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Merge branch 'improve-pvt' into next

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Carles Fernandez 2022-06-08 17:10:57 +02:00
commit 16b6e71cae
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GPG Key ID: 4C583C52B0C3877D
7 changed files with 131 additions and 92 deletions
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13
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -524,21 +524,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{ {
// setup two PVT solvers: internal solver for rx clock and user solver // setup two PVT solvers: internal solver for rx clock and user solver
// user PVT solver // user PVT solver
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat); d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_user_pvt_solver->set_averaging_depth(1); d_user_pvt_solver->set_averaging_depth(1);
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
// internal PVT solver, mainly used to estimate the receiver clock // internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk; rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, false, false); d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false);
d_internal_pvt_solver->set_averaging_depth(1); d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
} }
else else
{ {
// only one solver, customized by the user options // only one solver, customized by the user options
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat); d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_internal_pvt_solver->set_averaging_depth(1); d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
d_user_pvt_solver = d_internal_pvt_solver; d_user_pvt_solver = d_internal_pvt_solver;
@ -2146,7 +2146,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
} }
while (fabs(delta_rxtime_to_tag_ms) >= 100 and !d_TimeChannelTagTimestamps.empty()); while (fabs(delta_rxtime_to_tag_ms) >= 100 and !d_TimeChannelTagTimestamps.empty());
// 2. If both timestamps (relative to the receiver's start) are closer than 100 ms (the granularituy of the PVT) // 2. If both timestamps (relative to the receiver's start) are closer than 100 ms (the granularituy of the PVT)
if (fabs(delta_rxtime_to_tag_ms) <= 100) // [ms] if (fabs(delta_rxtime_to_tag_ms) <= 100) // [ms]
{ {
@ -2222,11 +2221,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
} }
// debug code
// else
// {
// DLOG(INFO) << "Internal PVT solver error";
// }
// compute on the fly PVT solution // compute on the fly PVT solution
if (flag_compute_pvt_output == true) if (flag_compute_pvt_output == true)
@ -2234,7 +2228,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false); flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false);
} }
if (flag_pvt_valid == true) if (flag_pvt_valid == true)
{ {
// experimental VTL tests // experimental VTL tests

27
src/algorithms/PVT/libs/rinex_printer.cc
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@ -11762,33 +11762,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
gs.PRN = prn_; gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs)); total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
} }
if (found_E5a != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
}
else
{
// if 5X is listed but empty
if (found_E5a != std::string::npos)
{
if ((total_map.count(prn_)) == 1)
{
Gnss_Synchro gs = Gnss_Synchro();
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
}
} }
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second)); total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
} }

145
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -45,14 +45,99 @@
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const std::string &dump_filename, const std::string &dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file, bool flag_dump_to_file,
bool flag_dump_to_mat) : d_rtk(rtk), bool flag_dump_to_mat) : d_dump_filename(dump_filename),
d_dump_filename(dump_filename), d_rtk(rtk),
d_type_of_rx(type_of_rx),
d_flag_dump_enabled(flag_dump_to_file), d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(flag_dump_to_mat) d_flag_dump_mat_enabled(flag_dump_to_mat)
{ {
this->set_averaging_flag(false); this->set_averaging_flag(false);
// see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
// function: satwavelen
d_rtklib_freq_index[0] = 0;
d_rtklib_freq_index[1] = 1;
d_rtklib_freq_index[2] = 2;
d_rtklib_band_index["1G"] = 0;
d_rtklib_band_index["1C"] = 0;
d_rtklib_band_index["1B"] = 0;
d_rtklib_band_index["B1"] = 0;
d_rtklib_band_index["B3"] = 2;
d_rtklib_band_index["2G"] = 1;
d_rtklib_band_index["2S"] = 1;
d_rtklib_band_index["7X"] = 2;
d_rtklib_band_index["5X"] = 2;
d_rtklib_band_index["L5"] = 2;
d_rtklib_band_index["E6"] = 0;
if (d_type_of_rx == 6) // E5b only
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 15) // Galileo E1B + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 18) // GPS L2C + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 19) // Galileo E5a + Galileo E5b
{
d_rtklib_band_index["5X"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 20) // GPS L5 + Galileo E5b
{
d_rtklib_band_index["L5"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 100) // E6B only
{
d_rtklib_freq_index[0] = 3;
}
if (d_type_of_rx == 101) // E1 + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 102) // E5a + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 103) // E5b + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 104) // Galileo E1B + Galileo E5a + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 105) // Galileo E1B + Galileo E5b + Galileo E6B
{
d_rtklib_freq_index[2] = 4;
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 106) // GPS L1 C/A + Galileo E1B + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
@ -406,8 +491,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool gps_dual_band = false; bool gps_dual_band = false;
bool band1 = false; bool band1 = false;
bool band2 = false; bool band2 = false;
bool gal_e5_is_e5b = false;
bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter) ++gnss_observables_iter)
@ -460,7 +544,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN, galileo_ephemeris_iter->second.WN,
0); d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
@ -484,7 +568,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs], d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN, galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5) d_rtklib_band_index[sig_]);
found_E1_obs = true; found_E1_obs = true;
break; break;
} }
@ -502,7 +586,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN, galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5) d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
} }
@ -510,14 +594,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
if (sig_ == "7X")
{
gal_e5_is_e5b = true;
}
} }
if (sig_ == "E6") if (sig_ == "E6")
{ {
gal_e6 = true;
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{ {
@ -529,7 +608,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs], d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN, galileo_ephemeris_iter->second.WN,
2); // Band E6 d_rtklib_band_index[sig_]);
found_E1_obs = true; found_E1_obs = true;
break; break;
} }
@ -547,8 +626,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN, galileo_ephemeris_iter->second.WN,
2); // Band E6 d_rtklib_band_index[sig_]);
// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
valid_obs++; valid_obs++;
} }
} }
@ -576,7 +654,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_ephemeris_iter->second.WN, gps_ephemeris_iter->second.WN,
0, d_rtklib_band_index[sig_],
this->is_pre_2009()); this->is_pre_2009());
valid_obs++; valid_obs++;
} }
@ -606,7 +684,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs], d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
eph_data[i].week, eph_data[i].week,
1); // Band 2 (L2) d_rtklib_band_index[sig_]);
break; break;
} }
} }
@ -625,7 +703,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN, gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2) d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
} }
@ -654,7 +732,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i], d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN, gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5) d_rtklib_band_index[sig_]);
break; break;
} }
} }
@ -672,7 +750,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN, gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5) d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
} }
@ -700,7 +778,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1) d_rtklib_band_index[sig_]);
glo_valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
@ -723,7 +801,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs], d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2) d_rtklib_band_index[sig_]);
found_L1_obs = true; found_L1_obs = true;
break; break;
} }
@ -738,7 +816,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2) d_rtklib_band_index[sig_]);
glo_valid_obs++; glo_valid_obs++;
} }
} }
@ -766,7 +844,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0); d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
@ -788,7 +866,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs], d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3) d_rtklib_band_index[sig_]);
found_B1I_obs = true; found_B1I_obs = true;
break; break;
} }
@ -806,7 +884,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2) d_rtklib_band_index[sig_]);
valid_obs++; valid_obs++;
} }
} }
@ -922,20 +1000,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
for (int j = 0; j < NFREQ; j++) for (int j = 0; j < NFREQ; j++)
{ {
if (j == 2 && gal_e6) nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
}
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function
nav_data.lam[i][j] = satwavelen(i + 1, 4, &nav_data);
}
else
{
nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
}
} }
} }

14
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -58,6 +58,7 @@
#include "pvt_solution.h" #include "pvt_solution.h"
#include "rtklib.h" #include "rtklib.h"
#include <array> #include <array>
#include <cstdint>
#include <fstream> #include <fstream>
#include <map> #include <map>
#include <string> #include <string>
@ -75,7 +76,11 @@
class Rtklib_Solver : public Pvt_Solution class Rtklib_Solver : public Pvt_Solution
{ {
public: public:
Rtklib_Solver(const rtk_t& rtk, const std::string& dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat); Rtklib_Solver(const rtk_t& rtk,
const std::string& dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat);
~Rtklib_Solver(); ~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@ -118,10 +123,13 @@ private:
std::array<obsd_t, MAXOBS> d_obs_data{}; std::array<obsd_t, MAXOBS> d_obs_data{};
std::array<double, 4> d_dop{}; std::array<double, 4> d_dop{};
rtk_t d_rtk{}; std::map<int, int> d_rtklib_freq_index;
Monitor_Pvt d_monitor_pvt{}; std::map<std::string, int> d_rtklib_band_index;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
rtk_t d_rtk{};
Monitor_Pvt d_monitor_pvt{};
uint32_t d_type_of_rx;
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled; bool d_flag_dump_mat_enabled;
}; };

2
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
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@ -143,7 +143,7 @@ void NmeaPrinterTest::conf()
TEST_F(NmeaPrinterTest, PrintLine) TEST_F(NmeaPrinterTest, PrintLine)
{ {
std::string filename("nmea_test.nmea"); std::string filename("nmea_test.nmea");
std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false);
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19), boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46));

20
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
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@ -141,7 +141,7 @@ void RinexPrinterTest::conf()
TEST_F(RinexPrinterTest, GalileoObsHeader) TEST_F(RinexPrinterTest, GalileoObsHeader)
{ {
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
auto eph = Galileo_Ephemeris(); auto eph = Galileo_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
@ -227,7 +227,7 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
TEST_F(RinexPrinterTest, GlonassObsHeader) TEST_F(RinexPrinterTest, GlonassObsHeader)
{ {
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false);
auto eph = Glonass_Gnav_Ephemeris(); auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph; pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
@ -287,7 +287,7 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
auto eph_gps = Gps_Ephemeris(); auto eph_gps = Gps_Ephemeris();
eph_gal.PRN = 1; eph_gal.PRN = 1;
eph_gps.PRN = 1; eph_gps.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph_gal; pvt_solution->galileo_ephemeris_map[1] = eph_gal;
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -357,7 +357,7 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
auto eph_gps = Gps_Ephemeris(); auto eph_gps = Gps_Ephemeris();
eph_glo.PRN = 1; eph_glo.PRN = 1;
eph_gps.PRN = 1; eph_gps.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo; pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -424,7 +424,7 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
bool no_more_finds = false; bool no_more_finds = false;
auto eph = Galileo_Ephemeris(); auto eph = Galileo_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -504,7 +504,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
bool no_more_finds = false; bool no_more_finds = false;
auto eph = Glonass_Gnav_Ephemeris(); auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 22; eph.PRN = 22;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph; pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -586,7 +586,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
auto eph_cnav = Gps_CNAV_Ephemeris(); auto eph_cnav = Gps_CNAV_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
eph_cnav.PRN = 1; eph_cnav.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false);
pvt_solution->gps_ephemeris_map[1] = eph; pvt_solution->gps_ephemeris_map[1] = eph;
pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav; pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -674,7 +674,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
TEST_F(RinexPrinterTest, GalileoObsLogDualBand) TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
{ {
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false);
auto eph = Galileo_Ephemeris(); auto eph = Galileo_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
@ -774,7 +774,7 @@ TEST_F(RinexPrinterTest, MixedObsLog)
auto eph_gal = Galileo_Ephemeris(); auto eph_gal = Galileo_Ephemeris();
eph_gps.PRN = 1; eph_gps.PRN = 1;
eph_gal.PRN = 1; eph_gal.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->galileo_ephemeris_map[1] = eph_gal; pvt_solution->galileo_ephemeris_map[1] = eph_gal;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -898,7 +898,7 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
auto eph_glo = Glonass_Gnav_Ephemeris(); auto eph_glo = Glonass_Gnav_Ephemeris();
eph_gps.PRN = 1; eph_gps.PRN = 1;
eph_glo.PRN = 1; eph_glo.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo; pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;

2
src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
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@ -383,7 +383,7 @@ TEST(RTKLibSolverTest, test1)
bool save_to_mat = false; bool save_to_mat = false;
rtk_t rtk = configure_rtklib_options(); rtk_t rtk = configure_rtklib_options();
auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, flag_dump_to_file, save_to_mat); auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat);
d_ls_pvt->set_averaging_depth(1); d_ls_pvt->set_averaging_depth(1);
// load ephemeris // load ephemeris