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Merge branch 'dmiralles2009-glonass_dec' into next

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This commit is contained in:
Carles Fernandez 2018-03-10 12:26:47 +01:00
commit 074fb8b9f0
3 changed files with 120 additions and 121 deletions
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6
conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
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@ -6,7 +6,7 @@ Receiver.sources_count=2
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource0.implementation=File_Signal_Source SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource0.filename=/media/dmiralles/Seagate Backup Plus Drive/GNSS Data/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource0.item_type=ibyte SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=6625000 SignalSource0.sampling_frequency=6625000
SignalSource0.samples=0 SignalSource0.samples=0
@ -14,7 +14,7 @@ SignalSource0.dump=false;
SignalSource0.dump_filename=/archive/signal_glonass.bin SignalSource0.dump_filename=/archive/signal_glonass.bin
SignalSource1.implementation=File_Signal_Source SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource1.filename=/media/dmiralles/Seagate Backup Plus Drive/GNSS Data/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource1.item_type=ibyte SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=6625000 SignalSource1.sampling_frequency=6625000
SignalSource1.samples=0 SignalSource1.samples=0
@ -138,4 +138,4 @@ PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000 PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000 PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000 PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=3 PVT.rinex_version=2

10
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -5,7 +5,7 @@ GNSS-SDR.internal_fs_sps=6625000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/media/dmiralles/Seagate Backup Plus Drive/GNSS Data/NT1065_GLONASS_L1_20160924_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=ibyte SignalSource.item_type=ibyte
SignalSource.sampling_frequency=6625000 SignalSource.sampling_frequency=6625000
SignalSource.samples=0 SignalSource.samples=0
@ -39,7 +39,7 @@ Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0 Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250 Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false; Acquisition_1G.dump=true;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=1 ;Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5 ;Acquisition_1G.max_dwells = 5
@ -51,7 +51,7 @@ Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5 Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0; Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0; Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=false; Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_ Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
@ -59,7 +59,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false; Observables.dump=true;
Observables.dump_filename=/archive/glo_observables.dat Observables.dump_filename=/archive/glo_observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
@ -76,4 +76,4 @@ PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000 PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000 PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000 PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=3 PVT.rinex_version=2

225
src/algorithms/PVT/libs/rinex_printer.cc
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@ -47,6 +47,8 @@
using google::LogMessage; using google::LogMessage;
DEFINE_string(RINEX_version, "3.02", "Specifies the RINEX version (2.11 or 3.02)");
Rinex_Printer::Rinex_Printer(int conf_version) Rinex_Printer::Rinex_Printer(int conf_version)
{ {
@ -3958,32 +3960,31 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER NAME // -------- Line MARKER NAME
if (version == 2) line.clear();
{ line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line.clear(); line += Rinex_Printer::leftJustify("MARKER NAME", 20);
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property Rinex_Printer::lengthCheck(line);
line += std::string(40, ' '); out << line << std::endl;
line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version == 3)
{
line.clear();
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
// -------- Line MARKER TYPE // -------- Line MARKER NUMBER / TYPE
line.clear(); if (version == 2)
line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property {
line += std::string(40, ' '); line.clear();
line += Rinex_Printer::leftJustify("MARKER TYPE", 20); line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
Rinex_Printer::lengthCheck(line); line += std::string(40, ' ');
out << line << std::endl; line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version == 3)
{
line.clear();
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -4278,8 +4279,8 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
// -------- Line MARKER NAME // -------- Line MARKER NAME
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property, line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line += Rinex_Printer::leftJustify("MARKER TYPE", 20); line += Rinex_Printer::leftJustify("MARKER NAME", 20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -5998,6 +5999,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{ {
// RINEX observations timestamps are GPS timestamps. // RINEX observations timestamps are GPS timestamps.
std::string line; std::string line;
double int_sec = 0;
// Avoid compiler warning // Avoid compiler warning
if (glonass_band.size()) if (glonass_band.size())
@ -6008,21 +6010,21 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
std::string timestring = boost::posix_time::to_iso_string(p_glonass_time); std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time)); //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time); //double gps_t = eph.sv_clock_correction(obs_time);
double glonass_t = obs_time;
std::string month(timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day(timestring, 6, 2); std::string day (timestring, 6, 2);
std::string hour(timestring, 9, 2); std::string hour (timestring, 9, 2);
std::string minutes(timestring, 11, 2); std::string minutes (timestring, 11, 2);
double utc_sec = modf (obs_time , &int_sec) + p_glonass_time.time_of_day().seconds() ;
if (version == 2) if (version == 2)
{ {
line.clear(); line.clear();
std::string year(timestring, 2, 2); std::string year (timestring, 2, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += year; line += year;
line += std::string(1, ' '); line += std::string(1, ' ');
if (month.compare(0, 1, "0") == 0) if (month.compare(0, 1 , "0") == 0)
{ {
line += std::string(1, ' '); line += std::string(1, ' ');
line += month.substr(1, 1); line += month.substr(1, 1);
@ -6032,7 +6034,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += month; line += month;
} }
line += std::string(1, ' '); line += std::string(1, ' ');
if (day.compare(0, 1, "0") == 0) if (day.compare(0, 1 , "0") == 0)
{ {
line += std::string(1, ' '); line += std::string(1, ' ');
line += day.substr(1, 1); line += day.substr(1, 1);
@ -6046,12 +6048,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(1, ' '); line += std::string(1, ' ');
line += minutes; line += minutes;
line += std::string(1, ' '); line += std::string(1, ' ');
double second_ = fmod(glonass_t, 60); if (utc_sec < 10)
if (second_ < 10)
{ {
line += std::string(1, ' '); line += std::string(1, ' ');
} }
line += Rinex_Printer::asString(second_, 7); line += Rinex_Printer::asString(utc_sec, 7);
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
@ -6149,13 +6150,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += minutes; line += minutes;
line += std::string(1, ' '); line += std::string(1, ' ');
double seconds = fmod(glonass_t, 60);
// Add extra 0 if seconds are < 10 // Add extra 0 if seconds are < 10
if (seconds < 10) if (utc_sec < 10)
{ {
line += std::string(1, '0'); line += std::string(1, '0');
} }
line += Rinex_Printer::asString(seconds, 7); line += Rinex_Printer::asString(utc_sec, 7);
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
@ -8121,10 +8121,10 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int& year, int& mont
} }
// find month // find month
for (int m = 1; true; m++) for (int m = 1; true ; m++)
{ {
int secs_in_month_m = days_per_month[m - 1] * secs_per_day; int secs_in_month_m = days_per_month[m-1]*secs_per_day;
if (is_leap_year && m == 2) // consider February of leap year if (is_leap_year && m == 2 ) // consider February of leap year
{ {
secs_in_month_m += secs_per_day; secs_in_month_m += secs_per_day;
} }
@ -8142,14 +8142,14 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int& year, int& mont
//std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl; //std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
} }
day = remaining_secs / secs_per_day + 1; day = remaining_secs/secs_per_day+1;
remaining_secs = remaining_secs % secs_per_day; remaining_secs = remaining_secs%secs_per_day;
hour = remaining_secs / (60 * 60); hour = remaining_secs/(60*60);
remaining_secs = remaining_secs % (60 * 60); remaining_secs = remaining_secs%(60*60);
minute = remaining_secs / 60; minute = remaining_secs/60;
second = remaining_secs % 60; second = remaining_secs%60;
} }
@ -8296,83 +8296,82 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time) boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
{ {
double tod = 0.0; double tod = 0.0;
double glot2utc = 3 * 3600; double glot2utc = 3*3600;
double obs_time_glot = 0.0; double obs_time_utc = 0.0, obs_time_glot = 0.0;
int i = 0; int i = 0;
// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
obs_time_glot = obs_time + glot2utc; obs_time_glot = obs_time + glot2utc;
// Get seconds of day in glonass time // Get seconds of day in glonass time
tod = fmod(obs_time_glot, 86400); tod = fmod (obs_time_glot, 86400);
// Form date and time duration types // Form date and time duration types
boost::posix_time::time_duration t1(0, 0, tod); boost::posix_time::time_duration t1(0, 0, tod);
boost::gregorian::date d1(eph.d_yr, 1, 1); boost::gregorian::date d1(eph.d_yr, 1, 1);
boost::gregorian::days d2(eph.d_N_T - 1); boost::gregorian::days d2(eph.d_N_T-1);
boost::posix_time::ptime glo_time(d1 + d2, t1); boost::posix_time::ptime glo_time(d1 + d2, t1);
// Convert to utc // Convert to utc
boost::posix_time::time_duration t2(0, 0, glot2utc); boost::posix_time::time_duration t2(0, 0, glot2utc);
boost::posix_time::ptime utc_time = glo_time - t2; boost::posix_time::ptime utc_time = glo_time - t2;
// Adjust for leap second correction // Adjust for leap second correction
for (i = 0; GLONASS_LEAP_SECONDS[i][0] > 0; i++) for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{ {
boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]); boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]); boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
boost::posix_time::ptime ls_time(d3, t3); boost::posix_time::ptime ls_time(d3, t3);
if (utc_time >= ls_time) if (utc_time >= ls_time)
{ {
// We subtract the leap second when going from gpst to utc // We subtract the leap second when going from gpst to utc, values store as negatives
utc_time = utc_time - boost::posix_time::time_duration(0, 0, fabs(GLONASS_LEAP_SECONDS[i][6])); utc_time = utc_time + boost::posix_time::time_duration(0,0,GLONASS_LEAP_SECONDS[i][6]);
break; break;
} }
} }
return utc_time; return utc_time;
} }
double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time) double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
{ {
double tod = 0.0; double tod = 0.0;
double glot2utc = 3 * 3600; double glot2utc = 3*3600;
double obs_time_glot = 0.0; double obs_time_glot = 0.0;
int i = 0; int i = 0;
double leap_second = 0; double leap_second = 0;
// Get observation time in nearly GLONASS time. Correction for leap seconds done at the end // Get observation time in nearly GLONASS time. Correction for leap seconds done at the end
obs_time_glot = gps_obs_time + glot2utc; obs_time_glot = gps_obs_time + glot2utc;
// Get seconds of day in glonass time // Get seconds of day in glonass time
tod = fmod(obs_time_glot, 86400); tod = fmod (obs_time_glot, 86400);
// Form date and time duration types // Form date and time duration types
boost::posix_time::time_duration t1(0, 0, tod); boost::posix_time::time_duration t1(0, 0, tod);
boost::gregorian::date d1(eph.d_yr, 1, 1); boost::gregorian::date d1(eph.d_yr, 1, 1);
boost::gregorian::days d2(eph.d_N_T - 1); boost::gregorian::days d2(eph.d_N_T-1);
boost::posix_time::ptime glo_time(d1 + d2, t1); boost::posix_time::ptime glo_time(d1 + d2, t1);
// Convert to utc // Convert to utc
boost::posix_time::time_duration t2(0, 0, glot2utc); boost::posix_time::time_duration t2(0, 0, glot2utc);
boost::posix_time::ptime utc_time = glo_time - t2; boost::posix_time::ptime utc_time = glo_time - t2;
// Adjust for leap second correction // Adjust for leap second correction
for (i = 0; GLONASS_LEAP_SECONDS[i][0] > 0; i++) for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{ {
boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]); boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]); boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
boost::posix_time::ptime ls_time(d3, t3); boost::posix_time::ptime ls_time(d3, t3);
if (utc_time >= ls_time) if (utc_time >= ls_time)
{ {
// We subtract the leap second when going from gpst to utc // We subtract the leap second when going from gpst to utc
leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]); leap_second = fabs(GLONASS_LEAP_SECONDS[i][6]);
break; break;
} }
} }
return leap_second; return leap_second;
} }