mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-10-31 15:23:04 +00:00
Code Issues Releases Wiki Activity

Thowards A-GNSS-SDR: New classes to store GPS SV orbital, clock, and ionosphere parameters. Work in progress...

Browse Source 
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@342 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2013-03-11 18:29:33 +00:00
parent 0c5b294e7d
commit 175a143c61
20 changed files with 658 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc
View File

@@ -34,12 +34,20 @@
#include "configuration_interface.h"
#include "gps_l1_ca_telemetry_decoder_cc.h"
#include <gnuradio/gr_io_signature.h>
//#include <gnuradio/gr_stream_to_vector.h>
//#include <gnuradio/gr_vector_to_stream.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "gps_ephemeris.h"
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
extern concurrent_queue<Gps_Navigation_Message> global_gps_nav_msg_queue;
extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
using google::LogMessage;
@@ -67,6 +75,10 @@ GpsL1CaTelemetryDecoder::GpsL1CaTelemetryDecoder(ConfigurationInterface* configu
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
// set the navigation msg queue;
telemetry_decoder_->set_navigation_queue(&global_gps_nav_msg_queue);
telemetry_decoder_->set_ephemeris_queue(&global_gps_ephemeris_queue);
telemetry_decoder_->set_iono_queue(&global_gps_iono_queue);
telemetry_decoder_->set_almanac_queue(&global_gps_almanac_queue);
telemetry_decoder_->set_utc_model_queue(&global_gps_utc_model_queue);
DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
}

2
src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.h
View File

@@ -35,8 +35,10 @@
#include "telemetry_decoder_interface.h"
#include "gps_l1_ca_telemetry_decoder_cc.h"
#include <gnuradio/gr_msg_queue.h>
class ConfigurationInterface;
/*!

5
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@@ -66,6 +66,11 @@ public:
* \brief Set the navigation queue
*/
void set_navigation_queue(concurrent_queue<Gps_Navigation_Message> *nav_queue){d_GPS_FSM.d_nav_queue=nav_queue;}
void set_ephemeris_queue(concurrent_queue<Gps_Ephemeris> *ephemeris_queue){d_GPS_FSM.d_ephemeris_queue=ephemeris_queue;}
void set_iono_queue(concurrent_queue<Gps_Iono> *iono_queue){d_GPS_FSM.d_iono_queue=iono_queue;}
void set_almanac_queue(concurrent_queue<Gps_Almanac> *almanac_queue){d_GPS_FSM.d_almanac_queue=almanac_queue;}
void set_utc_model_queue(concurrent_queue<Gps_Utc_Model> *utc_model_queue){d_GPS_FSM.d_utc_model_queue=utc_model_queue;}
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);

3
src/algorithms/telemetry_decoder/libs/CMakeLists.txt
View File

@@ -30,4 +30,5 @@ include_directories(
${GNURADIO_GRUEL_INCLUDE_DIRS}
)
add_library(telemetry_decoder_lib ${TELEMETRY_DECODER_LIB_SOURCES})
add_library(telemetry_decoder_lib ${TELEMETRY_DECODER_LIB_SOURCES})
target_link_libraries(telemetry_decoder_lib gnss_system_parameters)

43
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
View File

@@ -250,7 +250,6 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED!
subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
//std::cout<<"Detected PRN: " << d_nav.i_satellite_PRN << " for satellite " <<
std::cout << "NAVIGATION FSM: received subframe " << subframe_ID << " for satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN;
d_nav.i_channel_ID = i_channel_ID;
@@ -259,31 +258,39 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
/*!
* \todo change satellite validation to subframe 5 because it will have a complete set of ephemeris parameters
*/
// if (subframe_ID == 3)
// { // if the subframe is the 5th, then
// if (d_nav.satellite_validation()) // if all the satellite ephemeris parameters are good, then
// {
// // Send the procesed satellite ephemeris packet
// d_nav_queue->push(d_nav);
if (d_nav.satellite_validation()==true)
{
// get ephemeris object for this SV (mandatory)
// Gps_Ephemeris ephemeris=d_nav.get_ephemeris();
// d_ephemeris_queue->push(ephemeris);
//
// }
// }
d_nav.satellite_validation();
d_nav_queue->push(d_nav);
// // get ionospheric parameters (if available)
// if (d_nav.flag_iono_valid==true)
// {
// Gps_Iono iono=d_nav.get_iono();
// d_iono_queue->push(iono);
// }
//
// // get almanac (if available)
// //TODO: implement almanac reader in navigation_message
//
// // get UTC model
// if (d_nav.flag_utc_model_valid==true)
// {
// Gps_Utc_Model utc_model=d_nav.get_utc_model();
// d_utc_model_queue->push(utc_model);
//
// }
// old nav queue
d_nav_queue->push(d_nav);
}
}
void GpsL1CaSubframeFsm::Event_gps_word_valid()
{
this->process_event(Ev_gps_word_valid());
}
void GpsL1CaSubframeFsm::Event_gps_word_invalid()
{
this->process_event(Ev_gps_word_invalid());

19
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
View File

@@ -46,6 +46,10 @@
#include <cstring>
#include "GPS_L1_CA.h"
#include "gps_navigation_message.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_almanac.h"
#include "gps_utc_model.h"
namespace sc = boost::statechart;
namespace mpl = boost::mpl;
@@ -71,10 +75,25 @@ public:
unsigned int i_satellite_PRN;
// ephemeris queue
concurrent_queue<Gps_Ephemeris> *d_ephemeris_queue;
// ionospheric parameters queue
concurrent_queue<Gps_Iono> *d_iono_queue;
// UTC model parameters queue
concurrent_queue<Gps_Utc_Model> *d_utc_model_queue;
// Almanac queue
concurrent_queue<Gps_Almanac> *d_almanac_queue;
// Old navigation message queue
concurrent_queue<Gps_Navigation_Message> *d_nav_queue;
// navigation message class
Gps_Navigation_Message d_nav;
// GPS SV and System parameters
Gps_Ephemeris ephemeris;
Gps_Almanac almanac;
Gps_Utc_Model utc_model;
Gps_Iono iono;
char d_subframe[GPS_SUBFRAME_LENGTH];
char d_GPS_frame_4bytes[GPS_WORD_LENGTH];

4
src/core/system_parameters/CMakeLists.txt
View File

@@ -20,6 +20,10 @@ set(SYSTEM_PARAMETERS_SOURCES
gnss_satellite.cc
gnss_signal.cc
gps_navigation_message.cc
gps_ephemeris.cc
gps_iono.cc
gps_almanac.cc
gps_utc_model.cc
)
include_directories(

39
src/core/system_parameters/gps_almanac.cc Normal file
View File

@@ -0,0 +1,39 @@
/*!
* \file gps_almanac.cc
* \brief Interface of a GPS ALMANAC storage
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_almanac.h"
Gps_Almanac::Gps_Almanac()
{
}

68
src/core/system_parameters/gps_almanac.h Normal file
View File

@@ -0,0 +1,68 @@
/*!
* \file gps_almanac.h
* \brief Interface of a GPS ALMANAC storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_ALMANAC_H_
#define GNSS_SDR_GPS_ALMANAC_H_
#include "GPS_L1_CA.h"
/*!
* \brief This class is a storage for the GPS SV ALMANAC data as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
class Gps_Almanac
{
private:
public:
unsigned int i_satellite_PRN; // SV PRN NUMBER
double d_Delta_i;
double d_Toa; //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
double d_e_eccentricity; //!< Eccentricity [dimensionless]
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
int i_SV_health; // SV Health
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
/*!
* Default constructor
*/
Gps_Almanac();
};
#endif

39
src/core/system_parameters/gps_ephemeris.cc Normal file
View File

@@ -0,0 +1,39 @@
/*!
* \file gps_ephemeris.cc
* \brief Interface of a GPS EPHEMERIS storage
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_ephemeris.h"
Gps_Ephemeris::Gps_Ephemeris()
{
}

113
src/core/system_parameters/gps_ephemeris.h Normal file
View File

@@ -0,0 +1,113 @@
/*!
* \file gps_navigation_message.h
* \brief Interface of a GPS EPHEMERIS storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_EPHEMERIS_H_
#define GNSS_SDR_GPS_EPHEMERIS_H_
#include <iostream>
#include <map>
#include "boost/assign.hpp"
#include "GPS_L1_CA.h"
/*!
* \brief This class is a storage for the GPS SV ephemeris data as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
class Gps_Ephemeris
{
private:
public:
unsigned int i_satellite_PRN; // SV PRN NUMBER
double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_eccentricity; //!< Eccentricity [dimensionless]
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
int i_code_on_L2; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
int i_GPS_week; //!< GPS week number, aka WN [week]
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
int i_SV_health;
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
double d_IODC; //!< Issue of Data, Clock
int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
bool b_fit_interval_flag;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
double d_spare1;
double d_spare2;
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
// Flags
/*! \brief If true, enhanced level of integrity assurance.
*
* If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
* That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
* value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
* than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
* integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
* times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
* accompanying alert, is less than 1E-8 per hour.
*/
bool b_integrity_status_flag;
bool b_alert_flag; //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
bool b_antispoofing_flag; //!< If true, the AntiSpoofing mode is ON in that SV
/*!
* Default constructor
*/
Gps_Ephemeris();
};
#endif

40
src/core/system_parameters/gps_iono.cc Normal file
View File

@@ -0,0 +1,40 @@
/*!
* \file gps_iono.cc
* \brief Interface of a GPS IONOSPHERIC MODEL storage
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_iono.h"
Gps_Iono::Gps_Iono()
{
valid=false;
}

66
src/core/system_parameters/gps_iono.h Normal file
View File

@@ -0,0 +1,66 @@
/*!
* \file gps_iono.h
* \brief Interface of a GPS IONOSPHERIC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_IONO_H_
#define GNSS_SDR_GPS_IONO_H_
#include "GPS_L1_CA.h"
/*!
* \brief This class is a storage for the GPS IONOSPHERIC data as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
class Gps_Iono
{
private:
public:
// valid flag
bool valid;
// Ionospheric parameters
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
/*!
* Default constructor
*/
Gps_Iono();
};
#endif

78
src/core/system_parameters/gps_navigation_message.cc
View File

@@ -105,6 +105,8 @@ void Gps_Navigation_Message::reset()
b_antispoofing_flag = false;
// Ionosphere and UTC
flag_iono_valid=false;
flag_utc_model_valid=true;
d_alpha0 = 0;
d_alpha1 = 0;
d_alpha2 = 0;
@@ -591,6 +593,8 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
i_WN_LSF = (int)read_navigation_unsigned(subframe_bits, WN_LSF);
i_DN = (int)read_navigation_unsigned(subframe_bits, DN);; // Right-justified ?
d_DeltaT_LSF = (double)read_navigation_signed(subframe_bits, DELTAT_LSF);
flag_iono_valid=true;
flag_utc_model_valid=true;
}
if (SV_page == 25)
@@ -731,8 +735,82 @@ double Gps_Navigation_Message::utc_time(double gpstime_corrected)
Gps_Ephemeris Gps_Navigation_Message::get_ephemeris()
{
Gps_Ephemeris ephemeris;
ephemeris.i_satellite_PRN=i_satellite_PRN;
ephemeris.d_TOW=d_TOW;
ephemeris.d_Crs=d_Crs;
ephemeris.d_Delta_n=d_Delta_n;
ephemeris.d_M_0=d_M_0;
ephemeris.d_Cuc=d_Cuc;
ephemeris.d_e_eccentricity=d_e_eccentricity;
ephemeris.d_Cus=d_Cus;
ephemeris.d_sqrt_A=d_sqrt_A;
ephemeris.d_Toe=d_Toe;
ephemeris.d_Toc=d_Toc;
ephemeris.d_Cic=d_Cic;
ephemeris.d_OMEGA0=d_OMEGA0;
ephemeris.d_Cis=d_Cis;
ephemeris.d_i_0=d_i_0;
ephemeris.d_Crc=d_Crc;
ephemeris.d_OMEGA=d_OMEGA;
ephemeris.d_OMEGA_DOT=d_OMEGA_DOT;
ephemeris.d_IDOT=d_IDOT;
ephemeris.i_code_on_L2=i_code_on_L2;
ephemeris.i_GPS_week=i_GPS_week;
ephemeris.b_L2_P_data_flag=b_L2_P_data_flag;
ephemeris.i_SV_accuracy=i_SV_accuracy;
ephemeris.i_SV_health=i_SV_health;
ephemeris.d_TGD=d_TGD;
ephemeris.d_IODC=d_IODC;
ephemeris.i_AODO=i_AODO;
ephemeris.b_fit_interval_flag=b_fit_interval_flag;
ephemeris.d_spare1=d_spare1;
ephemeris.d_spare2=d_spare2;
ephemeris.d_A_f0=d_A_f0;
ephemeris.d_A_f1=d_A_f1;
ephemeris.d_A_f2=d_A_f2;
ephemeris.b_integrity_status_flag=b_integrity_status_flag;
ephemeris.b_alert_flag=b_alert_flag;
ephemeris.b_antispoofing_flag=b_antispoofing_flag;
return ephemeris;
}
Gps_Iono Gps_Navigation_Message::get_iono()
{
Gps_Iono iono;
iono.d_alpha0=d_alpha0;
iono.d_alpha1=d_alpha1;
iono.d_alpha2=d_alpha2;
iono.d_alpha3=d_alpha3;
iono.d_beta0=d_beta0;
iono.d_beta1=d_beta1;
iono.d_beta2=d_beta2;
iono.d_beta3=d_beta3;
iono.valid=flag_iono_valid;
// TODO: Clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
return iono;
}
Gps_Utc_Model Gps_Navigation_Message::get_utc_model()
{
Gps_Utc_Model utc_model;
utc_model.valid=flag_utc_model_valid;
// UTC parameters
utc_model.d_A1=d_A1;
utc_model.d_A0=d_A0;
utc_model.d_t_OT=d_t_OT;
utc_model.i_WN_T=i_WN_T;
utc_model.d_DeltaT_LS=d_DeltaT_LS;
utc_model.i_WN_LSF=i_WN_LSF;
utc_model.i_DN=i_DN;
utc_model.d_DeltaT_LSF=d_DeltaT_LSF;
// TODO: Clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
return utc_model;
}
bool Gps_Navigation_Message::satellite_validation()
{
bool flag_data_valid = false;

23
src/core/system_parameters/gps_navigation_message.h
View File

@@ -41,6 +41,11 @@
#include "boost/assign.hpp"
#include <math.h>
#include "GPS_L1_CA.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_almanac.h"
#include "gps_utc_model.h"
/*!
@@ -159,6 +164,7 @@ public:
double d_subframe_timestamp_ms; //[ms]
// Ionospheric parameters
bool flag_iono_valid; //!< If set, it indicates that the ionospheric parameters are filled (page 18 has arrived and decoded)
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
@@ -169,6 +175,7 @@ public:
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
// UTC parameters
bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
double d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200E) [s]
@@ -186,6 +193,22 @@ public:
// public functions
void reset();
/*!
* \brief Obtain a GPS SV Ephemeris class filled with current SV data
*/
Gps_Ephemeris get_ephemeris();
/*!
* \brief Obtain a GPS ionospheric correction parameters class filled with current SV data
*/
Gps_Iono get_iono();
/*!
* \brief Obtain a GPS UTC model parameters class filled with current SV data
*/
Gps_Utc_Model get_utc_model();
/*!
* \brief Decodes the GPS NAV message
*/

38
src/core/system_parameters/gps_utc_model.cc Normal file
View File

@@ -0,0 +1,38 @@
/*
* \file gps_utc_model.h
* \brief Interface of a GPS UTC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_utc_model.h"
Gps_Utc_Model::Gps_Utc_Model()
{
valid=false;
}

66
src/core/system_parameters/gps_utc_model.h Normal file
View File

@@ -0,0 +1,66 @@
/*!
* \file gps_utc_model.h
* \brief Interface of a GPS UTC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_UTC_MODEL_H_
#define GNSS_SDR_GPS_UTC_MODEL_H_
#include "GPS_L1_CA.h"
/*!
* \brief This class is a storage for the GPS UTC MODEL data as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
class Gps_Utc_Model
{
private:
public:
bool valid;
// UTC parameters
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
double d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200E) [s]
int i_WN_T; //!< UTC reference week number [weeks]
double d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
int i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
int i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
/*!
* Default constructor
*/
Gps_Utc_Model();
};
#endif

9
src/main/main.cc
View File

@@ -45,6 +45,10 @@
#include <boost/thread/thread.hpp>
#include "concurrent_queue.h"
#include "gps_navigation_message.h"
#include "gps_ephemeris.h"
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include <sys/time.h>
#include <ctime>
#include <memory>
@@ -62,6 +66,11 @@ DECLARE_string(log_dir);
* to the Observables modules
*/
concurrent_queue<Gps_Navigation_Message> global_gps_nav_msg_queue;
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
concurrent_queue<Gps_Iono> global_gps_iono_queue;
concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
int main(int argc, char** argv)
{

4
src/tests/single_test_main.cc
View File

@@ -43,6 +43,10 @@
#include "gps_navigation_message.h"
concurrent_queue<Gps_Navigation_Message> global_gps_nav_msg_queue;
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
concurrent_queue<Gps_Iono> global_gps_iono_queue;
concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
int main(int argc, char **argv)
{

4
src/tests/test_main.cc
View File

@@ -70,6 +70,10 @@
concurrent_queue<Gps_Navigation_Message> global_gps_nav_msg_queue;
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
concurrent_queue<Gps_Iono> global_gps_iono_queue;
concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
int main(int argc, char **argv)