris from SUPL server.."<<std::endl;
|
||||
error=supl_client_ephemeris_.get_assistance(supl_mcc,supl_mns,supl_lac,supl_ci);
|
||||
if (error==0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
|
||||
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
|
||||
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
|
||||
gps_eph_iter++)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: Received Ephemeris for GPS SV "<<gps_eph_iter->first<<std::endl;
|
||||
DLOG(INFO) << "New Ephemeris record inserted with Toe="<<gps_eph_iter->second.d_Toe<<" and GPS Week="<<gps_eph_iter->second.i_GPS_week<<std::endl;
|
||||
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN,gps_eph_iter->second);
|
||||
}
|
||||
//Save ephemeris to XML file
|
||||
std::string eph_xml_filename="gps_ephemeris.xml";
|
||||
if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename)==true)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: XML Ephemeris file created"<<std::endl;
|
||||
}
|
||||
}else{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Ephemeris returned "<<error<<std::endl;
|
||||
DLOG(INFO) << "Please check internet connection and SUPL server configuration"<<error<<std::endl;
|
||||
}
|
||||
// Request almanac , IONO and UTC Model
|
||||
supl_client_ephemeris_.request = 0;
|
||||
DLOG(INFO) << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server...";
|
||||
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
|
||||
if (error == 0)
|
||||
{
|
||||
std::map<int,Gps_Almanac>::iterator gps_alm_iter;
|
||||
for(gps_alm_iter = supl_client_ephemeris_.gps_almanac_map.begin();
|
||||
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end();
|
||||
gps_alm_iter++)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first;
|
||||
global_gps_almanac_map.write(gps_alm_iter->first, gps_alm_iter->second);
|
||||
}
|
||||
if (supl_client_ephemeris_.gps_iono.valid == true)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: Received GPS Iono";
|
||||
global_gps_iono_map.write(0,supl_client_ephemeris_.gps_iono);
|
||||
}
|
||||
if (supl_client_ephemeris_.gps_utc.valid == true)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: Received GPS UTC Model";
|
||||
global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Almanac returned " << error;
|
||||
DLOG(INFO) << "Please check Internet connection and SUPL server configuration" << error;
|
||||
}
|
||||
|
||||
// Request almanac , IONO and UTC Model
|
||||
supl_client_ephemeris_.request=0;
|
||||
DLOG(INFO) << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server.."<<std::endl;
|
||||
error=supl_client_ephemeris_.get_assistance(supl_mcc,supl_mns,supl_lac,supl_ci);
|
||||
if (error==0)
|
||||
{
|
||||
std::map<int,Gps_Almanac>::iterator gps_alm_iter;
|
||||
for(gps_alm_iter = supl_client_ephemeris_.gps_almanac_map.begin();
|
||||
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end();
|
||||
gps_alm_iter++)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: Received Almanac for GPS SV "<<gps_alm_iter->first<<std::endl;
|
||||
global_gps_almanac_map.write(gps_alm_iter->first,gps_alm_iter->second);
|
||||
}
|
||||
if (supl_client_ephemeris_.gps_iono.valid==true)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: Received GPS Iono"<<std::endl;
|
||||
global_gps_iono_map.write(0,supl_client_ephemeris_.gps_iono);
|
||||
}
|
||||
if (supl_client_ephemeris_.gps_utc.valid==true)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: Received GPS UTC Model"<<std::endl;
|
||||
global_gps_utc_model_map.write(0,supl_client_ephemeris_.gps_utc);
|
||||
}
|
||||
}else{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Almanac returned "<<error<<std::endl;
|
||||
DLOG(INFO) << "Please check internet connection and SUPL server configuration"<<error<<std::endl;
|
||||
}
|
||||
// Request acquisition assistance
|
||||
supl_client_acquisition_.request = 2;
|
||||
DLOG(INFO) << "SUPL: Trying to read Acquisition assistance from SUPL server...";
|
||||
|
||||
// Request acquisition assistance
|
||||
supl_client_acquisition_.request=2;
|
||||
DLOG(INFO) << "SUPL: Try read Acquisition assistance from SUPL server.."<<std::endl;
|
||||
|
||||
error=supl_client_acquisition_.get_assistance(supl_mcc,supl_mns,supl_lac,supl_ci);
|
||||
if (error==0)
|
||||
{
|
||||
std::map<int,Gps_Acq_Assist>::iterator gps_acq_iter;
|
||||
for(gps_acq_iter = supl_client_acquisition_.gps_acq_map.begin();
|
||||
gps_acq_iter != supl_client_acquisition_.gps_acq_map.end();
|
||||
gps_acq_iter++)
|
||||
{
|
||||
DLOG(INFO) <<"SUPL: Received Acquisition assistance for GPS SV "<<gps_acq_iter->first<<std::endl;
|
||||
DLOG(INFO) << "New acq assist record inserted"<<std::endl;
|
||||
global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN,gps_acq_iter->second);
|
||||
}
|
||||
}else{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Acquisition assistance returned "<<error<<std::endl;
|
||||
DLOG(INFO) << "Please check internet connection and SUPL server configuration"<<error<<std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
return error;
|
||||
error = supl_client_acquisition_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
|
||||
if (error == 0)
|
||||
{
|
||||
std::map<int,Gps_Acq_Assist>::iterator gps_acq_iter;
|
||||
for(gps_acq_iter = supl_client_acquisition_.gps_acq_map.begin();
|
||||
gps_acq_iter != supl_client_acquisition_.gps_acq_map.end();
|
||||
gps_acq_iter++)
|
||||
{
|
||||
DLOG(INFO) << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first;
|
||||
DLOG(INFO) << "New acq assist record inserted";
|
||||
global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
DLOG(INFO) << "ERROR: SUPL client for Acquisition assistance returned " << error;
|
||||
DLOG(INFO) << "Please check internet connection and SUPL server configuration" << error;
|
||||
}
|
||||
}
|
||||
}
|
||||
return error;
|
||||
}
|
||||
|
||||
|
||||
void FrontEndCal::set_configuration(ConfigurationInterface *configuration)
|
||||
{
|
||||
configuration_= configuration;
|
||||
configuration_ = configuration;
|
||||
}
|
||||
|
||||
|
||||
bool FrontEndCal::get_ephemeris()
|
||||
{
|
||||
bool read_ephemeris_from_xml=configuration_->property("GNSS-SDR.read_eph_from_xml",false);
|
||||
bool read_ephemeris_from_xml=configuration_->property("GNSS-SDR.read_eph_from_xml", false);
|
||||
|
||||
if (read_ephemeris_from_xml==true)
|
||||
{
|
||||
std::cout<< "Trying to read ephemeris from XML file..."<<std::endl;
|
||||
if (read_assistance_from_XML()==false)
|
||||
{
|
||||
std::cout<< "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server.."<<std::endl;
|
||||
if (Get_SUPL_Assist()==1)
|
||||
{
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}else{
|
||||
return true;
|
||||
}
|
||||
}else{
|
||||
std::cout<< "Trying to read ephemeris from SUPL server..."<<std::endl;
|
||||
if (Get_SUPL_Assist()==0)
|
||||
{
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
if (read_ephemeris_from_xml == true)
|
||||
{
|
||||
std::cout << "Trying to read ephemeris from XML file..." << std::endl;
|
||||
if (read_assistance_from_XML() == false)
|
||||
{
|
||||
std::cout << "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server..." << std::endl;
|
||||
if (Get_SUPL_Assist() == 1)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Trying to read ephemeris from SUPL server..." << std::endl;
|
||||
if (Get_SUPL_Assist() == 0)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
arma::vec FrontEndCal::lla2ecef(arma::vec lla)
|
||||
{
|
||||
// WGS84 flattening
|
||||
double f;
|
||||
f = 1/298.257223563;
|
||||
|
||||
// WGS84 flattening
|
||||
double f;
|
||||
f = 1/298.257223563;
|
||||
// WGS84 equatorial radius
|
||||
double R;
|
||||
R = 6378137;
|
||||
|
||||
// WGS84 equatorial radius
|
||||
double R;
|
||||
R = 6378137;
|
||||
double phi, lambda;
|
||||
arma::vec ellipsoid = "0.0 0.0";
|
||||
phi = (lla(0)/360.0) * GPS_TWO_PI;
|
||||
lambda = (lla(1)/360.0) * GPS_TWO_PI;
|
||||
|
||||
double phi,lambda;
|
||||
arma::vec ellipsoid="0.0 0.0";
|
||||
phi=(lla(0)/360.0)*GPS_TWO_PI;
|
||||
lambda=(lla(1)/360.0)*GPS_TWO_PI;
|
||||
ellipsoid(0) = R;
|
||||
ellipsoid(1) = sqrt(1-(1-f)*(1-f));
|
||||
|
||||
ellipsoid(0)=R;
|
||||
ellipsoid(1)=sqrt(1-(1-f)*(1-f));
|
||||
arma::vec ecef = "0.0 0.0 0.0 0.0";
|
||||
ecef = geodetic2ecef(phi, lambda, lla(3), ellipsoid);
|
||||
|
||||
arma::vec ecef="0.0 0.0 0.0 0.0";
|
||||
ecef = geodetic2ecef(phi, lambda,lla(3),ellipsoid);
|
||||
|
||||
return ecef;
|
||||
return ecef;
|
||||
}
|
||||
|
||||
|
||||
arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid)
|
||||
{
|
||||
double a;
|
||||
a = ellipsoid(0);
|
||||
double e2;
|
||||
e2 = ellipsoid(1)*ellipsoid(1);
|
||||
|
||||
double a;
|
||||
a = ellipsoid(0);
|
||||
double e2;
|
||||
e2 = ellipsoid(1)*ellipsoid(1);
|
||||
double sinphi, cosphi;
|
||||
|
||||
double sinphi,cosphi;
|
||||
sinphi = sin(phi);
|
||||
cosphi = cos(phi);
|
||||
double N;
|
||||
N = a / sqrt(1 - e2 * sinphi*sinphi);
|
||||
|
||||
sinphi = sin(phi);
|
||||
cosphi = cos(phi);
|
||||
double N;
|
||||
N = a / sqrt(1 - e2 * sinphi*sinphi);
|
||||
arma::vec ecef = "0.0 0.0 0.0 0.0";
|
||||
|
||||
arma::vec ecef="0.0 0.0 0.0 0.0";
|
||||
ecef(0) = (N + h) * cosphi * cos(lambda);
|
||||
ecef(1) = (N + h) * cosphi * sin(lambda);
|
||||
ecef(2) = (N*(1 - e2) + h) * sinphi;
|
||||
|
||||
ecef(0) = (N + h) * cosphi * cos(lambda);
|
||||
ecef(1) = (N + h) * cosphi * sin(lambda);
|
||||
ecef(2)= (N*(1 - e2) + h) * sinphi;
|
||||
|
||||
return ecef;
|
||||
return ecef;
|
||||
}
|
||||
|
||||
|
||||
double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height)
|
||||
{
|
||||
int num_secs = 10;
|
||||
double step_secs = 0.5;
|
||||
|
||||
int num_secs=10;
|
||||
double step_secs=0.5;
|
||||
//Observer position ECEF
|
||||
arma::vec obs_ecef = "0.0 0.0 0.0 0.0";
|
||||
arma::vec lla = "0.0 0.0 0.0 0.0";
|
||||
lla(0) = lat;
|
||||
lla(1) = lon;
|
||||
lla(2) = height;
|
||||
obs_ecef = lla2ecef(lla);
|
||||
|
||||
//Satellite positions ECEF
|
||||
std::map<int,Gps_Ephemeris> eph_map;
|
||||
eph_map = global_gps_ephemeris_map.get_map_copy();
|
||||
|
||||
//Observer position ECEF
|
||||
arma::vec obs_ecef= "0.0 0.0 0.0 0.0";
|
||||
arma::vec lla = "0.0 0.0 0.0 0.0";
|
||||
lla(0)=lat;
|
||||
lla(1)=lon;
|
||||
lla(2)=height;
|
||||
obs_ecef=lla2ecef(lla);
|
||||
std::map<int,Gps_Ephemeris>::iterator eph_it;
|
||||
eph_it = eph_map.find(PRN);
|
||||
|
||||
if (eph_it!=eph_map.end())
|
||||
{
|
||||
arma::vec SV_pos_ecef = "0.0 0.0 0.0 0.0";
|
||||
double obs_time_start, obs_time_stop;
|
||||
obs_time_start = TOW - num_secs/2;
|
||||
obs_time_stop = TOW + num_secs/2;
|
||||
int n_points = round((obs_time_stop - obs_time_start)/step_secs);
|
||||
arma::vec ranges = arma::zeros(n_points, 1);
|
||||
double obs_time = obs_time_start;
|
||||
for (int i=0; i<n_points; i++)
|
||||
{
|
||||
eph_it->second.satellitePosition(obs_time);
|
||||
SV_pos_ecef(0) = eph_it->second.d_satpos_X;
|
||||
SV_pos_ecef(1) = eph_it->second.d_satpos_Y;
|
||||
SV_pos_ecef(2) = eph_it->second.d_satpos_Z;
|
||||
// SV distances to observer (true range)
|
||||
ranges(i) = arma::norm(SV_pos_ecef-obs_ecef, 2);
|
||||
|
||||
//Satellite positions ECEF
|
||||
std::map<int,Gps_Ephemeris> eph_map;
|
||||
eph_map=global_gps_ephemeris_map.get_map_copy();
|
||||
obs_time += step_secs;
|
||||
}
|
||||
// Observer to satellite radial velocity
|
||||
// Numeric derivative: Positive slope means that the distance from obs to
|
||||
// satellite is increasing
|
||||
arma::vec obs_to_sat_velocity;
|
||||
obs_to_sat_velocity = (ranges.subvec(1, (n_points-1)) - ranges.subvec(0, (n_points-2)))/step_secs;
|
||||
// Doppler equations are formulated accounting for positive velocities if the
|
||||
// tx and rx are approaching to each other. So, the satellite velocity must
|
||||
// be redefined as:
|
||||
|
||||
std::map<int,Gps_Ephemeris>::iterator eph_it;
|
||||
eph_it=eph_map.find(PRN);
|
||||
|
||||
if (eph_it!=eph_map.end())
|
||||
{
|
||||
|
||||
arma::vec SV_pos_ecef = "0.0 0.0 0.0 0.0";
|
||||
double obs_time_start,obs_time_stop;
|
||||
obs_time_start=TOW-num_secs/2;
|
||||
obs_time_stop=TOW+num_secs/2;
|
||||
int n_points=round((obs_time_stop-obs_time_start)/step_secs);
|
||||
arma::vec ranges=arma::zeros(n_points,1);
|
||||
double obs_time=obs_time_start;
|
||||
for (int i=0;i<n_points;i++)
|
||||
{
|
||||
eph_it->second.satellitePosition(obs_time);
|
||||
SV_pos_ecef(0)=eph_it->second.d_satpos_X;
|
||||
SV_pos_ecef(1)=eph_it->second.d_satpos_Y;
|
||||
SV_pos_ecef(2)=eph_it->second.d_satpos_Z;
|
||||
// SV distances to observer (true range)
|
||||
ranges(i)=arma::norm(SV_pos_ecef-obs_ecef,2);
|
||||
|
||||
obs_time+=step_secs;
|
||||
}
|
||||
//Observer to satellite radial velocity
|
||||
//Numeric derivative: Positive slope means that the distance from obs to
|
||||
//satellite is increasing
|
||||
arma::vec obs_to_sat_velocity;
|
||||
obs_to_sat_velocity=(ranges.subvec(1,(n_points-1))-ranges.subvec(0,(n_points-2)))/step_secs;
|
||||
//Doppler equations are formulated accounting for positive velocities if the
|
||||
//tx and rx are aproaching to each other. So, the satellite velocity must
|
||||
//be redefined as:
|
||||
|
||||
obs_to_sat_velocity=-obs_to_sat_velocity;
|
||||
|
||||
//Doppler estimation
|
||||
arma::vec Doppler_Hz;
|
||||
Doppler_Hz=(obs_to_sat_velocity/GPS_C_m_s)*GPS_L1_FREQ_HZ;
|
||||
double mean_Doppler_Hz;
|
||||
mean_Doppler_Hz=arma::mean(Doppler_Hz);
|
||||
return mean_Doppler_Hz;
|
||||
return 0;
|
||||
}else{
|
||||
throw(1);
|
||||
}
|
||||
obs_to_sat_velocity = -obs_to_sat_velocity;
|
||||
|
||||
//Doppler estimation
|
||||
arma::vec Doppler_Hz;
|
||||
Doppler_Hz = (obs_to_sat_velocity/GPS_C_m_s)*GPS_L1_FREQ_HZ;
|
||||
double mean_Doppler_Hz;
|
||||
mean_Doppler_Hz = arma::mean(Doppler_Hz);
|
||||
return mean_Doppler_Hz;
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
throw(1);
|
||||
}
|
||||
}
|
||||
|
||||
void FrontEndCal::GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm )
|
||||
|
||||
void FrontEndCal::GPS_L1_front_end_model_E4000(double f_bb_true_Hz, double f_bb_meas_Hz, double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm)
|
||||
{
|
||||
double f_osc_n = 28.8e6;
|
||||
//PLL registers settings (according to E4000 datasheet)
|
||||
|
||||
double N = 109;
|
||||
double Y = 65536;
|
||||
double X = 26487;
|
||||
double R = 2;
|
||||
// Obtained RF center frequency
|
||||
double f_rf_pll;
|
||||
f_rf_pll = (f_osc_n*(N+X/Y))/R;
|
||||
// RF frequency error caused by fractional PLL roundings
|
||||
double f_bb_err_pll;
|
||||
f_bb_err_pll = GPS_L1_FREQ_HZ - f_rf_pll;
|
||||
|
||||
// Measured F_rf error
|
||||
double f_rf_err;
|
||||
f_rf_err = (f_bb_meas_Hz - f_bb_true_Hz) - f_bb_err_pll;
|
||||
|
||||
double f_osc_n=28.8e6;
|
||||
//PLL registers settings (according to E4000 datasheet)
|
||||
double f_osc_err_hz;
|
||||
f_osc_err_hz = (f_rf_err*R)/(N+X/Y);
|
||||
|
||||
double N=109;
|
||||
double Y=65536;
|
||||
double X=26487;
|
||||
double R=2;
|
||||
// Obtained RF center frequency
|
||||
double f_rf_pll;
|
||||
f_rf_pll=(f_osc_n*(N+X/Y))/R;
|
||||
// RF frequency error caused by fractional PLL roundings
|
||||
double f_bb_err_pll;
|
||||
f_bb_err_pll=GPS_L1_FREQ_HZ-f_rf_pll;
|
||||
// OJO,segun los datos gnss, la IF positiva hace disminuir la fs!!
|
||||
f_osc_err_hz = -f_osc_err_hz;
|
||||
|
||||
// Measured F_rf error
|
||||
double f_rf_err;
|
||||
f_rf_err=(f_bb_meas_Hz-f_bb_true_Hz)-f_bb_err_pll;
|
||||
|
||||
double f_osc_err_hz;
|
||||
f_osc_err_hz=(f_rf_err*R)/(N+X/Y);
|
||||
|
||||
// OJO,segun los datos gnss, la IF positiva hace disminuir la fs!!
|
||||
f_osc_err_hz=-f_osc_err_hz;
|
||||
|
||||
*f_osc_err_ppm=f_osc_err_hz/(f_osc_n/1e6);
|
||||
double frac;
|
||||
frac=fs_nominal_hz/f_osc_n;
|
||||
|
||||
*estimated_fs_Hz=frac*(f_osc_n+f_osc_err_hz);
|
||||
*estimated_f_if_Hz=f_rf_err;
|
||||
*f_osc_err_ppm = f_osc_err_hz/(f_osc_n/1e6);
|
||||
double frac;
|
||||
frac = fs_nominal_hz/f_osc_n;
|
||||
|
||||
*estimated_fs_Hz = frac*(f_osc_n + f_osc_err_hz);
|
||||
*estimated_f_if_Hz = f_rf_err;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -1,99 +1,137 @@
|
||||
/*!
|
||||
* \file front_end_cal.h
|
||||
* \brief Interface of the Front-end calibration program.
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2013 (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_FRONT_END_CAL_H_
|
||||
#define GNSS_SDR_FRONT_END_CAL_H_
|
||||
|
||||
#include "concurrent_map.h"
|
||||
#include "armadillo"
|
||||
|
||||
class FrontEndCal
|
||||
{
|
||||
private:
|
||||
ConfigurationInterface *configuration_;
|
||||
ConfigurationInterface *configuration_;
|
||||
|
||||
/*!
|
||||
* \brief LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
|
||||
* (ECEF) coordinates. P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
|
||||
* (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
|
||||
* coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
|
||||
* The default ellipsoid planet is WGS84. Original copyright (c) by Kai Borre.
|
||||
*/
|
||||
arma::vec lla2ecef(arma::vec lla);
|
||||
/*!
|
||||
* GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
|
||||
* [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
|
||||
* point locations specified by the coordinate arrays PHI (geodetic
|
||||
* latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
|
||||
* height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
|
||||
* coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
|
||||
* row vector with the form [semimajor axis, eccentricity]). H must use
|
||||
* the same units as the semimajor axis; X, Y, and Z will be expressed in
|
||||
* these units also.
|
||||
*
|
||||
* The geocentric Cartesian coordinate system is fixed with respect to the
|
||||
* Earth, with its origin at the center of the ellipsoid and its X-, Y-,
|
||||
* and Z-axes intersecting the surface at the following points:
|
||||
* PHI LAMBDA
|
||||
* X-axis: 0 0 (Equator at the Prime Meridian)
|
||||
* Y-axis: 0 pi/2 (Equator at 90-degrees East
|
||||
* Z-axis: pi/2 0 (North Pole)
|
||||
*
|
||||
* A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
|
||||
*
|
||||
* See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
|
||||
*
|
||||
* Copyright 2004-2009 The MathWorks, Inc.
|
||||
* $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
|
||||
* Reference
|
||||
* ---------
|
||||
* Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
|
||||
* Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
|
||||
*/
|
||||
arma::vec geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid);
|
||||
/*!
|
||||
* \brief Reads the ephemeris data from an external XML file
|
||||
*
|
||||
*/
|
||||
bool read_assistance_from_XML();
|
||||
/*!
|
||||
* \brief Connects to Secure User Location Protocol (SUPL) server to obtain
|
||||
* the current GPS ephemeris and GPS assistance data.
|
||||
*
|
||||
*/
|
||||
int Get_SUPL_Assist();
|
||||
|
||||
/*!
|
||||
* \brief LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
|
||||
* (ECEF) coordinates. P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
|
||||
* (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
|
||||
* coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
|
||||
* The default ellipsoid planet is WGS84. Original copyright (c) by Kai Borre.
|
||||
*/
|
||||
arma::vec lla2ecef(arma::vec lla);
|
||||
/*!
|
||||
* GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
|
||||
* [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
|
||||
* point locations specified by the coordinate arrays PHI (geodetic
|
||||
* latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
|
||||
* height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
|
||||
* coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
|
||||
* row vector with the form [semimajor axis, eccentricity]). H must use
|
||||
* the same units as the semimajor axis; X, Y, and Z will be expressed in
|
||||
* these units also.
|
||||
*
|
||||
* The geocentric Cartesian coordinate system is fixed with respect to the
|
||||
* Earth, with its origin at the center of the ellipsoid and its X-, Y-,
|
||||
* and Z-axes intersecting the surface at the following points:
|
||||
* PHI LAMBDA
|
||||
* X-axis: 0 0 (Equator at the Prime Meridian)
|
||||
* Y-axis: 0 pi/2 (Equator at 90-degrees East
|
||||
* Z-axis: pi/2 0 (North Pole)
|
||||
*
|
||||
* A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
|
||||
*
|
||||
* See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
|
||||
*
|
||||
* Copyright 2004-2009 The MathWorks, Inc.
|
||||
* $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
|
||||
* Reference
|
||||
* ---------
|
||||
* Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
|
||||
* Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
|
||||
*/
|
||||
arma::vec geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid);
|
||||
/*!
|
||||
* \brief Reads the ephemeris data from an external XML file
|
||||
*
|
||||
*/
|
||||
bool read_assistance_from_XML();
|
||||
/*!
|
||||
* \brief Connects to Secure User Location Protocol (SUPL) server to obtain
|
||||
* the current GPS ephemeris and GPS assistance data.
|
||||
*
|
||||
*/
|
||||
int Get_SUPL_Assist();
|
||||
public:
|
||||
/*!
|
||||
* \brief Sets the configuration data required by get_ephemeris function
|
||||
*
|
||||
*/
|
||||
void set_configuration(ConfigurationInterface *configuration);
|
||||
|
||||
/*!
|
||||
* \brief This function connects to a Secure User Location Protocol (SUPL) server to obtain
|
||||
* the current GPS ephemeris and GPS assistance data. It requires the configuration parameters set by
|
||||
* set_configuration function.
|
||||
*
|
||||
*/
|
||||
bool get_ephemeris();
|
||||
|
||||
/*!
|
||||
* \brief Sets the configuration data required by get_ephemeris function
|
||||
*
|
||||
*/
|
||||
void set_configuration(ConfigurationInterface *configuration);
|
||||
/*!
|
||||
* \brief This function connects to a Secure User Location Protocol (SUPL) server to obtain
|
||||
* the current GPS ephemeris and GPS assistance data. It requires the configuration parameters set by
|
||||
* set_configuration function.
|
||||
*
|
||||
*/
|
||||
bool get_ephemeris();
|
||||
/*!
|
||||
* \brief This function estimates the GPS L1 satellite Doppler frequency [Hz] using the following data:
|
||||
* 1- Orbital model from the ephemeris
|
||||
* 2- Approximate GPS Time of Week (TOW)
|
||||
* 3- Approximate receiver Latitude and Longitude (WGS-84)
|
||||
*
|
||||
*/
|
||||
double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
|
||||
/*!
|
||||
* \brief This function models the Elonics E4000 + RTL2832 front-end
|
||||
* Inputs:
|
||||
* f_bb_true_Hz - Ideal output frequency in baseband [Hz]
|
||||
* f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
|
||||
* Outputs:
|
||||
* estimated_fs_Hz - Sampling frequency estimation based on the
|
||||
* measurements and the front-end model
|
||||
* estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
|
||||
* measurements and the front-end model
|
||||
* Front-end TUNNER Elonics E4000 + RTL2832 sampler For GPS L1 1575.42 MHz
|
||||
*
|
||||
*/
|
||||
void GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm );
|
||||
/*!
|
||||
* \brief This function estimates the GPS L1 satellite Doppler frequency [Hz] using the following data:
|
||||
* 1- Orbital model from the ephemeris
|
||||
* 2- Approximate GPS Time of Week (TOW)
|
||||
* 3- Approximate receiver Latitude and Longitude (WGS-84)
|
||||
*
|
||||
*/
|
||||
double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
|
||||
|
||||
FrontEndCal();
|
||||
~FrontEndCal();
|
||||
/*!
|
||||
* \brief This function models the Elonics E4000 + RTL2832 front-end
|
||||
* Inputs:
|
||||
* f_bb_true_Hz - Ideal output frequency in baseband [Hz]
|
||||
* f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
|
||||
* Outputs:
|
||||
* estimated_fs_Hz - Sampling frequency estimation based on the
|
||||
* measurements and the front-end model
|
||||
* estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
|
||||
* measurements and the front-end model
|
||||
* Front-end TUNER Elonics E4000 + RTL2832 sampler For GPS L1 1575.42 MHz
|
||||
*
|
||||
*/
|
||||
void GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm );
|
||||
|
||||
FrontEndCal();
|
||||
~FrontEndCal();
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -81,7 +81,7 @@ using google::LogMessage;
|
||||
DECLARE_string(log_dir);
|
||||
|
||||
DEFINE_string(config_file, "../conf/front-end-cal.conf",
|
||||
"Path to the file containing the configuration parameters");
|
||||
"Path to the file containing the configuration parameters");
|
||||
|
||||
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
|
||||
concurrent_queue<Gps_Iono> global_gps_iono_queue;
|
||||
@ -116,24 +116,24 @@ void wait_message()
|
||||
{
|
||||
while (!stop)
|
||||
{
|
||||
int message;
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
//std::cout<<"Acq mesage rx="<<message<<std::endl;
|
||||
switch (message)
|
||||
{
|
||||
case 1: // Positive acq
|
||||
gnss_sync_vector.push_back(*gnss_synchro);
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 2: // negative acq
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 3:
|
||||
stop=true;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
int message;
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
//std::cout<<"Acq mesage rx="<<message<<std::endl;
|
||||
switch (message)
|
||||
{
|
||||
case 1: // Positive acq
|
||||
gnss_sync_vector.push_back(*gnss_synchro);
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 2: // negative acq
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 3:
|
||||
stop = true;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -146,12 +146,11 @@ bool front_end_capture(ConfigurationInterface *configuration)
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
|
||||
|
||||
GNSSBlockInterface *source;
|
||||
source=block_factory.GetSignalSource(configuration, queue);
|
||||
source = block_factory.GetSignalSource(configuration, queue);
|
||||
|
||||
GNSSBlockInterface *conditioner;
|
||||
conditioner=block_factory.GetSignalConditioner(configuration,queue);
|
||||
conditioner = block_factory.GetSignalConditioner(configuration,queue);
|
||||
|
||||
gr::block_sptr sink;
|
||||
sink = gr::blocks::file_sink::make(sizeof(gr_complex), "tmp_capture.dat");
|
||||
@ -160,53 +159,54 @@ bool front_end_capture(ConfigurationInterface *configuration)
|
||||
long fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
int samples_per_code = round(fs_in_
|
||||
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
int nsamples=samples_per_code*50;
|
||||
int nsamples = samples_per_code * 50;
|
||||
|
||||
int skip_samples=fs_in_*5; // skip 5 seconds
|
||||
int skip_samples = fs_in_ * 5; // skip 5 seconds
|
||||
|
||||
gr::block_sptr head = gr::blocks::head::make(sizeof(gr_complex), nsamples);
|
||||
|
||||
gr::block_sptr skiphead = gr::blocks::skiphead::make(sizeof(gr_complex), skip_samples);
|
||||
|
||||
try{
|
||||
|
||||
source->connect(top_block);
|
||||
conditioner->connect(top_block);
|
||||
top_block->connect(source->get_right_block(), 0, conditioner->get_left_block(), 0);
|
||||
top_block->connect(conditioner->get_right_block(), 0, skiphead, 0);
|
||||
top_block->connect(skiphead, 0,head, 0);
|
||||
top_block->connect(head, 0, sink, 0);
|
||||
top_block->run();
|
||||
}catch(std::exception& e)
|
||||
try
|
||||
{
|
||||
std::cout<<"Failure connecting the GNU Radio blocks "<<e.what()<<std::endl;
|
||||
return false;
|
||||
source->connect(top_block);
|
||||
conditioner->connect(top_block);
|
||||
top_block->connect(source->get_right_block(), 0, conditioner->get_left_block(), 0);
|
||||
top_block->connect(conditioner->get_right_block(), 0, skiphead, 0);
|
||||
top_block->connect(skiphead, 0, head, 0);
|
||||
top_block->connect(head, 0, sink, 0);
|
||||
top_block->run();
|
||||
}
|
||||
catch(std::exception& e)
|
||||
{
|
||||
std::cout << "Failure connecting the GNU Radio blocks " << e.what() << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
delete conditioner;
|
||||
delete source;
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
static time_t utc_time(int week, long tow) {
|
||||
time_t t;
|
||||
time_t t;
|
||||
|
||||
/* Jan 5/6 midnight 1980 - beginning of GPS time as Unix time */
|
||||
t = 315964801;
|
||||
/* Jan 5/6 midnight 1980 - beginning of GPS time as Unix time */
|
||||
t = 315964801;
|
||||
|
||||
/* soon week will wrap again, uh oh... */
|
||||
/* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
|
||||
t += (1024 + week) * 604800 + tow*0.08;
|
||||
/* soon week will wrap again, uh oh... */
|
||||
/* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
|
||||
t += (1024 + week) * 604800 + tow*0.08;
|
||||
|
||||
return t;
|
||||
return t;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
const std::string intro_help(
|
||||
std::string("\n RTL-SDR E4000 RF fornt-end center frequency and sampling rate calibration tool that uses GPS signals\n")
|
||||
std::string("\n RTL-SDR E4000 RF front-end center frequency and sampling rate calibration tool that uses GPS signals\n")
|
||||
+
|
||||
"Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)\n"
|
||||
+
|
||||
@ -214,7 +214,6 @@ int main(int argc, char** argv)
|
||||
+
|
||||
"See COPYING file to see a copy of the General Public License\n \n");
|
||||
|
||||
|
||||
google::SetUsageMessage(intro_help);
|
||||
google::SetVersionString(FRONT_END_CAL_VERSION);
|
||||
google::ParseCommandLineFlags(&argc, &argv, true);
|
||||
@ -224,12 +223,12 @@ int main(int argc, char** argv)
|
||||
google::InitGoogleLogging(argv[0]);
|
||||
if (FLAGS_log_dir.empty())
|
||||
{
|
||||
std::cout << "Logging will be done at "
|
||||
std::cout << "Logging will be done at "
|
||||
|
||||
<< "/tmp"
|
||||
<< std::endl
|
||||
<< "Use front-end-cal --log_dir=/path/to/log to change that."
|
||||
<< std::endl;
|
||||
<< "/tmp"
|
||||
<< std::endl
|
||||
<< "Use front-end-cal --log_dir=/path/to/log to change that."
|
||||
<< std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -237,13 +236,13 @@ int main(int argc, char** argv)
|
||||
if (!boost::filesystem::exists(p))
|
||||
{
|
||||
std::cout << "The path "
|
||||
<< FLAGS_log_dir
|
||||
<< " does not exist, attempting to create it"
|
||||
<< std::endl;
|
||||
<< FLAGS_log_dir
|
||||
<< " does not exist, attempting to create it"
|
||||
<< std::endl;
|
||||
boost::filesystem::create_directory(p);
|
||||
}
|
||||
std::cout << "Logging with be done at "
|
||||
<< FLAGS_log_dir << std::endl;
|
||||
<< FLAGS_log_dir << std::endl;
|
||||
}
|
||||
|
||||
|
||||
@ -253,26 +252,30 @@ int main(int argc, char** argv)
|
||||
// 1. Load configuration parameters from config file
|
||||
|
||||
ConfigurationInterface *configuration;
|
||||
configuration= new FileConfiguration(FLAGS_config_file);
|
||||
configuration = new FileConfiguration(FLAGS_config_file);
|
||||
front_end_cal.set_configuration(configuration);
|
||||
|
||||
|
||||
// 2. Get SUPL information from server: Ephemeris record, assistance info and TOW
|
||||
if (front_end_cal.get_ephemeris()==true)
|
||||
{
|
||||
std::cout<<"SUPL data received OK!"<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Failure connecting to SUPL server"<<std::endl;
|
||||
}
|
||||
if (front_end_cal.get_ephemeris() == true)
|
||||
{
|
||||
std::cout << "SUPL data received OK!" << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Failure connecting to SUPL server" <<std::endl;
|
||||
}
|
||||
|
||||
// 3. Capture some front-end samples to hard disk
|
||||
|
||||
if (front_end_capture(configuration))
|
||||
{
|
||||
std::cout<<"Front-end RAW samples captured"<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Failure capturing front-end samples"<<std::endl;
|
||||
}
|
||||
{
|
||||
std::cout << "Front-end RAW samples captured" << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Failure capturing front-end samples" << std::endl;
|
||||
}
|
||||
|
||||
// 4. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
|
||||
|
||||
@ -282,12 +285,12 @@ int main(int argc, char** argv)
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
|
||||
// Satellite signal definition
|
||||
gnss_synchro=new Gnss_Synchro();
|
||||
gnss_synchro->Channel_ID=0;
|
||||
gnss_synchro = new Gnss_Synchro();
|
||||
gnss_synchro->Channel_ID = 0;
|
||||
gnss_synchro->System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro->Signal,2,0);
|
||||
gnss_synchro->PRN=1;
|
||||
signal.copy(gnss_synchro->Signal, 2, 0);
|
||||
gnss_synchro->PRN = 1;
|
||||
|
||||
long fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
|
||||
@ -301,7 +304,6 @@ int main(int argc, char** argv)
|
||||
acquisition->set_doppler_max(configuration->property("Acquisition.doppler_max", 10000));
|
||||
acquisition->set_doppler_step(configuration->property("Acquisition.doppler_step", 250));
|
||||
|
||||
|
||||
gr::block_sptr source;
|
||||
source = gr::blocks::file_source::make(sizeof(gr_complex), "tmp_capture.dat");
|
||||
|
||||
@ -310,13 +312,14 @@ int main(int argc, char** argv)
|
||||
//head_sptr->set_length(nsamples);
|
||||
//head_sptr->reset();
|
||||
|
||||
try{
|
||||
|
||||
acquisition->connect(top_block);
|
||||
top_block->connect(source, 0, acquisition->get_left_block(), 0);
|
||||
}catch(std::exception& e)
|
||||
try
|
||||
{
|
||||
std::cout<<"Failure connecting the GNU Radio blocks "<<std::endl;
|
||||
acquisition->connect(top_block);
|
||||
top_block->connect(source, 0, acquisition->get_left_block(), 0);
|
||||
}
|
||||
catch(std::exception& e)
|
||||
{
|
||||
std::cout << "Failure connecting the GNU Radio blocks " << std::endl;
|
||||
}
|
||||
|
||||
// 5. Run the flowgraph
|
||||
@ -332,169 +335,174 @@ int main(int argc, char** argv)
|
||||
gettimeofday(&tv, NULL);
|
||||
long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
|
||||
bool start_msg=true;
|
||||
bool start_msg = true;
|
||||
|
||||
for (unsigned int PRN=1;PRN<33;PRN++)
|
||||
{
|
||||
gnss_synchro->PRN=PRN;
|
||||
acquisition->set_gnss_synchro(gnss_synchro);
|
||||
acquisition->init();
|
||||
acquisition->reset();
|
||||
stop=false;
|
||||
ch_thread = boost::thread(wait_message);
|
||||
top_block->run();
|
||||
if (start_msg==true)
|
||||
for (unsigned int PRN=1; PRN<33; PRN++)
|
||||
{
|
||||
std::cout<<"Searching for GPS Satellites in L1 band..."<<std::endl;
|
||||
std::cout<<"[";
|
||||
start_msg=false;
|
||||
gnss_synchro->PRN = PRN;
|
||||
acquisition->set_gnss_synchro(gnss_synchro);
|
||||
acquisition->init();
|
||||
acquisition->reset();
|
||||
stop = false;
|
||||
ch_thread = boost::thread(wait_message);
|
||||
top_block->run();
|
||||
if (start_msg == true)
|
||||
{
|
||||
std::cout << "Searching for GPS Satellites in L1 band..." << std::endl;
|
||||
std::cout << "[";
|
||||
start_msg = false;
|
||||
}
|
||||
if (gnss_sync_vector.size()>0)
|
||||
{
|
||||
std::cout << " " << PRN << " ";
|
||||
double doppler_measurement_hz = 0;
|
||||
for (std::vector<Gnss_Synchro>::iterator it = gnss_sync_vector.begin() ; it != gnss_sync_vector.end(); ++it)
|
||||
{
|
||||
doppler_measurement_hz += (*it).Acq_doppler_hz;
|
||||
}
|
||||
doppler_measurement_hz = doppler_measurement_hz/gnss_sync_vector.size();
|
||||
doppler_measurements_map.insert(std::pair<int,double>(PRN, doppler_measurement_hz));
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << " . ";
|
||||
}
|
||||
channel_internal_queue.push(3);
|
||||
ch_thread.join();
|
||||
gnss_sync_vector.clear();
|
||||
boost::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0, 0);
|
||||
std::cout.flush();
|
||||
}
|
||||
if (gnss_sync_vector.size()>0)
|
||||
{
|
||||
std::cout<<" "<<PRN<<" ";
|
||||
double doppler_measurement_hz=0;
|
||||
for (std::vector<Gnss_Synchro>::iterator it = gnss_sync_vector.begin() ; it != gnss_sync_vector.end(); ++it)
|
||||
{
|
||||
doppler_measurement_hz+=(*it).Acq_doppler_hz;
|
||||
}
|
||||
doppler_measurement_hz=doppler_measurement_hz/gnss_sync_vector.size();
|
||||
doppler_measurements_map.insert(std::pair<int,double>(PRN,doppler_measurement_hz));
|
||||
}else{
|
||||
std::cout<<" . ";
|
||||
}
|
||||
channel_internal_queue.push(3);
|
||||
ch_thread.join();
|
||||
gnss_sync_vector.clear();
|
||||
boost::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0,0);
|
||||
std::cout.flush();
|
||||
}
|
||||
std::cout<<"]"<<std::endl;
|
||||
std::cout << "]" << std::endl;
|
||||
|
||||
// report the elapsed time
|
||||
gettimeofday(&tv, NULL);
|
||||
long long int end = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
std::cout << "Total signal acquisition run time "
|
||||
<< ((double)(end - begin))/1000000.0
|
||||
<< " [seconds]" << std::endl;
|
||||
<< ((double)(end - begin))/1000000.0
|
||||
<< " [seconds]" << std::endl;
|
||||
|
||||
//6. find TOW from SUPL assistance
|
||||
|
||||
double current_TOW=0;
|
||||
if (global_gps_ephemeris_map.size()>0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris> Eph_map;
|
||||
Eph_map=global_gps_ephemeris_map.get_map_copy();
|
||||
current_TOW=Eph_map.begin()->second.d_TOW;
|
||||
double current_TOW = 0;
|
||||
if (global_gps_ephemeris_map.size() > 0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris> Eph_map;
|
||||
Eph_map = global_gps_ephemeris_map.get_map_copy();
|
||||
current_TOW = Eph_map.begin()->second.d_TOW;
|
||||
|
||||
time_t t = utc_time(Eph_map.begin()->second.i_GPS_week, (long int)current_TOW);
|
||||
time_t t = utc_time(Eph_map.begin()->second.i_GPS_week, (long int)current_TOW);
|
||||
|
||||
fprintf(stdout, "Reference Time:\n");
|
||||
fprintf(stdout, " GPS Week: %ld\n", Eph_map.begin()->second.i_GPS_week);
|
||||
fprintf(stdout, " GPS TOW: %ld %lf\n", (long int)current_TOW, (long int)current_TOW*0.08);
|
||||
fprintf(stdout, " ~ UTC: %s", ctime(&t));
|
||||
std::cout<<"Current TOW obtained from SUPL assistance = "<<current_TOW<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Unable to get Ephemeris SUPL assistance. TOW is unknown!"<<std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
fprintf(stdout, "Reference Time:\n");
|
||||
fprintf(stdout, " GPS Week: %ld\n", Eph_map.begin()->second.i_GPS_week);
|
||||
fprintf(stdout, " GPS TOW: %ld %lf\n", (long int)current_TOW, (long int)current_TOW*0.08);
|
||||
fprintf(stdout, " ~ UTC: %s", ctime(&t));
|
||||
std::cout << "Current TOW obtained from SUPL assistance = " << current_TOW << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Unable to get Ephemeris SUPL assistance. TOW is unknown!" << std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//Get user position from config file (or from SUPL using GSM Cell ID)
|
||||
double lat_deg = configuration->property("GNSS-SDR.init_latitude_deg", 41.0);
|
||||
double lon_deg = configuration->property("GNSS-SDR.init_longitude_deg", 2.0);
|
||||
double altitude_m = configuration->property("GNSS-SDR.init_altitude_m", 100);
|
||||
|
||||
std::cout<<"Reference location (defined in config file):"<<std::endl;
|
||||
std::cout << "Reference location (defined in config file):" << std::endl;
|
||||
|
||||
std::cout<<"Latitude="<<lat_deg<<" [º]"<<std::endl;
|
||||
std::cout<<"Longitude="<<lon_deg<<" [º]"<<std::endl;
|
||||
std::cout<<"Altitude="<<altitude_m<<" [m]"<<std::endl;
|
||||
std::cout << "Latitude=" << lat_deg << " [¼]" << std::endl;
|
||||
std::cout << "Longitude=" << lon_deg << " [¼]" << std::endl;
|
||||
std::cout << "Altitude=" << altitude_m << " [m]" << std::endl;
|
||||
|
||||
if (doppler_measurements_map.size()==0)
|
||||
{
|
||||
std::cout<<"Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup..."<<std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
if (doppler_measurements_map.size() == 0)
|
||||
{
|
||||
std::cout << "Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup..." << std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::map<int,double> f_if_estimation_Hz_map;
|
||||
std::map<int,double> f_fs_estimation_Hz_map;
|
||||
std::map<int,double> f_ppm_estimation_Hz_map;
|
||||
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
|
||||
"Doppler analysis results:"<<std::endl;
|
||||
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) <<
|
||||
"Doppler analysis results:" << std::endl;
|
||||
|
||||
std::cout << "SV ID Measured [Hz] Predicted [Hz]" <<std::endl;
|
||||
std::cout << "SV ID Measured [Hz] Predicted [Hz]" << std::endl;
|
||||
|
||||
for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
|
||||
{
|
||||
try{
|
||||
double doppler_estimated_hz;
|
||||
doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
|
||||
std::cout << " "<<it->first<<" "<<it->second<<" "<<doppler_estimated_hz<<std::endl;
|
||||
// 7. Compute front-end IF and sampling frequency estimation
|
||||
// Compare with the measurements and compute clock drift using FE model
|
||||
double estimated_fs_Hz, estimated_f_if_Hz,f_osc_err_ppm;
|
||||
front_end_cal.GPS_L1_front_end_model_E4000(doppler_estimated_hz,it->second,fs_in_, &estimated_fs_Hz, &estimated_f_if_Hz, &f_osc_err_ppm );
|
||||
{
|
||||
try
|
||||
{
|
||||
double doppler_estimated_hz;
|
||||
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it->first, current_TOW, lat_deg, lon_deg, altitude_m);
|
||||
std::cout << " " << it->first << " " << it->second << " " << doppler_estimated_hz << std::endl;
|
||||
// 7. Compute front-end IF and sampling frequency estimation
|
||||
// Compare with the measurements and compute clock drift using FE model
|
||||
double estimated_fs_Hz, estimated_f_if_Hz, f_osc_err_ppm;
|
||||
front_end_cal.GPS_L1_front_end_model_E4000(doppler_estimated_hz, it->second,fs_in_, &estimated_fs_Hz, &estimated_f_if_Hz, &f_osc_err_ppm );
|
||||
|
||||
f_if_estimation_Hz_map.insert(std::pair<int,double>(it->first,estimated_f_if_Hz));
|
||||
f_fs_estimation_Hz_map.insert(std::pair<int,double>(it->first,estimated_fs_Hz));
|
||||
f_ppm_estimation_Hz_map.insert(std::pair<int,double>(it->first,f_osc_err_ppm));
|
||||
|
||||
}catch(int ex)
|
||||
{
|
||||
std::cout << " "<<it->first<<" "<<it->second<<" (Eph not found)"<<std::endl;
|
||||
}
|
||||
}
|
||||
f_if_estimation_Hz_map.insert(std::pair<int,double>(it->first,estimated_f_if_Hz));
|
||||
f_fs_estimation_Hz_map.insert(std::pair<int,double>(it->first,estimated_fs_Hz));
|
||||
f_ppm_estimation_Hz_map.insert(std::pair<int,double>(it->first,f_osc_err_ppm));
|
||||
}
|
||||
catch(int ex)
|
||||
{
|
||||
std::cout << " " << it->first << " " << it->second << " (Eph not found)" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// FINAL FE estimations
|
||||
double mean_f_if_Hz=0;
|
||||
double mean_fs_Hz=0;
|
||||
double mean_osc_err_ppm=0;
|
||||
int n_elements=f_if_estimation_Hz_map.size();
|
||||
double mean_f_if_Hz = 0;
|
||||
double mean_fs_Hz = 0;
|
||||
double mean_osc_err_ppm = 0;
|
||||
int n_elements = f_if_estimation_Hz_map.size();
|
||||
|
||||
for (std::map<int,double>::iterator it = f_if_estimation_Hz_map.begin() ; it != f_if_estimation_Hz_map.end(); ++it)
|
||||
{
|
||||
mean_f_if_Hz+=(*it).second;
|
||||
mean_fs_Hz+=f_fs_estimation_Hz_map.find((*it).first)->second;
|
||||
mean_osc_err_ppm+=f_ppm_estimation_Hz_map.find((*it).first)->second;
|
||||
}
|
||||
{
|
||||
mean_f_if_Hz += (*it).second;
|
||||
mean_fs_Hz += f_fs_estimation_Hz_map.find((*it).first)->second;
|
||||
mean_osc_err_ppm += f_ppm_estimation_Hz_map.find((*it).first)->second;
|
||||
}
|
||||
|
||||
mean_f_if_Hz/=n_elements;
|
||||
mean_fs_Hz/=n_elements;
|
||||
mean_osc_err_ppm/=n_elements;
|
||||
mean_f_if_Hz /= n_elements;
|
||||
mean_fs_Hz /= n_elements;
|
||||
mean_osc_err_ppm /= n_elements;
|
||||
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"Parameters estimation for Elonics E4000 Front-End:"<<std::endl;
|
||||
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) << "Parameters estimation for Elonics E4000 Front-End:" << std::endl;
|
||||
|
||||
std::cout<<"Sampling frequency ="<<mean_fs_Hz<<" [Hz]"<<std::endl;
|
||||
std::cout<<"IF bias present in baseband="<<mean_f_if_Hz<<" [Hz]"<<std::endl;
|
||||
std::cout<<"Reference oscillator error ="<<mean_osc_err_ppm<<" [ppm]"<<std::endl;
|
||||
|
||||
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
|
||||
"Corrected Doppler vs. Predicted"<<std::endl;
|
||||
std::cout << "SV ID Corrected [Hz] Predicted [Hz]" <<std::endl;
|
||||
std::cout << "Sampling frequency =" << mean_fs_Hz << " [Hz]" << std::endl;
|
||||
std::cout << "IF bias present in baseband=" << mean_f_if_Hz << " [Hz]" << std::endl;
|
||||
std::cout << "Reference oscillator error =" << mean_osc_err_ppm << " [ppm]" << std::endl;
|
||||
|
||||
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2)
|
||||
<< "Corrected Doppler vs. Predicted" << std::endl;
|
||||
std::cout << "SV ID Corrected [Hz] Predicted [Hz]" << std::endl;
|
||||
|
||||
for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
|
||||
{
|
||||
try{
|
||||
double doppler_estimated_hz;
|
||||
doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
|
||||
std::cout << " "<<it->first<<" "<<it->second -mean_f_if_Hz<<" "<<doppler_estimated_hz<<std::endl;
|
||||
}catch(int ex)
|
||||
{
|
||||
std::cout << " "<<it->first<<" "<<it->second-mean_f_if_Hz<<" (Eph not found)"<<std::endl;
|
||||
}
|
||||
}
|
||||
{
|
||||
try
|
||||
{
|
||||
double doppler_estimated_hz;
|
||||
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it->first, current_TOW, lat_deg, lon_deg, altitude_m);
|
||||
std::cout << " " << it->first << " " << it->second - mean_f_if_Hz << " " << doppler_estimated_hz << std::endl;
|
||||
}
|
||||
catch(int ex)
|
||||
{
|
||||
std::cout << " " << it->first << " " << it->second - mean_f_if_Hz << " (Eph not found)" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// 8. Generate GNSS-SDR config file.
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user