mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-21 12:33:15 +00:00
document PVT params; enable RTKLIB trace level to be set
This commit is contained in:
Jim Melton
parent
e0604bdf22
commit
11f53a3fcb
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@ -16,17 +16,18 @@
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#include "rtklib_pvt.h"
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#include "MATH_CONSTANTS.h" // for D2R
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#include "configuration_interface.h" // for ConfigurationInterface
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#include "galileo_almanac.h" // for Galileo_Almanac
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#include "galileo_ephemeris.h" // for Galileo_Ephemeris
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#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
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#include "gps_almanac.h" // for Gps_Almanac
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#include "gps_ephemeris.h" // for Gps_Ephemeris
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#include "pvt_conf.h" // for Pvt_Conf
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#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
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#include <glog/logging.h> // for LOG
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#include <iostream> // for operator<<
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#include "MATH_CONSTANTS.h" // for D2R
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#include "configuration_interface.h" // for ConfigurationInterface
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#include "galileo_almanac.h" // for Galileo_Almanac
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#include "galileo_ephemeris.h" // for Galileo_Ephemeris
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#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
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#include "gnss_sdr_string_literals.h" // for std::string_literals
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#include "gps_almanac.h" // for Gps_Almanac
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#include "gps_ephemeris.h" // for Gps_Ephemeris
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#include "pvt_conf.h" // for Pvt_Conf
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#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
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#include <glog/logging.h> // for LOG
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#include <iostream> // for std::cout
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#if USE_OLD_BOOST_MATH_COMMON_FACTOR
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#include <boost/math/common_factor_rt.hpp>
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namespace bc = boost::math;
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@ -35,6 +36,7 @@ namespace bc = boost::math;
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namespace bc = boost::integer;
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#endif
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using namespace std::string_literals;
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Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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const std::string& role,
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@ -54,6 +56,8 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
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pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
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pvt_output_parameters.rtk_trace_level = configuration->property(role + ".rtk_trace_level"s, 0);
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// Flag to postprocess old gnss records (older than 2009) and avoid wrong week rollover
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pvt_output_parameters.pre_2009_file = configuration->property("GNSS-SDR.pre_2009_file", false);
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@ -442,10 +446,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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if (positioning_mode == -1)
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{
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// warn user and set the default
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std::cout << "WARNING: Bad specification of positioning mode.\n";
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std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n";
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std::cout << "positioning_mode specified value: " << positioning_mode_str << '\n';
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std::cout << "Setting positioning_mode to Single\n";
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std::cout << "WARNING: Bad specification of positioning mode.\n"
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<< "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n"
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<< "positioning_mode specified value: " << positioning_mode_str << "\n"
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<< "Setting positioning_mode to Single\n"
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<< std::flush;
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positioning_mode = PMODE_SINGLE;
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}
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@ -529,10 +534,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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if (iono_model == -1)
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{
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// warn user and set the default
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std::cout << "WARNING: Bad specification of ionospheric model.\n";
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std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n";
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std::cout << "iono_model specified value: " << iono_model_str << '\n';
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std::cout << "Setting iono_model to OFF\n";
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std::cout << "WARNING: Bad specification of ionospheric model.\n"
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<< "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n"
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<< "iono_model specified value: " << iono_model_str << "\n"
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<< "Setting iono_model to OFF\n"
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<< std::flush;
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iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
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}
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@ -562,10 +568,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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if (trop_model == -1)
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{
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// warn user and set the default
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std::cout << "WARNING: Bad specification of tropospheric model.\n";
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std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n";
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std::cout << "trop_model specified value: " << trop_model_str << '\n';
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std::cout << "Setting trop_model to OFF\n";
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std::cout << "WARNING: Bad specification of tropospheric model.\n"
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<< "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n"
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<< "trop_model specified value: " << trop_model_str << "\n"
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<< "Setting trop_model to OFF\n"
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<< std::flush;
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trop_model = TROPOPT_OFF;
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}
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@ -640,10 +647,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
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if (integer_ambiguity_resolution_gps == -1)
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{
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// warn user and set the default
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std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n";
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std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n";
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std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << '\n';
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std::cout << "Setting AR_GPS to OFF\n";
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std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n"
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<< "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n"
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<< "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << "\n"
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<< "Setting AR_GPS to OFF\n"
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<< std::flush;
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integer_ambiguity_resolution_gps = ARMODE_OFF;
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}
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@ -44,6 +44,131 @@ class Gps_Ephemeris;
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/*!
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* \brief This class implements a PvtInterface for the RTKLIB PVT block
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*
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* Global configuration options used:
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*
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* GNSS-SDR.pre_2009_file - flag indicating a file older than 2009 rollover should be processed (false)
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* GNSS-SDR.observable_interval_ms - (20)
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*
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* It supports the following configuration options:
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*
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* .dump - (false)
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* .dump_filename - ("./pvt.dat")
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* .dump_mat - (true)
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* .rtk_trace_level - debug level for the RTKLIB methods (0)
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*
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* .output_rate_ms - (500)
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* Note that the actual rate is the least common multiple of this value and GNSS-SDR.observable_interval_ms
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* .display_rate_ms - (500)
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*
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* .flag_nmea_tty_port - (false)
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* .nmea_dump_filename - ("./nmea_pvt.nmea")
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* .nmea_dump_devname - ("/dev/tty1")
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*
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* .rinex_version - (3) overridden by -RINEX_version=n.nn command line argument
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* .rinexobs_rate_ms - rate at which RINEX observations are written (1000). Note that
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* the actual rate is the least common multiple of this value and
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* .output_rate_ms
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* .rinex_name - (-RINEX_name command-line argument)
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*
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* .flag_rtcm_tty_port - (false)
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* .rtcm_dump_devname - ("/dev/pts/1")
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* .flag_rtcm_server - (false)
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* .rtcm_tcp_port - (2101)
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* .rtcm_station_id - (1234)
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* Output rates ... all values are LCM with the computed output rate (above)
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* .rtcm_MT1019_rate_ms - (5000)
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* .rtcm_MT1020_rate_ms - (5000)
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* .rtcm_MT1045_rate_ms - (5000)
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* .rtcm_MSM_rate_ms - (1000)
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* .rtcm_MT1077_rate_ms - (.rtcm_MSM_rate_ms)
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* .rtcm_MT1087_rate_ms - (.rtcm_MSM_rate_ms)
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* .rtcm_MT1097_rate_ms - (.rtcm_MSM_rate_ms)
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*
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* .kml_rate_ms - (1000)
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* .gpx_rate_ms - (1000)
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* .geojson_rate_ms - (1000)
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* .nmea_rate_ms - (1000)
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*
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* .positioning_mode - The RTKLIB positioning mode. ("Single") Supported values are "Single",
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* "Static", "Kinematic", "PPP_Static" and "PPP_Kinematic". Unsupported modes
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* include DGPS/DGNSS, Moving Baseline, Fixed, and PPP-fixed
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* .num_bands - number of frequencies to use, between 1 and 3. Default is based on the channels configured
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* .elevation_mask - (15.0). Value must be in the range [0,90.0]
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* .dynamics_model - (0) 0:none, 1:velocity, 2:acceleration
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* .iono_model - ("OFF"). Supported values are "OFF", "Broadcast", "SBAS", "Iono-Free-LC",
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* "Estimate_STEC", "IONEX". Unsupported values include QZSS broadcast, QZSS
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* LEX, and SLANT TEC.
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* .trop_model - ("OFF"). Supported values are "OFF", "Saastamoinen", "SBAS", "Estimate_ZTD", and
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* "Estimate_ZTD_Grad". Unsupported values include ZTD correction and ZTD+grad
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* correction
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* .phwindup - phase windup correction for PPP modes (0)
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* .reject_GPS_IIA - whether the GPS Block IIA satellites in eclipse are excluded (0). Only applies in PPP-* modes
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* .raim_fde - whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) is enabled (0)
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* .earth_tide - (0)
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* .navigation_system - mask of navigation systems to use. Default based on configured channels
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* 0x01:GPS, 0x02:SBAS, 0x04:GLONASS, 0x08:Galileo, 0x10:QZSS, 0x20:BeiDou,
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* 0x40:IRNS, 0x80:LEO
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*
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* .AR_GPS - Ambiguity Resolution mode for GPS ("Continuous"). Supported values are "OFF",
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* "Continuous", "Instantaneous", "Fix-and-Hold", "PPP-AR". Unsupported values
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* include PPP-AR ILS, WLNL, and TCAR.
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* .AR_GLO - Ambiguity Resolution mode for GLONASS (1). Value must be in the range [0,3]. (0:off,1:on,2:auto cal,3:ext cal)
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* .AR_DBS - Ambiguity Resolution Mode for BeiDou (1). Value must be in the range [0,1]. (0:off,1:on)
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* .min_ratio_to_fix_ambiguity - (3.0)
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* .min_lock_to_fix_ambiguity - (0)
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* .min_elevation_to_fix_ambiguity - minimum elevation (deg) to fix integer ambiguity (0.0)
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* .outage_reset_ambiguity - (5)
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* .slip_threshold - (0.05)
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* .threshold_reject_gdop - if GDOP is over this value, the observable is excluded (30.0)
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* .threshold_reject_innovation - if innovation is over this value, the observable is excluded (30.0)
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* .number_filter_iter - number of iterations for the estimation filter (1)
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* .bias_0 - (30.0)
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* .iono_0 - (0.03)
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* .trop_0 - (0.3)
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* .sigma_bias - process noise stddev of carrier-phase bias(ambiguity)(cycle/sqrt(s)) (1e-4)
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* .sigma_iono - process noise stddev of vertical ionospheric delay per 10km baseline (m/sqrt(s)) (1e-3)
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* .sigma_trop - process noise stddev of zenith tropospheric delay (m/sqrt(s)) (1e-4)
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* .sigma_acch - process noise stddev of the receiver acceleration horizontal component (m/s2/sqrt(s)) (1e-1)
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* .sigma_accv - process noise stddev of the receiver acceleration vertical component (m/s2/sqrt(s)) (1e-2)
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* .sigma_pos - (0.0)
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* .code_phase_error_ratio_l1 - (100.0)
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* .code_phase_error_ratio_l2 - (100.0)
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* .code_phase_error_ratio_l5 - (100.0)
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* .carrier_phase_error_factor_a - (0.003)
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* .carrier_phase_error_factor_b - (0.003)
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*
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* .output_enabled - (true)
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* .rinex_output_enabled - (.output_enabled)
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* .gpx_output_enabled - (.output_enabled)
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* .geojson_output_enabled - (.output_enabled)
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* .kml_output_enabled - (.output_enabled)
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* .xml_output_enabled - (.output_enabled)
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* .nmea_output_enabled - (.output_enabled)
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* .rtcm_output_enabled - (false)
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* .output_path - directory to which output files are written (".")
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* .rinex_output_path - (.output_path)
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* .gpx_output_path - (.output_path)
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* .geojson_output_path - (.output_path)
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* .kml_output_path - (.output_path)
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* .xml_output_path - (.output_path)
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* .nmea_output_path - (.output_path)
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* .rtcm_output_path - (.output_path)
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*
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* .enable_monitor - enable the PVT monitor (false)
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* .monitor_client_addresses - ("127.0.0.1")
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* .monitor_udp_port - DO NOT USE THE DEFAULT (1234)
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* .enable_protobuf - serialize using protocol buffers (true). Monitor.enable_protobuf if true, sets this to true
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*
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* .enable_monitor_ephemeris - enable the ephemeris monitor (false)
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* .monitor_ephemeris_client_addresses - ("127.0.0.1")
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* .monitor_ephemeris_udp_port - DO NOT USE THE DEFAULT (1234)
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*
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* .show_local_time_zone - (false)
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* .enable_rx_clock_correction - (false)
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* .max_clock_offset_ms - (40)
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*/
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class Rtklib_Pvt : public PvtInterface
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{
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@ -53,6 +53,7 @@
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#include "pvt_conf.h"
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#include "rinex_printer.h"
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#include "rtcm_printer.h"
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#include "rtklib_rtkcmn.h"
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#include "rtklib_solver.h"
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#include <boost/any.hpp> // for any_cast, any
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#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
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@ -538,6 +539,9 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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d_beidou_dnav_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code();
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d_galileo_has_data_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_HAS_data>).hash_code();
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// set the RTKLIB trace (debug) level
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tracelevel(conf_.rtk_trace_level);
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d_start = std::chrono::system_clock::now();
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}
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@ -9,7 +9,6 @@ protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/
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protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
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set(PVT_LIB_SOURCES
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pvt_conf.cc
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pvt_solution.cc
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geojson_printer.cc
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gpx_printer.cc
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@ -1,71 +0,0 @@
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/*!
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* \file pvt_conf.cc
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* \brief Class that contains all the configuration parameters for a PVT block
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* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "pvt_conf.h"
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Pvt_Conf::Pvt_Conf()
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{
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type_of_receiver = 0U;
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observable_interval_ms = 20U;
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output_rate_ms = 0;
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display_rate_ms = 0;
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kml_rate_ms = 1000;
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gpx_rate_ms = 1000;
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geojson_rate_ms = 1000;
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nmea_rate_ms = 1000;
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max_obs_block_rx_clock_offset_ms = 40;
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rinex_version = 0;
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rinexobs_rate_ms = 0;
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rinex_name = std::string("-");
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dump = false;
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dump_mat = true;
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flag_nmea_tty_port = false;
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flag_rtcm_server = false;
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flag_rtcm_tty_port = false;
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rtcm_tcp_port = 0U;
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rtcm_station_id = 0U;
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output_enabled = true;
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rinex_output_enabled = true;
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gpx_output_enabled = true;
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geojson_output_enabled = true;
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nmea_output_file_enabled = true;
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kml_output_enabled = true;
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xml_output_enabled = true;
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rtcm_output_file_enabled = true;
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output_path = std::string(".");
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rinex_output_path = std::string(".");
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gpx_output_path = std::string(".");
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geojson_output_path = std::string(".");
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nmea_output_file_path = std::string(".");
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kml_output_path = std::string(".");
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xml_output_path = std::string(".");
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rtcm_output_file_path = std::string(".");
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enable_rx_clock_correction = true;
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monitor_enabled = false;
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monitor_ephemeris_enabled = false;
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protobuf_enabled = true;
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udp_port = 0;
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udp_eph_port = 0;
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pre_2009_file = false;
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show_local_time_zone = false;
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}
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@ -27,66 +27,64 @@
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* \{ */
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class Pvt_Conf
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struct Pvt_Conf
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{
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public:
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Pvt_Conf();
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std::map<int, int> rtcm_msg_rate_ms;
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std::string rinex_name;
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std::string rinex_name = std::string("-");
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std::string dump_filename;
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std::string nmea_dump_filename;
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std::string nmea_dump_devname;
|
||||
std::string rtcm_dump_devname;
|
||||
std::string output_path;
|
||||
std::string rinex_output_path;
|
||||
std::string gpx_output_path;
|
||||
std::string geojson_output_path;
|
||||
std::string nmea_output_file_path;
|
||||
std::string kml_output_path;
|
||||
std::string xml_output_path;
|
||||
std::string rtcm_output_file_path;
|
||||
std::string output_path = std::string(".");
|
||||
std::string rinex_output_path = std::string(".");
|
||||
std::string gpx_output_path = std::string(".");
|
||||
std::string geojson_output_path = std::string(".");
|
||||
std::string nmea_output_file_path = std::string(".");
|
||||
std::string kml_output_path = std::string(".");
|
||||
std::string xml_output_path = std::string(".");
|
||||
std::string rtcm_output_file_path = std::string(".");
|
||||
std::string udp_addresses;
|
||||
std::string udp_eph_addresses;
|
||||
|
||||
uint32_t type_of_receiver;
|
||||
uint32_t observable_interval_ms;
|
||||
uint32_t type_of_receiver = 0;
|
||||
uint32_t observable_interval_ms = 20;
|
||||
|
||||
int32_t output_rate_ms;
|
||||
int32_t display_rate_ms;
|
||||
int32_t kml_rate_ms;
|
||||
int32_t gpx_rate_ms;
|
||||
int32_t geojson_rate_ms;
|
||||
int32_t nmea_rate_ms;
|
||||
int32_t rinex_version;
|
||||
int32_t rinexobs_rate_ms;
|
||||
int32_t max_obs_block_rx_clock_offset_ms;
|
||||
int udp_port;
|
||||
int udp_eph_port;
|
||||
int32_t output_rate_ms = 0;
|
||||
int32_t display_rate_ms = 0;
|
||||
int32_t kml_rate_ms = 1000;
|
||||
int32_t gpx_rate_ms = 1000;
|
||||
int32_t geojson_rate_ms = 1000;
|
||||
int32_t nmea_rate_ms = 1000;
|
||||
int32_t rinex_version = 0;
|
||||
int32_t rinexobs_rate_ms = 0;
|
||||
int32_t max_obs_block_rx_clock_offset_ms = 40;
|
||||
int udp_port = 0;
|
||||
int udp_eph_port = 0;
|
||||
int rtk_trace_level = 0;
|
||||
|
||||
uint16_t rtcm_tcp_port;
|
||||
uint16_t rtcm_station_id;
|
||||
uint16_t rtcm_tcp_port = 0;
|
||||
uint16_t rtcm_station_id = 0;
|
||||
|
||||
bool flag_nmea_tty_port;
|
||||
bool flag_rtcm_server;
|
||||
bool flag_rtcm_tty_port;
|
||||
bool output_enabled;
|
||||
bool rinex_output_enabled;
|
||||
bool gpx_output_enabled;
|
||||
bool geojson_output_enabled;
|
||||
bool nmea_output_file_enabled;
|
||||
bool kml_output_enabled;
|
||||
bool xml_output_enabled;
|
||||
bool rtcm_output_file_enabled;
|
||||
bool monitor_enabled;
|
||||
bool monitor_ephemeris_enabled;
|
||||
bool protobuf_enabled;
|
||||
bool enable_rx_clock_correction;
|
||||
bool show_local_time_zone;
|
||||
bool pre_2009_file;
|
||||
bool dump;
|
||||
bool dump_mat;
|
||||
bool flag_nmea_tty_port = false;
|
||||
bool flag_rtcm_server = false;
|
||||
bool flag_rtcm_tty_port = false;
|
||||
bool output_enabled = true;
|
||||
bool rinex_output_enabled = true;
|
||||
bool gpx_output_enabled = true;
|
||||
bool geojson_output_enabled = true;
|
||||
bool nmea_output_file_enabled = true;
|
||||
bool kml_output_enabled = true;
|
||||
bool xml_output_enabled = true;
|
||||
bool rtcm_output_file_enabled = true;
|
||||
bool monitor_enabled = false;
|
||||
bool monitor_ephemeris_enabled = false;
|
||||
bool protobuf_enabled = true;
|
||||
bool enable_rx_clock_correction = true;
|
||||
bool show_local_time_zone = false;
|
||||
bool pre_2009_file = false;
|
||||
bool dump = false;
|
||||
bool dump_mat = true;
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user