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Fixes ineficiencies in the code, remove unused variables

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This commit is contained in:
Damian Miralles 2017-08-30 16:17:21 -06:00
parent 6331ebd8b5
commit 0caa7fff15
9 changed files with 82 additions and 69 deletions
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14
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -25,7 +25,7 @@ Resampler.sample_freq_out=6625000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1G.count=2
Channels_1G.count=5
Channels.in_acquisition=1
Channel0.signal=1G
Channel1.signal=1G
@ -33,10 +33,10 @@ Channel2.signal=1G
Channel3.signal=1G
Channel4.signal=1G
Channel0.satellite=2
Channel1.satellite=21
Channel2.satellite=12
Channel3.satellite=23
;Channel0.satellite=2
;Channel1.satellite=21
;Channel2.satellite=12
;Channel3.satellite=23
; Possible list includes 2, 12, 21, 22
;######### ACQUISITION GLOBAL CONFIG ############
@ -48,7 +48,7 @@ Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=../data/glo_acquisition.dat
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
@ -58,7 +58,7 @@ Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=20.0;
Tracking_1G.dll_bw_hz=4.0;
Tracking_1G.dump=true;
Tracking_1G.dump_filename=../data/glo_tracking_ch_
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder

15
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -72,7 +72,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
struct tm utcinfo;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_t_b; /* IODE (0-6 bit of tb field) */
rtklib_sat.iode = glonass_gnav_eph.d_iode; /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/
@ -90,25 +90,24 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.age = glonass_gnav_eph.d_Delta_tau_n; /* delay between L1 and L2 (s) */
/* TODO: adjustment for week handover */
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 0;
utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h)
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_b;
t_utc.time = mktime(&utcinfo);
t_utc.sec = 0.0;
t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.toe = utc2gpst(t_utc); /* epoch of epherides (gpst) */
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 0;
utcinfo.tm_hour = 6;
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_k;
t_utc.time = mktime(&utcinfo);
t_utc.sec = 0.0;
t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */

4
src/core/system_parameters/glonass_gnav_almanac.cc
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@ -52,8 +52,8 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
d_M_n_A = 0.0;
d_KP = 0.0;
d_tau_n_A = 0.0;
d_C_n = 0.0;
d_l_n = 0.0;
d_C_n = false;
d_l_n = false;
}
void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)

4
src/core/system_parameters/glonass_gnav_almanac.h
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@ -59,8 +59,8 @@ public:
double d_M_n_A; //!< Type of satellite n_A [dimensionless]
double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless]
double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s]
double d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
double d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
bool d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
bool d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Satellite Identification Information
int i_satellite_freq_channel; //!< SV Frequency Channel Number

14
src/core/system_parameters/glonass_gnav_ephemeris.cc
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@ -62,18 +62,16 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
d_Delta_tau_n = 0.0; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
d_E_n = 0.0; //!< Characterises "age" of a current information [days]
d_P_1 = 0.0; //!< Flag of the immediate data updating [minutes]
d_P_2 = 0.0; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
d_P_3 = 0.0; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
d_P_4 = 0.0; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
d_l3rd_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l5th_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_P_2 = false; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
d_P_3 = false; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
d_P_4 = false; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
d_l3rd_n = false; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l5th_n = false; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Satellite Identification Information
i_satellite_freq_channel = 0; //!< SV Frequency Channel Number
i_satellite_PRN = 0; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
i_satellite_slot_number = 0; //!< SV Slot Number
d_TOD = 0.0; //!< Time of Day of the ephemeris set based in start of frame [s]
d_D4Y = 0.0; //!< Day of Year after latest leap year (4 year interval)
d_yr = 1972; //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
d_satClkDrift = 0.0; //!< GLONASS clock error
d_dtr = 0.0; //!< relativistic clock correction term
@ -86,7 +84,7 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
{
boost::posix_time::time_duration t(0, 0, offset_time);
boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c);
boost::gregorian::date d1(d_yr, 1, 1);
boost::gregorian::days d2(d_N_T);
boost::posix_time::ptime glonass_time(d1+d2, t);

14
src/core/system_parameters/glonass_gnav_ephemeris.h
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@ -64,7 +64,7 @@ public:
double d_m; //!< String number within frame [dimensionless]
double d_t_k; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
double d_t_b; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
double d_M; //!< Type of satellite transmitting navigation signal [dimensionless]
double d_M; //!< Type of satellite transmitting navigation signal [dimensionless]
double d_gamma_n; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
double d_tau_n; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
double d_Xn; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@ -84,19 +84,17 @@ public:
double d_Delta_tau_n; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
double d_E_n; //!< Characterises "age" of a current information [days]
double d_P_1; //!< Flag of the immediate data updating [minutes]
double d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
double d_P_3; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
double d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
double d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
double d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
bool d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
bool d_P_3; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
bool d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
bool d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
bool d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Inmediate deliverables of ephemeris information
// Satellite Identification Information
int i_satellite_freq_channel; //!< SV Frequency Channel Number
unsigned int i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
unsigned int i_satellite_slot_number; //!< SV Slot Number
double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s]
double d_D4Y; //!< Day of Year after latest leap year (4 year interval)
double d_yr; //!< Current year
double d_satClkDrift; //!< GLONASS clock error
double d_dtr; //!< relativistic clock correction term

63
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -74,12 +74,12 @@ void Glonass_Gnav_Navigation_Message::reset()
//broadcast orbit 1
flag_TOW_set = false;
d_TOW = false; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
d_TOW_F1 = false; //!< Time of GPS Week from HOW word of Subframe 1 [s]
d_TOW_F2 = false; //!< Time of GPS Week from HOW word of Subframe 2 [s]
d_TOW_F3 = false; //!< Time of GPS Week from HOW word of Subframe 3 [s]
d_TOW_F4 = false; //!< Time of GPS Week from HOW word of Subframe 4 [s]
d_TOW_F5 = false; //!< Time of GPS Week from HOW word of Subframe 5 [s]
d_TOW = 0.0; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
d_TOW_F1 = 0.0; //!< Time of GPS Week from HOW word of Subframe 1 [s]
d_TOW_F2 = 0.0; //!< Time of GPS Week from HOW word of Subframe 2 [s]
d_TOW_F3 = 0.0; //!< Time of GPS Week from HOW word of Subframe 3 [s]
d_TOW_F4 = 0.0; //!< Time of GPS Week from HOW word of Subframe 4 [s]
d_TOW_F5 = 0.0; //!< Time of GPS Week from HOW word of Subframe 5 [s]
// Clock terms
d_satClkCorr = 0.0;
@ -310,6 +310,23 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
return frame_ID;
}
double Glonass_Gnav_Navigation_Message::get_TOW()
{
double TOW = 0.0;
double utcsu2utc = 3*3600;
double glot2utcsu = 3*3600;
int i = 0;
TOW = gnav_ephemeris.d_t_k + glot2utcsu + utcsu2utc + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
for (i = 0; leaps[i][0]>0; i++)
{
if (leaps[i][0] == gnav_ephemeris.d_yr)
{
TOW -= leaps[i][6];
}
return TOW;
}
int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
{
@ -337,6 +354,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
flag_ephemeris_str_1 = true;
d_TOW = get_TOW();
flag_TOW_set = true;
break;
@ -345,7 +364,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
if (flag_ephemeris_str_1 == true)
{
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
@ -359,10 +378,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 3:
// --- It is string 3 ----------------------------------------------
gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
gnav_ephemeris.d_P_3 = static_cast<bool>(read_navigation_bool(string_bits, P3));
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
gnav_ephemeris.d_l3rd_n = static_cast<bool>(read_navigation_bool(string_bits, EPH_L_N));
gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
@ -376,7 +395,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
gnav_ephemeris.d_P_4 = static_cast<bool>(read_navigation_bool(string_bits, P4));
gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
gnav_ephemeris.d_N_T = static_cast<double>(read_navigation_unsigned(string_bits, N_T));
gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
@ -385,7 +404,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// Fill in ephemeris deliverables in the code
gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T;
flag_ephemeris_str_4 = true;
@ -397,7 +415,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
gnav_ephemeris.d_l5th_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_ephemeris.d_l5th_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
flag_utc_model_str_5 = true;
// Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
@ -422,6 +440,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
}
// 2). Current year in common form is calculated by the following formula:
gnav_ephemeris.d_yr = 1996 + 4.0*(gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
}
break;
@ -430,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@ -451,7 +470,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@ -475,7 +494,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@ -496,7 +515,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@ -514,7 +533,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@ -535,7 +554,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@ -553,7 +572,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@ -574,7 +593,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
@ -599,7 +618,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
@ -622,7 +641,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)

7
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -97,8 +97,6 @@ public:
bool flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data
bool flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data
//broadcast orbit 1
//TODO Need to send the information regarding the frame number
bool flag_TOW_set;
double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
double d_TOW_F1; //!< Time of GPS Week from HOW word of Subframe 1 [s]
@ -156,6 +154,11 @@ public:
*/
int string_decoder(std::string frame_string);
/*
* \brief Gets the time of week in GPS Time
*/
double get_TOW();
/*!
* \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
*/

16
src/core/system_parameters/rtcm.cc
View File

@ -3957,10 +3957,10 @@ int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
return 0;
}
//TODO Need to fix the lambda value since it needs to include frequency channel
int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
{
const double lambda = GLONASS_C_m_s / GLONASS_L1_CA_FREQ_HZ;
const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
@ -4349,8 +4349,7 @@ int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
// TODO Need to fix this here, bit position has a given order
unsigned int hrs = 0;
unsigned int hrs = 0;
unsigned int min = 0;
unsigned int sec = 0;
unsigned int tk = 0;
@ -5271,8 +5270,7 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
}
if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
{
// TODO Need to add slot number and freq number to gnss_syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN))));
}
if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
{
@ -5381,8 +5379,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{
@ -5470,8 +5467,7 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ);
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{