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Merge e800ca2e60 into fd57c34d5d

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vladisslav2011 2023-07-14 15:20:18 +05:30 committed by GitHub
parent fd57c34d5d e800ca2e60
commit 142d941095
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GPG Key ID: 4AEE18F83AFDEB23
15 changed files with 337 additions and 43 deletions
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31
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
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@ -33,8 +33,6 @@
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 6
glonass_l1_ca_telemetry_decoder_gs_sptr
glonass_l1_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
@ -61,7 +59,10 @@ glonass_l1_ca_telemetry_decoder_gs::glonass_l1_ca_telemetry_decoder_gs(
d_dump_mat(conf.dump_mat),
d_remove_dat(conf.remove_dat),
d_enable_navdata_monitor(conf.enable_navdata_monitor),
d_dump_crc_stats(conf.dump_crc_stats)
d_dump_crc_stats(conf.dump_crc_stats),
d_ecc_errors_resync(conf.ecc_errors_resync),
d_validator_thr(conf.validator_thr),
d_validator_accept_first(conf.validator_accept_first)
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
@ -229,16 +230,26 @@ void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
// update CRC statistics
d_Tlm_CRC_Stats->update_CRC_stats(crc_ok);
}
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
{
// get object for this SV (mandatory)
d_nav.set_rf_link(d_satellite.get_rf_link());
const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
static Gnss_Ephemeris::history_set prev(27);
if (tmp_obj->PRN == d_satellite.get_PRN())
{
if (Gnss_Ephemeris::validate(prev, tmp_obj, d_validator_thr, d_validator_accept_first))
{
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
}
}
else
{
std::cout << "PRN " << tmp_obj->PRN << "!=" << d_satellite.get_PRN() << "\n";
}
}
if (d_nav.have_new_utc_model() == true)
{
@ -407,7 +418,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// call the decoder
decode_string(string_symbols.data(), string_length);
bool crc_ok = d_nav.get_flag_CRC_test();
if (crc_ok == true)
if ((crc_ok == true) && (abs(corr_value) >= d_symbols_per_preamble * 2 / 3))
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
@ -423,11 +434,13 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
if (d_CRC_error_counter > d_ecc_errors_resync)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_flag_preamble = false;
d_stat = 0;
d_nav = Glonass_Gnav_Navigation_Message();
}
}
}

3
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.h
View File

@ -120,6 +120,9 @@ private:
bool d_remove_dat;
bool d_enable_navdata_monitor;
bool d_dump_crc_stats;
int32_t d_ecc_errors_resync;
uint32_t d_validator_thr;
bool d_validator_accept_first;
};

31
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -33,8 +33,6 @@
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 6
glonass_l2_ca_telemetry_decoder_gs_sptr
glonass_l2_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
@ -61,7 +59,10 @@ glonass_l2_ca_telemetry_decoder_gs::glonass_l2_ca_telemetry_decoder_gs(
d_dump_mat(conf.dump_mat),
d_remove_dat(conf.remove_dat),
d_enable_navdata_monitor(conf.enable_navdata_monitor),
d_dump_crc_stats(conf.dump_crc_stats)
d_dump_crc_stats(conf.dump_crc_stats),
d_ecc_errors_resync(conf.ecc_errors_resync),
d_validator_thr(conf.validator_thr),
d_validator_accept_first(conf.validator_accept_first)
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
@ -236,9 +237,20 @@ void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
// get object for this SV (mandatory)
d_nav.set_rf_link(d_satellite.get_rf_link());
const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
static Gnss_Ephemeris::history_set prev(27);
if (tmp_obj->PRN == d_satellite.get_PRN())
{
if (Gnss_Ephemeris::validate(prev, tmp_obj, d_validator_thr, d_validator_accept_first))
{
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
}
}
else
{
std::cout << "PRN " << tmp_obj->PRN << "!=" << d_satellite.get_PRN() << "\n";
}
}
if (d_nav.have_new_utc_model() == true)
{
@ -405,7 +417,8 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// call the decoder
decode_string(string_symbols.data(), string_length);
if (d_nav.get_flag_CRC_test() == true)
bool crc_ok = d_nav.get_flag_CRC_test();
if ((crc_ok == true) && (abs(corr_value) >= d_symbols_per_preamble * 2 / 3))
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
@ -421,11 +434,13 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
if (d_CRC_error_counter > d_ecc_errors_resync)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_flag_preamble = false;
d_stat = 0;
d_nav = Glonass_Gnav_Navigation_Message();
}
}
}

3
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.h
View File

@ -113,6 +113,9 @@ private:
bool d_remove_dat;
bool d_enable_navdata_monitor;
bool d_dump_crc_stats;
int32_t d_ecc_errors_resync;
uint32_t d_validator_thr;
bool d_validator_accept_first;
};

6
src/algorithms/telemetry_decoder/libs/tlm_conf.cc
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@ -34,4 +34,10 @@ void Tlm_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
{
there_are_e6_channels = true;
}
ecc_errors_reject = configuration->property(role + ".ecc_reject", 1);
ecc_errors_reject = (ecc_errors_reject < 1) ? 1 : ecc_errors_reject;
ecc_errors_resync = configuration->property(role + ".ecc_resync", 6);
ecc_errors_resync = (ecc_errors_resync < 1) ? 1 : ecc_errors_resync;
validator_thr = configuration->property(role + ".validator_thr", 2);
validator_accept_first = configuration->property(role + ".validator_accept_first", true);
}

4
src/algorithms/telemetry_decoder/libs/tlm_conf.h
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@ -43,6 +43,10 @@ public:
bool dump_crc_stats{false}; // telemetry CRC statistics
bool enable_navdata_monitor{false};
bool there_are_e6_channels{false};
int32_t ecc_errors_reject{1};
int32_t ecc_errors_resync{6};
uint32_t validator_thr{2};
bool validator_accept_first{true};
};

2
src/core/system_parameters/CMakeLists.txt
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@ -6,6 +6,7 @@
set(SYSTEM_PARAMETERS_SOURCES
common_ephemeris.cc
gnss_almanac.cc
gnss_ephemeris.cc
gnss_satellite.cc
@ -31,6 +32,7 @@ set(SYSTEM_PARAMETERS_SOURCES
)
set(SYSTEM_PARAMETERS_HEADERS
common_ephemeris.h
gnss_almanac.h
gnss_ephemeris.h
gnss_satellite.h

83
src/core/system_parameters/common_ephemeris.cc Normal file
View File

@ -0,0 +1,83 @@
/*!
* \file common_ephemeris.cc
* \brief Base class for GNSS Ephemeris
* \author Vladislav P, 2022. vladisslav2011(at)gmail.com
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "common_ephemeris.h"
#include <cmath>
#include <numeric>
bool Common_Ephemeris::validate(history_set &hist, const std::shared_ptr<Common_Ephemeris> &eph, const int thr, const bool first_pass)
{
double dev_last = -1.0;
double dev_val = -1.0;
const int prn = eph->PRN - 1;
bool ret = false;
if (thr == 0)
{
return true;
}
if (hist[prn].last_eph.get())
{
dev_last = hist[prn].last_eph->max_deviation(*eph.get());
#ifdef EPHEMERIS_VALIDATOR_DEBUG
if (hist[prn].last_eph.get() == eph.get())
{
std::cout << "\nhist[prn].last_eph.get() == eph.get()\n\n";
}
#endif
}
if (hist[prn].valid_eph.get())
{
dev_val = hist[prn].valid_eph->max_deviation(*eph.get());
#ifdef EPHEMERIS_VALIDATOR_DEBUG
if (hist[prn].valid_eph.get() == eph.get())
{
std::cout << "\nhist[prn].last_eph.get() == eph.get()\n\n";
}
#endif
if (dev_last < dev_val)
{
if (dev_last < DEVIATION_THRESHOLD)
{
hist[prn].valid_eph = eph;
hist[prn].valid_eph_count = 2;
ret = hist[prn].valid_eph_count >= hist[prn].valid_eph_thr;
hist[prn].valid_eph_thr = (thr > 2) ? thr : 2;
}
}
else
{
if (dev_val < DEVIATION_THRESHOLD)
{
hist[prn].valid_eph_count++;
hist[prn].valid_eph_thr = (thr > 2) ? thr : 2;
ret = hist[prn].valid_eph_count >= hist[prn].valid_eph_thr;
}
}
}
else
{
hist[prn].valid_eph = eph;
hist[prn].valid_eph_count = 1;
hist[prn].valid_eph_thr = thr;
ret = first_pass || hist[prn].valid_eph_count >= hist[prn].valid_eph_thr;
}
hist[prn].last_eph = eph;
#ifdef EPHEMERIS_VALIDATOR_DEBUG
std::cout << "PRN " << eph->PRN << " dev_last = " << dev_last << " dev_val = " << dev_val << " count = " << hist[prn].valid_eph_count << "\n";
#endif
return ret;
}

71
src/core/system_parameters/common_ephemeris.h Normal file
View File

@ -0,0 +1,71 @@
/*!
* \file common_ephemeris.h
* \brief Base class for GNSS Ephemeris
* \author Vladislav P, 2022. vladisslav2011(at)gmail.com
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_COMMON_EPHEMERIS_H
#define GNSS_SDR_COMMON_EPHEMERIS_H
#include <cstdint>
#include <memory>
#include <vector>
#ifdef EPHEMERIS_VALIDATOR_DEBUG
#include <iostream>
#define update_eph_deviation(NN) \
{ \
if (std::fabs((NN)-tmp.NN) > dev) \
{ \
dev = std::fabs((NN)-tmp.NN); \
std::cout << "Gnss_Ephemeris::max_deviation " #NN << ": " << (NN) << "-" << tmp.NN << "=" << std::fabs((NN)-tmp.NN) << "\n"; \
} \
}
#else
#define update_eph_deviation(NN) \
{ \
if (std::fabs((NN)-tmp.NN) > dev) \
{ \
dev = std::fabs((NN)-tmp.NN); \
} \
}
#endif
class Common_Ephemeris
{
private:
using last_valid = struct
{
std::shared_ptr<Common_Ephemeris> last_eph;
std::shared_ptr<Common_Ephemeris> valid_eph;
int valid_eph_count;
int valid_eph_thr;
};
protected:
static constexpr double DEVIATION_THRESHOLD = 0.00001;
public:
using history_set = std::vector<last_valid>;
Common_Ephemeris() = default;
virtual ~Common_Ephemeris() = default;
virtual double max_deviation(Common_Ephemeris &from) = 0; //!< Compare a set of ephemeris to another one
static bool validate(history_set &hist, const std::shared_ptr<Common_Ephemeris> &eph, const int thr, const bool first_pass);
uint32_t PRN{}; //!< SV ID
};
#endif // GNSS_SDR_COMMON_EPHEMERIS_H

47
src/core/system_parameters/glonass_gnav_ephemeris.cc
View File

@ -23,6 +23,51 @@
#include <cmath>
#include <string>
double Glonass_Gnav_Ephemeris::max_deviation(Common_Ephemeris &from)
{
const Glonass_Gnav_Ephemeris &tmp = dynamic_cast<Glonass_Gnav_Ephemeris &>(from);
double dev = 0.0;
update_eph_deviation(PRN);
// TODO: compare to previous value?
// update_eph_deviation(d_t_k);
update_eph_deviation(d_t_b);
update_eph_deviation(d_gamma_n);
update_eph_deviation(d_tau_n);
update_eph_deviation(d_Xn);
update_eph_deviation(d_Yn);
update_eph_deviation(d_Zn);
update_eph_deviation(d_VXn);
update_eph_deviation(d_VYn);
update_eph_deviation(d_VZn);
update_eph_deviation(d_AXn);
update_eph_deviation(d_AYn);
update_eph_deviation(d_AZn);
update_eph_deviation(d_B_n);
update_eph_deviation(d_P);
update_eph_deviation(d_N_T);
update_eph_deviation(d_F_T);
update_eph_deviation(d_n);
update_eph_deviation(d_Delta_tau_n);
update_eph_deviation(d_E_n);
update_eph_deviation(d_P_1);
update_eph_deviation(d_yr);
update_eph_deviation(d_satClkDrift);
update_eph_deviation(d_dtr);
update_eph_deviation(d_iode);
update_eph_deviation(d_tau_c);
// update_eph_deviation(d_TOW);
// update_eph_deviation(d_tod);
update_eph_deviation(i_satellite_freq_channel);
update_eph_deviation(i_satellite_slot_number);
update_eph_deviation(d_WN);
// d_P_2
// d_P_3
// d_P_4
// d_l3rd_n
// d_l5th_n
return dev;
}
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(double offset_time) const
{
@ -84,7 +129,7 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(double offset_time,
}
void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, int32_t* wn, double* tow) const
void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, int32_t *wn, double *tow) const
{
const double glot2utc = 3 * 3600;
double days = 0.0;

5
src/core/system_parameters/glonass_gnav_ephemeris.h
View File

@ -22,6 +22,7 @@
#include "glonass_gnav_utc_model.h"
#include "gnss_ephemeris.h"
#include <boost/date_time/posix_time/ptime.hpp> // for ptime
#include <boost/serialization/nvp.hpp>
#include <cstdint>
@ -37,13 +38,14 @@
* \note Code added as part of GSoC 2017 program
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*/
class Glonass_Gnav_Ephemeris
class Glonass_Gnav_Ephemeris : public Common_Ephemeris
{
public:
/*!
* Default constructor
*/
Glonass_Gnav_Ephemeris() = default;
double max_deviation(Common_Ephemeris& from) override; //!< Compare a set of ephemeris to another one
double d_m{}; //!< String number within frame [dimensionless]
double d_t_k{}; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
@ -77,7 +79,6 @@ public:
// Immediate deliverables of ephemeris information
// Satellite Identification Information
int32_t i_satellite_freq_channel{}; //!< SV Frequency Channel Number
uint32_t PRN{}; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
uint32_t i_satellite_slot_number{}; //!< SV Slot Number
double d_yr = 1972.0; //!< Current year
double d_satClkDrift{}; //!< GLONASS clock error

49
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -20,11 +20,11 @@
#include "MATH_CONSTANTS.h" // for TWO_N20, TWO_N30, TWO_N14, TWO_N15, TWO_N18
#include "gnss_satellite.h"
#include <glog/logging.h>
#include <cstddef> // for size_t
#include <ostream> // for operator<<
#include <cstddef> // for size_t
#include <iostream> // for operator<<
Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message() : d_prev_TOW(-1.0)
{
auto gnss_sat = Gnss_Satellite();
std::string _system("GLONASS");
@ -382,8 +382,26 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
if (flag_ephemeris_str_1 == true)
{
gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k + 10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
flag_TOW_set = true;
flag_TOW_new = true;
if (d_prev_TOW == -1.0)
{
flag_TOW_set = true;
flag_TOW_new = true;
}
else
{
if (static_cast<int>(std::round(gnav_ephemeris.d_TOW - d_prev_TOW)) % 30 == 0)
{
flag_TOW_set = true;
flag_TOW_new = true;
}
else
{
flag_TOW_set = false;
flag_TOW_new = false;
}
}
std::cout << "-----------------------------------TOW diff=" << (gnav_ephemeris.d_TOW - d_prev_TOW) << "\n";
d_prev_TOW = gnav_ephemeris.d_TOW;
}
// 4) Set time of day (tod) when ephemeris data is complety decoded
@ -651,18 +669,15 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() // Check if we have
(flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and
(flag_utc_model_str_5 == true))
{
if (d_previous_tb != gnav_ephemeris.d_t_b)
{
flag_ephemeris_str_1 = false; // clear the flag
flag_ephemeris_str_2 = false; // clear the flag
flag_ephemeris_str_3 = false; // clear the flag
flag_ephemeris_str_4 = false; // clear the flag
flag_all_ephemeris = true;
// Update the time of ephemeris information
d_previous_tb = gnav_ephemeris.d_t_b;
DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch";
new_eph = true;
}
flag_ephemeris_str_1 = false; // clear the flag
flag_ephemeris_str_2 = false; // clear the flag
flag_ephemeris_str_3 = false; // clear the flag
flag_ephemeris_str_4 = false; // clear the flag
flag_all_ephemeris = true;
// Update the time of ephemeris information
d_previous_tb = gnav_ephemeris.d_t_b;
DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch";
new_eph = true;
}
return new_eph;

1
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -214,6 +214,7 @@ private:
bool flag_TOW_set{}; // Flag indicating when the TOW has been set
bool flag_TOW_new{}; // Flag indicating when a new TOW has been computed
double d_prev_TOW{};
};

33
src/core/system_parameters/gnss_ephemeris.cc
View File

@ -21,10 +21,10 @@
#include <algorithm>
#include <cmath>
#include <functional>
#include <iostream>
#include <numeric>
#include <vector>
double Gnss_Ephemeris::sv_clock_drift(double transmitTime)
{
const double dt = check_t(transmitTime - this->toc);
@ -165,8 +165,37 @@ void Gnss_Ephemeris::satellitePosition(double transmitTime)
this->dtr = pos_vel_dtr[6];
}
double Gnss_Ephemeris::max_deviation(Common_Ephemeris &from)
{
const Gnss_Ephemeris &tmp = dynamic_cast<Gnss_Ephemeris &>(from);
double dev = 0.0;
update_eph_deviation(PRN);
update_eph_deviation(M_0);
update_eph_deviation(delta_n);
update_eph_deviation(ecc);
update_eph_deviation(sqrtA);
update_eph_deviation(OMEGA_0);
update_eph_deviation(i_0);
update_eph_deviation(omega);
update_eph_deviation(OMEGAdot);
update_eph_deviation(idot);
update_eph_deviation(Cuc);
update_eph_deviation(Cus);
update_eph_deviation(Crc);
update_eph_deviation(Crs);
update_eph_deviation(Cic);
update_eph_deviation(Cis);
// update_eph_deviation(toe);
// update_eph_deviation(toc);
update_eph_deviation(af0);
update_eph_deviation(af1);
update_eph_deviation(af2);
update_eph_deviation(satClkDrift);
update_eph_deviation(dtr);
return dev;
}
void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const
void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<double, 7> &pos_vel_dtr) const
{
// Restore semi-major axis
const double a = this->sqrtA * this->sqrtA;

11
src/core/system_parameters/gnss_ephemeris.h
View File

@ -19,13 +19,16 @@
#ifndef GNSS_SDR_GNSS_EPHEMERIS_H
#define GNSS_SDR_GNSS_EPHEMERIS_H
#include "common_ephemeris.h"
#include <array>
#include <cstdint>
#include <memory>
#include <vector>
/*!
* \brief Base class for GNSS ephemeris storage
*/
class Gnss_Ephemeris
class Gnss_Ephemeris : public Common_Ephemeris
{
public:
Gnss_Ephemeris() = default;
@ -65,9 +68,9 @@ public:
*/
double predicted_doppler(double rx_time_s, double lat, double lon, double h, double ve, double vn, double vu, int band) const;
void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
double max_deviation(Common_Ephemeris &from) override; //!< Compare a set of ephemeris to another one
uint32_t PRN{}; //!< SV ID
double M_0{}; //!< Mean anomaly at reference time [rad]
double delta_n{}; //!< Mean motion difference from computed value [rad/sec]
double ecc{}; //!< Eccentricity
@ -112,7 +115,7 @@ protected:
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
private:
void satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const;
void satellitePosVelComputation(double transmitTime, std::array<double, 7> &pos_vel_dtr) const;
double check_t(double time) const;
double sv_clock_relativistic_term(double transmitTime) const;
};