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https://github.com/gnss-sdr/gnss-sdr
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Including SBAS output in rinex printer
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@438 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
1a623a155f
commit
0c758aa5a3
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@ -42,6 +42,8 @@
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#include "boost/date_time/posix_time/posix_time.hpp"
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#include "gnss_synchro.h"
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#include "concurrent_map.h"
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#include "sbas_telemetry_data.h"
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#include "sbas_ionospheric_correction.h"
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using google::LogMessage;
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@ -49,6 +51,11 @@ extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
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extern concurrent_map<Gps_Iono> global_gps_iono_map;
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extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
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extern concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
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extern concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
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extern concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
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extern concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
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gps_l1_ca_pvt_cc_sptr
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gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
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{
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@ -99,6 +106,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
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d_rx_time = 0.0;
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b_rinex_header_writen = false;
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b_rinex_sbs_header_writen = false;
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rp = new Rinex_Printer();
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// ############# ENABLE DATA FILE LOG #################
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@ -173,6 +181,52 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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global_gps_iono_map.read(0,d_ls_pvt->gps_iono);
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}
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// update SBAS data collections
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if (global_sbas_iono_map.size() > 0)
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{
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// SBAS ionosperic correction is shared for all the GPS satellites. Read always at ID=0
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global_sbas_iono_map.read(0, d_ls_pvt->sbas_iono);
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}
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d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
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d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
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// read SBAS raw messages directly from queue and write them into rinex file
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Sbas_Raw_Msg sbas_raw_msg;
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while (global_sbas_raw_msg_queue.try_pop(sbas_raw_msg))
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{
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// create the header of not yet done
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if(!b_rinex_sbs_header_writen)
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{
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rp->rinex_sbs_header(rp->sbsFile);
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b_rinex_sbs_header_writen = true;
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}
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// Define the RX time of the SBAS message by using the GPS time.
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// It has only an effect if there has not been yet a SBAS MT12 available
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// when the message was received.
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if(sbas_raw_msg.get_rx_time_obj().is_related() == false
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&& gnss_pseudoranges_map.size() > 0
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&& d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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// doesn't matter which channel/satellite we choose
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Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second;
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Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
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double relative_rx_time = gs.Tracking_timestamp_secs;
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int gps_week = eph.i_GPS_week;
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double gps_sec = gs.d_TOW_at_current_symbol;
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Sbas_Time_Relation time_rel(relative_rx_time,gps_week,gps_sec);
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sbas_raw_msg.relate(time_rel);
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}
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// send the message to the rinex logger if it has a valid GPS time stamp
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if(sbas_raw_msg.get_rx_time_obj().is_related())
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{
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rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
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}
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}
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// ############ 2 COMPUTE THE PVT ################################
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if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() >0)
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{
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@ -65,6 +65,7 @@ private:
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boost::shared_ptr<gr::msg_queue> d_queue;
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bool d_dump;
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bool b_rinex_header_writen;
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bool b_rinex_sbs_header_writen;
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Rinex_Printer *rp;
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unsigned int d_nchannels;
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std::string d_dump_filename;
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@ -38,7 +38,6 @@
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#include <stdio.h>
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#include <sys/time.h>
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#include <time.h>
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//#include <math.h>
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#include <cmath>
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#include <map>
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#include <algorithm>
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@ -51,6 +50,11 @@
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#include "gps_ephemeris.h"
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#include "gps_utc_model.h"
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#include "sbas_telemetry_data.h"
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#include "sbas_ionospheric_correction.h"
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#include "sbas_satellite_correction.h"
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#include "sbas_ephemeris.h"
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#define PVT_MAX_CHANNELS 24
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/*!
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@ -80,6 +84,10 @@ public:
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Gps_Utc_Model gps_utc_model;
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// new iono storage
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Gps_Iono gps_iono;
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// new SBAS storage
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Sbas_Ionosphere_Correction sbas_iono;
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std::map<int,Sbas_Satellite_Correction> sbas_sat_corr_map;
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std::map<int,Sbas_Ephemeris> sbas_ephemeris_map;
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double d_GPS_current_time;
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boost::posix_time::ptime d_position_UTC_time;
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@ -34,6 +34,7 @@
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#include "gps_iono.h"
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#include "gps_utc_model.h"
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#include "GPS_L1_CA.h"
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#include "sbas_telemetry_data.h"
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#include <ostream>
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#include <fstream>
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#include <stdlib.h> // for getenv()
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@ -60,9 +61,11 @@ Rinex_Printer::Rinex_Printer()
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{
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navfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_GPS_NAV");
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obsfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_OBS");
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sbsfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_SBAS");
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Rinex_Printer::navFile.open(navfilename, std::ios::out | std::ios::app);
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Rinex_Printer::obsFile.open(obsfilename, std::ios::out | std::ios::app);
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Rinex_Printer::sbsFile.open(sbsfilename, std::ios::out | std::ios::app);
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// RINEX v3.00 codes
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satelliteSystem["GPS"] = "G";
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@ -140,8 +143,6 @@ Rinex_Printer::Rinex_Printer()
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observationType["SIGNAL_STRENGTH_v2"] = "S";
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observationCode["GPS_L1_CA_v2"] = "1";
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if ( FLAGS_RINEX_version.compare("3.01") == 0 )
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{
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version = 3;
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@ -162,7 +163,7 @@ Rinex_Printer::Rinex_Printer()
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LOG_AT_LEVEL(ERROR) << "Unknown RINEX version " << FLAGS_RINEX_version << " (must be 2.11 or 3.01)" << std::endl;
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}
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numberTypesObservations=2; // Number of available types of observable in the system
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numberTypesObservations = 2; // Number of available types of observable in the system
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}
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@ -170,11 +171,13 @@ Rinex_Printer::Rinex_Printer()
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Rinex_Printer::~Rinex_Printer()
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{
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// close RINEX files
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long posn, poso;
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long posn, poso, poss;
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posn = navFile.tellp();
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poso = obsFile.tellp();
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poss = obsFile.tellp();
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Rinex_Printer::navFile.close();
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Rinex_Printer::obsFile.close();
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Rinex_Printer::sbsFile.close();
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// If nothing written, erase the files.
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if (posn == 0)
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{
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@ -184,6 +187,10 @@ Rinex_Printer::~Rinex_Printer()
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{
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remove(obsfilename.c_str());
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}
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if (poss == 0)
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{
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remove(sbsfilename.c_str());
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}
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}
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@ -522,6 +529,94 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_
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void Rinex_Printer::rinex_sbs_header(std::ofstream& out)
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{
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std::string line;
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// -------- Line 1
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line.clear();
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line = std::string(5, ' ');
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line += std::string("2.10");
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line += std::string(11, ' ');
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line += Rinex_Printer::leftJustify("B SBAS DATA",20);
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line += std::string(20, ' ');
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line += std::string("RINEX VERSION / TYPE");
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line 2
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line.clear();
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line += Rinex_Printer::leftJustify("GNSS-SDR", 20);
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line += Rinex_Printer::leftJustify("CTTC", 20);
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// Date of file creation (dd-mmm-yy hhmm)
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boost::local_time::time_zone_ptr zone(new boost::local_time::posix_time_zone("UTC"));
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boost::local_time::local_date_time pt = boost::local_time::local_sec_clock::local_time(zone);
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tm pt_tm = boost::local_time::to_tm(pt);
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std::stringstream strYear;
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int utc_year = pt.date().year();
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utc_year -= 2000; // two digits for year
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strYear << utc_year;
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std::stringstream strMonth;
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int utc_month = pt.date().month().as_number();
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if (utc_month < 10) strMonth << "0"; // two digits for months
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strMonth << utc_month;
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std::stringstream strmDay;
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int utc_day = pt.date().day().as_number();
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if (utc_day < 10) strmDay << "0"; // two digits for days
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strmDay << utc_day;
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std::stringstream strmHour;
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int utc_hour = pt_tm.tm_hour;
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if (utc_hour < 10) strmHour << "0"; // two digits for hours
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strmHour << utc_hour;
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std::stringstream strmMin;
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int utc_minute = pt_tm.tm_min;
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if (utc_minute < 10) strmMin << "0"; // two digits for minutes
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strmMin << utc_minute;
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std::string time_str;
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time_str += strmDay.str();
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time_str += "-";
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time_str += strMonth.str();
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time_str += "-";
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time_str += strYear.str();
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time_str += " ";
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time_str += strmHour.str();
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time_str += strmMin.str();
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line += Rinex_Printer::leftJustify(time_str, 20);
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line += Rinex_Printer::leftJustify("PGM / RUN BY / DATE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line 3
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line.clear();
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line += std::string(60, ' ');
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line += Rinex_Printer::leftJustify("REC INDEX/TYPE/VERS", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line COMMENT 1
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line.clear();
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line += Rinex_Printer::leftJustify("BROADCAST DATA FILE FOR GEO SV, GENERATED BY GNSS-SDR", 60);
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line += Rinex_Printer::leftJustify("COMMENT", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line COMMENT 2
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line.clear();
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line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
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line += Rinex_Printer::leftJustify("COMMENT", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- End of Header
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line.clear();
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line += std::string(60, ' ');
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line += Rinex_Printer::leftJustify("END OF HEADER", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris> eph_map)
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@ -601,8 +696,6 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
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out << line << std::endl;
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// -------- BROADCAST ORBIT - 1
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line.clear();
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@ -1252,6 +1345,163 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
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// represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
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// -> Leap years are considered, but leap seconds not.
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void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second)
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{
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//std::cout << "to_date_time(): gps_week=" << gps_week << " gps_tow=" << gps_tow << std::endl;
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int days_per_month[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
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// seconds in a not leap year
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const int secs_per_day = 24*60*60;
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const int secs_per_week = 7*secs_per_day;
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const int secs_per_normal_year = 365*secs_per_day;
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const int secs_per_leap_year = secs_per_normal_year + secs_per_day;
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// the GPS epoch is 06.01.1980 00:00, i.e. midnight 5. / 6. January 1980
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// -> seconds since then
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int secs_since_gps_epoch = gps_week*secs_per_week + gps_tow;
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// find year, consider leap years
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bool is_leap_year;
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int remaining_secs = secs_since_gps_epoch + 5*secs_per_day;
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for (int y = 1980; true ; y++)
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{
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is_leap_year = y%4 == 0 && (y%100 != 0 || y%400 == 0);
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int secs_in_year_y = is_leap_year ? secs_per_leap_year : secs_per_normal_year;
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if (secs_in_year_y <= remaining_secs)
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{
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remaining_secs -= secs_in_year_y;
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}
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else
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{
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year = y;
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//std::cout << "year: year=" << year << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
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break;
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}
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//std::cout << "year: y=" << y << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
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}
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// find month
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for (int m = 1; true ; m++)
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{
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int secs_in_month_m = days_per_month[m-1]*secs_per_day;
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if (is_leap_year && m == 2 ) // consider February of leap year
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{
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secs_in_month_m += secs_per_day;
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}
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if (secs_in_month_m <= remaining_secs)
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{
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remaining_secs -= secs_in_month_m;
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}
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else
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{
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month = m;
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//std::cout << "month: month=" << month << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
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break;
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}
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//std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
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}
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day = remaining_secs/secs_per_day+1;
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remaining_secs = remaining_secs%secs_per_day;
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hour = remaining_secs/(60*60);
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remaining_secs = remaining_secs%(60*60);
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minute = remaining_secs/60;
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second = remaining_secs%60;
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}
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void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
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{
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// line 1: PRN / EPOCH / RCVR
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std::stringstream line1;
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// SBAS PRN
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line1 << sbs_message.get_prn();
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line1 << " ";
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// gps time of reception
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int gps_week;
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double gps_sec;
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if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
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{
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int year;
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int month;
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int day;
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int hour;
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int minute;
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int second;
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double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
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int gps_tow = trunc(gps_sec_one_digit_precicion);
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double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
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to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
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line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
|
||||
}
|
||||
else
|
||||
{
|
||||
line1 << std::string(19, ' ');
|
||||
}
|
||||
line1 << " ";
|
||||
|
||||
// band
|
||||
line1 << "L1";
|
||||
line1 << " ";
|
||||
|
||||
// Length of data message (bytes)
|
||||
line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
|
||||
line1 << " ";
|
||||
// File-internal receiver index
|
||||
line1 << " 0";
|
||||
line1 << " ";
|
||||
// Transmission System Identifier
|
||||
line1 << "SBA";
|
||||
line1 << std::string(35, ' ');
|
||||
lengthCheck(line1.str());
|
||||
out << line1.str() << std::endl;
|
||||
|
||||
// DATA RECORD - 1
|
||||
std::stringstream line2;
|
||||
line2 << " ";
|
||||
// Message frame identifier
|
||||
if (sbs_message.get_msg_type() < 10) line2 << " ";
|
||||
line2 << sbs_message.get_msg_type();
|
||||
line2 << std::string(4, ' ');
|
||||
// First 18 bytes of message (hex)
|
||||
std::vector<unsigned char> msg = sbs_message.get_msg();
|
||||
for (size_t i = 0; i < 18 && i < msg.size(); ++i)
|
||||
{
|
||||
line2 << std::hex << std::setfill('0') << std::setw(2);
|
||||
line2 << int(msg[i]) << " ";
|
||||
}
|
||||
line2 << std::string(19, ' ');
|
||||
lengthCheck(line2.str());
|
||||
out << line2.str() << std::endl;
|
||||
|
||||
// DATA RECORD - 2
|
||||
std::stringstream line3;
|
||||
line3 << std::string(7, ' ');
|
||||
// Remaining bytes of message (hex)
|
||||
for (size_t i = 18; i < 36 && i < msg.size(); ++i)
|
||||
{
|
||||
line3 << std::hex << std::setfill('0') << std::setw(2);
|
||||
line3 << int(msg[i]) << " ";
|
||||
}
|
||||
line3 << std::string(31, ' ');
|
||||
lengthCheck(line3.str());
|
||||
out << line3.str() << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
int Rinex_Printer::signalStrength(double snr)
|
||||
{
|
||||
|
|
@ -1303,3 +1553,6 @@ enum RINEX_enumMarkerType {
|
|||
|
||||
*/
|
||||
|
||||
inline std::string Rinex_Printer::asString(const long double x,
|
||||
const std::string::size_type precision) {
|
||||
}
|
||||
|
|
|
|||
|
|
@ -61,6 +61,8 @@
|
|||
#include "GPS_L1_CA.h"
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
class Sbas_Raw_Msg;
|
||||
|
||||
/*!
|
||||
* \brief Class that handles the generation of Receiver
|
||||
* INdependent EXchange format (RINEX) files
|
||||
|
|
@ -80,6 +82,7 @@ public:
|
|||
|
||||
std::ofstream obsFile ; //<! Output file stream for RINEX observation file
|
||||
std::ofstream navFile ; //<! Output file stream for RINEX navigation data file
|
||||
std::ofstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file
|
||||
|
||||
/*!
|
||||
* \brief Generates the Navigation Data header
|
||||
|
|
@ -91,6 +94,11 @@ public:
|
|||
*/
|
||||
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation);
|
||||
|
||||
/*!
|
||||
* \brief Generates the SBAS raw data header
|
||||
*/
|
||||
void rinex_sbs_header(std::ofstream& out);
|
||||
|
||||
/*!
|
||||
* \brief Computes the UTC time and returns a boost::posix_time::ptime object
|
||||
*/
|
||||
|
|
@ -111,6 +119,17 @@ public:
|
|||
* \brief Writes observables into the RINEX file
|
||||
*/
|
||||
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges);
|
||||
|
||||
/*!
|
||||
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
|
||||
*/
|
||||
void to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second);
|
||||
|
||||
/*!
|
||||
* \brief Writes raw SBAS messages into the RINEX file
|
||||
*/
|
||||
void log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message);
|
||||
|
||||
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
|
||||
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
|
||||
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
|
||||
|
|
@ -144,6 +163,7 @@ private:
|
|||
|
||||
std::string navfilename;
|
||||
std::string obsfilename;
|
||||
std::string sbsfilename;
|
||||
|
||||
/*
|
||||
* Generates the data for the PGM / RUN BY / DATE line
|
||||
|
|
@ -320,6 +340,7 @@ private:
|
|||
*/
|
||||
template <class X>
|
||||
inline std::string asString(const X x);
|
||||
inline std::string asFixWidthString(const int x, const int width, char fill_digit);
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -521,6 +542,15 @@ inline std::string Rinex_Printer::asString(const double x, const std::string::si
|
|||
}
|
||||
|
||||
|
||||
inline std::string Rinex_Printer::asFixWidthString(const int x, const int width, char fill_digit)
|
||||
{
|
||||
std::ostringstream ss;
|
||||
ss << std::setfill(fill_digit) << std::setw(width) << x;
|
||||
//std::cout << "asFixWidthString(): x=" << x << " width=" << width << " fill_digit=" << fill_digit << " ss=" << ss.str() << std::endl;
|
||||
return ss.str().substr(ss.str().size() - width);
|
||||
}
|
||||
|
||||
|
||||
template<class X>
|
||||
inline std::string Rinex_Printer::asString(const X x)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user