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Modify CNAV message structure header

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This commit is contained in:
Antonio Ramos 2017-11-30 16:04:20 +01:00
parent e9e8de7d40
commit 11486670ec
3 changed files with 55 additions and 5 deletions
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52
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -258,7 +258,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
@ -271,6 +274,53 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
//GPS L5
if(sig_.compare("5X") == 0)
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
{
// 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.cend())
{
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L5 ephemeris
// (more precise!), and attach the L5 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5)
break;
}
}
}
else
{
// 3. If not found, insert the GPS L5 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
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break; break;
} }
default : default :

4
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc
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@ -154,13 +154,13 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
//* delay by the formulae: //* delay by the formulae:
//* \code //* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 //* symbolTime_ms = msg->tow * 6000 + *pdelay * 20
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L5_PERIOD + 6 * GPS_L5_PERIOD; d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L5i_PERIOD + 6 * GPS_L5i_PERIOD;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0; d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
d_flag_valid_word = true; d_flag_valid_word = true;
} }
else else
{ {
d_TOW_at_current_symbol += GPS_L5_PERIOD; d_TOW_at_current_symbol += GPS_L5i_PERIOD;
if (current_synchro_data.Flag_valid_symbol_output == false) if (current_synchro_data.Flag_valid_symbol_output == false)
{ {
d_flag_valid_word = false; d_flag_valid_word = false;

4
src/core/system_parameters/GPS_L5.h
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@ -37,7 +37,7 @@
#include <utility> // std::pair #include <utility> // std::pair
#include "MATH_CONSTANTS.h" #include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h" #include "gnss_frequencies.h"
#include "GPS_L2C.h" #include "GPS_L2C.h" // CNAV GPS NAVIGATION MESSAGE STRUCTURE
// Physical constants // Physical constants
const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s] const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s]
@ -178,7 +178,7 @@ const int32_t GPS_L5q_INIT_REG[210] =
const int GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits] const int GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits]
const int GPS_L5_SYMBOLS_PER_BIT = 2; const int GPS_L5_SYMBOLS_PER_BIT = 2;
const int GPS_L5_SAMPLES_PER_SYMBOL = 1; const int GPS_L5_SAMPLES_PER_SYMBOL = 10;
const int GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600; const int GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
const int GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6; const int GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;