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Adding double frequency GPS L1 and L2 observables and ephemeris to rtklib solver

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This commit is contained in:
Javier Arribas
2017-04-23 12:53:05 +02:00
parent ed74fa2cff
commit 0fba8e7c20
3 changed files with 49 additions and 17 deletions
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48
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -149,7 +149,11 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5);
obsd_t newobs={};
obs_data[valid_obs]=insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
0);
valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -170,7 +174,11 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, gps_ephemeris_iter->second.i_GPS_week);
obsd_t newobs={};
obs_data[valid_obs]=insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week,
0);
valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -183,11 +191,37 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week);
valid_obs++;
// 1. Find the same satellite in GPS L1 band
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i=0;i<valid_obs;i++)
{
if (eph_data[i].sat==gnss_observables_iter->second.PRN)
{
eph_data[i]=eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[valid_obs]=insert_obs_to_rtklib(obs_data[valid_obs],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2)
std::cout<<"L2 observation attached!"<<std::endl;
break;
}
}
}else{
// 3. If not found, insert the GPS L2 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs={};
obs_data[valid_obs]=insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{

16
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -52,20 +52,18 @@
#include "rtklib_conversions.h"
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week)
obsd_t insert_obs_to_rtklib(obsd_t rtklib_obs, Gnss_Synchro gnss_synchro, int week, int band)
{
obsd_t rtklib_obs = {};
rtklib_obs.D[0] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[0] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[0] = gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR = gnss_synchro.CN0_dB_hz;
rtklib_obs.sat = gnss_synchro.PRN;
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.D[band]=gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band]=gnss_synchro.Pseudorange_m;
rtklib_obs.L[band]=gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR=gnss_synchro.CN0_dB_hz;
rtklib_obs.sat=gnss_synchro.PRN;
rtklib_obs.time=gpst2time(adjgpsweek(week),gnss_synchro.RX_time);
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs;
}
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
{
eph_t rtklib_sat = {};

2
src/algorithms/libs/rtklib/rtklib_conversions.h
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@@ -62,6 +62,6 @@ eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph);
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph);
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph);
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week);
obsd_t insert_obs_to_rtklib(obsd_t rtklib_obs, Gnss_Synchro gnss_synchro, int week, int band);
#endif /* GNSS_SDR_RTKLIB_CONVERSIONS_H_ */