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[TAS-145][Feat][PVT] Implement PVT logic for osnma data

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* Created a map with PRN-> set<IOD_nav>
* osnma transmits every 30 s the list of authenticated PRNs along with the IOD authenticated
* PVT takes this into account to consider the observable valid (only strict mode)
* ""successfully"" tested. Osnma first tag authenticated: 1:36, TTFAF 2:06
=> most of the time the PVT has authenticated solution, except two 30s gaps in which there is no PVT computed. (3-4' firs gap and second from 13:30-14:06)
* TODOs: find out reason and improve size management of the maps.
This commit is contained in:
cesaaargm 2024-08-15 13:10:04 +02:00
parent 2e867f2dac
commit 092a78f580
2 changed files with 13 additions and 7 deletions
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18
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1658,13 +1658,10 @@ void rtklib_pvt_gs::msg_handler_osnma(const pmt::pmt_t& msg)
// so with ADKD0 and ADKD12 validated), their corresponding TOW at the beginning
// of the authenticated subframe, and maybe the COP.
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == typeid(std::shared_ptr<OSNMA_data>).hash_code())
if (msg_type_hash_code == typeid(std::shared_ptr<OSNMA_NavData>).hash_code())
{
// Act according to NMA data
if (d_osnma_strict)
{
// TODO
}
const auto osnma_data = wht::any_cast<std::shared_ptr<OSNMA_NavData>>(pmt::any_ref(msg));
d_auth_nav_data_map[osnma_data->get_prn_d()].insert(osnma_data->get_IOD_nav());
}
}
catch (const wht::bad_any_cast& e)
@ -2051,7 +2048,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_osnma_strict && ((std::string(in[i][epoch].Signal, 2) == std::string("1B")) || ((std::string(in[i][epoch].Signal, 2) == std::string("7X")))))
{
// Pick up only authenticated satellites
// TODO
auto IOD_nav_list = d_auth_nav_data_map.find(tmp_eph_iter_gal->second.PRN);
if (IOD_nav_list != d_auth_nav_data_map.cend())
{
if (IOD_nav_list->second.find(tmp_eph_iter_gal->second.IOD_nav) != IOD_nav_list->second.cend())
{
store_valid_observable = true;
}
}
}
else
{

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -20,6 +20,7 @@
#include "gnss_block_interface.h"
#include "gnss_synchro.h"
#include "gnss_time.h"
#include "osnma_data.h"
#include "rtklib.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
@ -203,6 +204,7 @@ private:
std::map<int, Gnss_Synchro> d_gnss_observables_map;
std::map<int, Gnss_Synchro> d_gnss_observables_map_t0;
std::map<int, Gnss_Synchro> d_gnss_observables_map_t1;
std::map<uint32_t, std::set<uint32_t>> d_auth_nav_data_map;
std::queue<GnssTime> d_TimeChannelTagTimestamps;