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

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Carles Fernandez 2019-05-08 09:25:39 +02:00
commit 142a344c4f
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5 changed files with 293 additions and 116 deletions
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1
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -106,7 +106,6 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.rinex_version = 2; pvt_output_parameters.rinex_version = 2;
} }
pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms); pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.rinexnav_rate_ms = bc::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), pvt_output_parameters.output_rate_ms);
// RTCM Printer settings // RTCM Printer settings
pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false); pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);

405
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -299,7 +299,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
rp = nullptr; rp = nullptr;
} }
d_rinexobs_rate_ms = conf_.rinexobs_rate_ms; d_rinexobs_rate_ms = conf_.rinexobs_rate_ms;
d_rinexnav_rate_ms = conf_.rinexnav_rate_ms;
// XML printer // XML printer
d_xml_storage = conf_.xml_output_enabled; d_xml_storage = conf_.xml_output_enabled;
@ -973,6 +972,69 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
<< "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week=" << "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
<< gps_eph->i_GPS_week; << gps_eph->i_GPS_week;
// update/insert new ephemeris record to the global ephemeris map // update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_pvt_solver->gps_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toc != gps_eph->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
rp->log_rinex_nav(rp->navFile, new_eph);
break;
case 8: // L1+L5
rp->log_rinex_nav(rp->navFile, new_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, new_glo_eph);
}
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, new_eph);
}
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
default:
break;
}
}
}
d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph; d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
} }
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
@ -997,6 +1059,52 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris; std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg)); gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map // update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_pvt_solver->gps_cnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toc != gps_cnav_ephemeris->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_cnav_eph[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
switch (type_of_rx)
{
case 2: // GPS L2C only
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 3: // GPS L5 only
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 7: // GPS L1 C/A + GPS L2C
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
}
}
}
d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris; d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived "; DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
} }
@ -1037,6 +1145,59 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
<< ", GALILEO Week Number =" << galileo_eph->WN_5 << ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris; << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map // update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
switch (type_of_rx)
{
case 6: // Galileo E5b only
rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
break;
case 15: // Galileo E1B + Galileo E5b
rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
default:
break;
}
}
}
d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph; d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
} }
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
@ -1101,6 +1262,70 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b) << " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number; << " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map // update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
switch (type_of_rx)
{
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
}
}
}
d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph; d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
} }
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
@ -1133,6 +1358,35 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week=" << "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week; << bds_dnav_eph->i_BEIDOU_week;
// update/insert new ephemeris record to the global ephemeris map // update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
switch (type_of_rx)
{
case 50: // BDS B1I only
rp->log_rinex_nav(rp->navFile, new_bds_eph);
break;
default:
break;
}
}
}
d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph; d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
} }
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
@ -1336,7 +1590,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
bool flag_write_RTCM_1045_output = false; bool flag_write_RTCM_1045_output = false;
bool flag_write_RTCM_MSM_output = false; bool flag_write_RTCM_MSM_output = false;
bool flag_write_RINEX_obs_output = false; bool flag_write_RINEX_obs_output = false;
bool flag_write_RINEX_nav_output = false;
gnss_observables_map.clear(); gnss_observables_map.clear();
const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
@ -1453,10 +1706,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
//end debug //end debug
if (d_display_rate_ms != 0) if (d_display_rate_ms != 0)
{ {
// if (current_RX_time_ms % d_display_rate_ms == 0) if (current_RX_time_ms % d_display_rate_ms == 0)
// { {
flag_display_pvt = true; flag_display_pvt = true;
// } }
} }
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{ {
@ -1506,13 +1759,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_write_RINEX_obs_output = true; flag_write_RINEX_obs_output = true;
} }
} }
if (d_rinexnav_rate_ms != 0)
{
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
{
flag_write_RINEX_nav_output = true;
}
}
if (first_fix == true) if (first_fix == true)
{ {
@ -1553,17 +1799,17 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
} }
/* /*
* TYPE | RECEIVER * TYPE | RECEIVER
* 0 | Unknown * 0 | Unknown
* 1 | GPS L1 C/A * 1 | GPS L1 C/A
* 2 | GPS L2C * 2 | GPS L2C
* 3 | GPS L5 * 3 | GPS L5
* 4 | Galileo E1B * 4 | Galileo E1B
* 5 | Galileo E5a * 5 | Galileo E5a
* 6 | Galileo E5b * 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C * 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5 * 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B * 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a * 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b * 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C * 12 | Galileo E1B + GPS L2C
@ -1611,6 +1857,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1620,6 +1867,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("2S"); std::string signal("2S");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1629,6 +1877,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("L5"); std::string signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1655,6 +1904,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("7X"); std::string signal("7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1664,6 +1914,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1C 2S"); std::string signal("1C 2S");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1673,6 +1924,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1C L5"); std::string signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1700,6 +1952,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("7X"); std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1710,6 +1963,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gps_signal("L5"); std::string gps_signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1728,6 +1982,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B 7X"); std::string gal_signal("1B 7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1755,6 +2010,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1G 2G"); std::string signal("1G 2G");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second); rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1766,11 +2022,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rinex_version == 3) if (d_rinex_version == 3)
{ {
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
} }
if (d_rinex_version == 2) if (d_rinex_version == 2)
{ {
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second); rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
} }
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
@ -1782,6 +2041,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B"); std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1791,6 +2051,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string glo_signal("1G"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1802,11 +2063,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rinex_version == 3) if (d_rinex_version == 3)
{ {
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
} }
if (d_rinex_version == 2) if (d_rinex_version == 2)
{ {
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second); rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
} }
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
@ -1818,6 +2082,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B"); std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1827,6 +2092,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string glo_signal("2G"); std::string glo_signal("2G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1839,6 +2105,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gps_signal("1C L5"); std::string gps_signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1849,6 +2116,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B 5X"); std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
break; break;
@ -1857,6 +2125,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1"); rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model); rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
@ -1876,94 +2145,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
if (flag_write_RINEX_nav_output)
{
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
break;
case 2: // GPS L2C only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 3: // GPS L5 only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 4:
case 5:
case 6:
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
break;
case 7: // GPS L1 C/A + GPS L2C
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 8: // L1+L5
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
break;
case 9:
case 10:
case 11:
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 14:
case 15:
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
break;
case 23:
case 24:
case 25:
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 50: // BDS B1I only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
break;
default:
break;
}
}
galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin(); gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -95,7 +95,6 @@ private:
bool b_rinex_header_updated; bool b_rinex_header_updated;
double d_rinex_version; double d_rinex_version;
int32_t d_rinexobs_rate_ms; int32_t d_rinexobs_rate_ms;
int32_t d_rinexnav_rate_ms;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
bool b_rtcm_enabled; bool b_rtcm_enabled;

1
src/algorithms/PVT/libs/pvt_conf.cc
View File

@ -38,7 +38,6 @@ Pvt_Conf::Pvt_Conf()
rinex_version = 0; rinex_version = 0;
rinexobs_rate_ms = 0; rinexobs_rate_ms = 0;
rinexnav_rate_ms = 0;
dump = false; dump = false;
dump_mat = true; dump_mat = true;

1
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -44,7 +44,6 @@ public:
int32_t rinex_version; int32_t rinex_version;
int32_t rinexobs_rate_ms; int32_t rinexobs_rate_ms;
int32_t rinexnav_rate_ms;
std::map<int, int> rtcm_msg_rate_ms; std::map<int, int> rtcm_msg_rate_ms;
bool dump; bool dump;