Merge branch 'bds_fix' of https://github.com/dmiralles2009/gnss-sdr into dmiralles2009-bds_fix

conf/gnss-sdr_BDS_B1I_GPS_L1_CA_byte.conf

@@ -1,274 +0,0 @@
-; This is a GNSS-SDR configuration file
-; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
-
-; You can define your own receiver and invoke it by doing
-; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
-;
-
-[GNSS-SDR]
-
-;######### GLOBAL OPTIONS ##################
-;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
-GNSS-SDR.internal_fs_sps=25000000
-Receiver.sources_count=2
-
-;######### CONTROL_THREAD CONFIG ############
-ControlThread.wait_for_flowgraph=false
-
-;######### SIGNAL_SOURCE CONFIG ############
-;# Signal Source config for GPS, Galileo signals
-SignalSource0.implementation=File_Signal_Source
-SignalSource0.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/GPSL1-GalileoE1.dat
-SignalSource0.item_type=byte
-SignalSource0.sampling_frequency=25000000
-SignalSource0.samples=0
-SignalSource0.repeat=false
-SignalSource0.dump=false
-SignalSource0.enable_throttle_control=false
-
-;# Signal Source config for BDS signals
-SignalSource1.implementation=File_Signal_Source
-SignalSource1.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/BdsB1IStr01.dat
-SignalSource1.item_type=byte
-SignalSource1.sampling_frequency=25000000
-SignalSource1.samples=0
-SignalSource1.repeat=false
-SignalSource1.dump=false
-SignalSource1.enable_throttle_control=false
-
-;######### SIGNAL_CONDITIONER CONFIG ############
-;# Signal Conditioner config for GPS, Galileo signals
-SignalConditioner0.implementation=Signal_Conditioner
-DataTypeAdapter0.implementation=Byte_To_Short
-InputFilter0.implementation=Freq_Xlating_Fir_Filter
-InputFilter0.input_item_type=short
-InputFilter0.output_item_type=gr_complex
-InputFilter0.taps_item_type=float
-InputFilter0.number_of_taps=5
-InputFilter0.number_of_bands=2
-InputFilter0.band1_begin=0.0
-InputFilter0.band1_end=0.70
-InputFilter0.band2_begin=0.80
-InputFilter0.band2_end=1.0
-InputFilter0.ampl1_begin=1.0
-InputFilter0.ampl1_end=1.0
-InputFilter0.ampl2_begin=0.0
-InputFilter0.ampl2_end=0.0
-InputFilter0.band1_error=1.0
-InputFilter0.band2_error=1.0
-InputFilter0.filter_type=bandpass
-InputFilter0.grid_density=16
-InputFilter0.sampling_frequency=25000000
-InputFilter0.IF=6250000
-Resampler0.implementation=Pass_Through
-Resampler0.sample_freq_in=25000000
-Resampler0.sample_freq_out=25000000
-Resampler0.item_type=gr_complex
-
-;# Signal Conditioner config for BDS signals
-SignalConditioner1.implementation=Signal_Conditioner
-DataTypeAdapter1.implementation=Byte_To_Short
-InputFilter1.implementation=Freq_Xlating_Fir_Filter
-InputFilter1.input_item_type=short
-InputFilter1.output_item_type=gr_complex
-InputFilter1.taps_item_type=float
-InputFilter1.number_of_taps=5
-InputFilter1.number_of_bands=2
-InputFilter1.band1_begin=0.0
-InputFilter1.band1_end=0.70
-InputFilter1.band2_begin=0.80
-InputFilter1.band2_end=1.0
-InputFilter1.ampl1_begin=1.0
-InputFilter1.ampl1_end=1.0
-InputFilter1.ampl2_begin=0.0
-InputFilter1.ampl2_end=0.0
-InputFilter1.band1_error=1.0
-InputFilter1.band2_error=1.0
-InputFilter1.filter_type=bandpass
-InputFilter1.grid_density=16
-InputFilter1.sampling_frequency=25000000
-InputFilter1.IF=6250000
-Resampler1.implementation=Pass_Through
-Resampler1.sample_freq_in=25000000
-Resampler1.sample_freq_out=25000000
-Resampler1.item_type=gr_complex
-
-;######### CHANNELS GLOBAL CONFIG ############
-Channels_1C.count=7
-Channels_1B.count=7
-Channels_B1.count=10
-Channels.in_acquisition=10
-
-;# Preparing collection for GPS satellites
-Channel0.RF_channel_ID=0
-Channel1.RF_channel_ID=0
-Channel2.RF_channel_ID=0
-Channel3.RF_channel_ID=0
-Channel4.RF_channel_ID=0
-Channel5.RF_channel_ID=0
-Channel6.RF_channel_ID=0
-Channel0.signal=1C
-Channel0.satellite = 2
-Channel1.signal=1C
-Channel1.satellite = 5
-Channel2.signal=1C
-Channel2.satellite = 6
-Channel3.signal=1C
-Channel3.satellite = 7
-Channel4.signal=1C
-Channel4.satellite = 13
-Channel5.signal=1C
-Channel5.satellite = 19
-Channel6.signal=1C
-Channel6.satellite = 29
-
-;# Preparing collection for Galileo satellites
-Channel7.RF_channel_ID=0
-Channel8.RF_channel_ID=0
-Channel9.RF_channel_ID=0
-Channel10.RF_channel_ID=0
-Channel11.RF_channel_ID=0
-Channel12.RF_channel_ID=0
-Channel13.RF_channel_ID=0
-Channel7.signal=1B
-Channel7.satellite = 2
-Channel8.signal=1B
-Channel8.satellite = 5
-Channel9.signal=1B
-Channel9.satellite = 6
-Channel10.signal=1B
-Channel10.satellite = 7
-Channel11.signal=1B
-Channel11.satellite = 13
-Channel12.signal=1B
-Channel12.satellite = 19
-Channel13.signal=1B
-Channel13.satellite = 29
-
-;# Preparing collection for BDS satellites
-Channel14.RF_channel_ID=1
-Channel15.RF_channel_ID=1
-Channel16.RF_channel_ID=1
-Channel17.RF_channel_ID=1
-Channel18.RF_channel_ID=1
-Channel19.RF_channel_ID=1
-Channel20.RF_channel_ID=1
-Channel21.RF_channel_ID=1
-Channel22.RF_channel_ID=1
-Channel23.RF_channel_ID=1
-
-Channel14.signal=B1
-Channel14.satellite = 6
-Channel15.signal=B1
-Channel15.satellite = 8
-Channel16.signal=B1
-Channel16.satellite = 9
-Channel17.signal=B1
-Channel17.satellite = 13
-Channel18.signal=B1
-Channel18.satellite = 17
-Channel19.signal=B1
-Channel19.satellite = 1
-Channel20.signal=B1
-Channel20.satellite = 2
-Channel21.signal=B1
-Channel21.satellite = 3
-Channel22.signal=B1
-Channel22.satellite = 4
-Channel23.signal=B1
-Channel23.satellite = 5
-
-;######### ACQUISITION GLOBAL CONFIG ############
-;# Acquisition config for BDS signals
-Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
-Acquisition_B1.item_type=gr_complex
-Acquisition_B1.coherent_integration_time_ms=1
-Acquisition_B1.threshold=0.0038
-Acquisition_B1.doppler_max=15000
-Acquisition_B1.doppler_step=100
-Acquisition_B1.dump=true
-Acquisition_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_acq
-Acquisition_B1.blocking=false;
-Acquisition_B1.use_CFAR_algorithm=true;
-Acquisition_B1.bit_transition_flag = false;
-
-;# Acquisition config for GPS signals
-Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
-Acquisition_1C.item_type=gr_complex
-Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.threshold=0.0038
-Acquisition_1C.doppler_max=15000
-Acquisition_1C.doppler_step=100
-Acquisition_1C.dump=true
-Acquisition_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_acq
-Acquisition_1C.blocking=false;
-Acquisition_1C.use_CFAR_algorithm=true;
-Acquisition_1C.bit_transition_flag = false;
-
-;# Acquisition config for Galileo signals
-Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
-Acquisition_1B.item_type=gr_complex
-Acquisition_1B.coherent_integration_time_ms=4
-Acquisition_1B.threshold=0.0038
-Acquisition_1B.doppler_max=15000
-Acquisition_1B.doppler_step=100
-Acquisition_1B.dump=true
-Acquisition_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_acq
-Acquisition_1B.blocking=false;
-Acquisition_1B.use_CFAR_algorithm=true;
-Acquisition_1B.bit_transition_flag = false;
-
-;######### TRACKING GLOBAL CONFIG ############
-Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
-Tracking_B1.item_type=gr_complex
-Tracking_B1.pll_bw_hz=25.0;
-Tracking_B1.dll_bw_hz=2.50;
-Tracking_B1.dump=true;
-Tracking_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_trk_ch_
-
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
-Tracking_1C.item_type=gr_complex
-Tracking_1C.pll_bw_hz=25.0;
-Tracking_1C.dll_bw_hz=2.50;
-Tracking_1C.dump=true;
-Tracking_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_trk_ch_
-
-Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
-Tracking_1B.item_type=gr_complex
-Tracking_1B.pll_bw_hz=25.0;
-Tracking_1B.dll_bw_hz=2.50;
-Tracking_1B.dump=true;
-Tracking_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_trk_ch_
-
-;######### TELEMETRY DECODER GPS CONFIG ############
-TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
-TelemetryDecoder_B1.dump=false
-
-TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
-TelemetryDecoder_1C.dump=false
-
-TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
-TelemetryDecoder_1B.dump=false
-
-;######### OBSERVABLES CONFIG ############
-Observables.implementation=Hybrid_Observables
-Observables.dump=true
-Observables.dump_filename=./observables.dat
-
-
-;######### PVT CONFIG ############
-PVT.implementation=RTKLIB_PVT
-PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
-PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
-PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
-PVT.output_rate_ms=100
-PVT.display_rate_ms=500
-PVT.dump=true
-PVT.dump_filename = /home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/pvt_l1
-PVT.kml_output_enabled = false;
-PVT.xml_output_enabled = false;
-PVT.gpx_output_enabled = false;
-PVT.rinex_output_enabled = false;
-PVT.rtcm_output_enabled = false;
-PVT.nmea_output_enabled = false;
-PVT.geojson_output_enabled = false;

conf/gnss-sdr_BDS_B1I_byte.conf

@@ -91,25 +91,25 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
 Tracking_B1.item_type=gr_complex
 Tracking_B1.pll_bw_hz=25.0;
 Tracking_B1.dll_bw_hz=2.50;
-Tracking_B1.dump=true;
+Tracking_B1.dump=false;
 Tracking_B1.dump_filename=./epl_tracking_ch_
 
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
 TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
-TelemetryDecoder_B1.dump=true
+TelemetryDecoder_B1.dump=false
 
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=true
+Observables.dump=false
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
-PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
@@ -121,3 +121,6 @@ PVT.flag_rtcm_server=false
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
 PVT.dump=true
+PVT.rinex_version=3
+PVT.rinex_output_enabled=true
+PVT.gpx_output_enabled=true

conf/gnss-sdr_BDS_B3I_byte.conf

@@ -100,14 +100,14 @@ TelemetryDecoder_B3.dump=false
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=true
+Observables.dump=false
 Observables.dump_filename=./observables.dat
 
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
 PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
-PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
 PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -443,8 +443,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
     int glo_valid_obs = 0;  // GLONASS L1/L2 valid observations counter
 
     std::array<obsd_t, MAXOBS> obs_data{};
-    std::array<eph_t, MAXOBS> eph_data{};
+    std::vector<eph_t> eph_data(MAXOBS);
-    std::array<geph_t, MAXOBS> geph_data{};
+    std::vector<geph_t> geph_data(MAXOBS);
 
     // Workaround for NAV/CNAV clash problem
     bool gps_dual_band = false;
@@ -783,7 +783,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                         obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
                                                             gnss_observables_iter->second,
                                                             beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
-                                                            1);  // Band 3 (L2/G2/B3)
+                                                            2);  // Band 3 (L2/G2/B3)
                                                         found_B1I_obs = true;
                                                         break;
                                                     }
@@ -801,7 +801,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                                 obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
                                                     gnss_observables_iter->second,
                                                     beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
-                                                    1);  // Band 2 (L2/G2)
+                                                    2);  // Band 2 (L2/G2)
                                                 valid_obs++;
                                             }
                                     }
@@ -913,21 +913,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS;
                 }
 
-            for (auto &lambda_ : nav_data.lam)
+            /* update carrier wave length using native function call in RTKlib */
-                {
+            uniqnav(&nav_data);
-                    lambda_[0] = SPEED_OF_LIGHT / FREQ1;  // L1/E1
-                    lambda_[1] = SPEED_OF_LIGHT / FREQ2;  // L2
-                    lambda_[2] = SPEED_OF_LIGHT / FREQ5;  // L5/E5
-
-                    // Keep update on sat number
-                    sat++;
-                    if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
-                        {
-                            lambda_[0] = SPEED_OF_LIGHT / FREQ1_BDS;  // B1I
-                            lambda_[1] = SPEED_OF_LIGHT / FREQ3_BDS;  // B3I
-                            lambda_[2] = SPEED_OF_LIGHT / FREQ5;      // L5/E5
-                        }
-                }
 
             result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
 

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -166,9 +166,8 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
             return 0.0;
         }
 
-
+    /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS/BDS */
-    /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
+    if (sys == SYS_GAL or sys == SYS_SBS or sys == SYS_BDS)
-    if (sys == SYS_GAL or sys == SYS_SBS)
         {
             j = 2;
         }

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc

@@ -271,7 +271,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
             std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
-            std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
+            std::cout << TEXT_YELLOW << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
         }
     if (d_nav.have_new_almanac() == true)
         {

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -667,7 +667,7 @@ void dll_pll_veml_tracking::start_tracking()
                     d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;  //todo: enable after fixing beidou symbol synchronization
                     d_correlation_length_ms = 1;
                     d_code_samples_per_chip = 1;
-                    d_secondary = false;
+                    d_secondary = true;
                     trk_parameters.track_pilot = false;
                     // synchronize and remove data secondary code
                     d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
@@ -687,7 +687,7 @@ void dll_pll_veml_tracking::start_tracking()
                     d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT;  //todo: enable after fixing beidou symbol synchronization
                     d_correlation_length_ms = 1;
                     d_code_samples_per_chip = 1;
-                    d_secondary = true;
+                    d_secondary = false;
                     trk_parameters.track_pilot = false;
                     // set the preamble in the secondary code acquisition
                     d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS);