mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2026-10-17 04:52:36 +00:00
Code Issues Releases Wiki Activity

Extend the healthy field to more signals

Browse Source
This commit is contained in:
Carles Fernandez
2026-09-16 11:24:37 +02:00
parent 9f5f3b9427
commit 199e943b8e
6 changed files with 158 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/CHANGELOG.md
+2 -1
View File
@@ -371,7 +371,8 @@ All notable changes to GNSS-SDR will be documented in this file.
ionosphere-free combination), and a `used` flag telling whether it contributed
to the reported fix. Satellites that were tracked but left out of the solution
(below `PVT.elevation_mask`, or excluded by RAIM) are listed with
`used = false`. Contributed by @joebre.
`used = false`. Unhealthy satellites are listed with `healthy = false`.
Contributed by @joebre.
### Improvements in Maintainability:
docs/protobuf/monitor_pvt.proto
+2 -1
View File
@@ -60,7 +60,8 @@ message MonitorPvt {
// appears as two entries, both with combined = true. A satellite can have
// azimuth_deg/elevation_deg populated with used = false when it was
// tracked and had az/el computed but excluded from the fix itself (e.g.
// below PVT.elevation_mask, or by RAIM FDE).
// below PVT.elevation_mask, or by RAIM FDE). The healthy flag carries the
// broadcast health of the signal, independently of used.
message TrackedSatellite {
uint32 prn = 1;
string system = 2; // "G" GPS, "E" Galileo, "R" GLONASS, "C" BeiDou, "S" SBAS, "J" QZSS
src/algorithms/PVT/libs/rtklib_solver.cc
+122 -37
View File
@@ -1419,6 +1419,121 @@ bool Rtklib_Solver::get_galileo_signal_health(uint32_t prn, const std::string &s
}
bool Rtklib_Solver::get_broadcast_signal_health(char system, uint32_t prn, const std::string &signal,
uint32_t observation_tow, bool &healthy) const
{
const auto prn_key = static_cast<int>(prn);
switch (system)
{
case 'G':
case 'J':
{
// L2C and L5 health comes from the CNAV message that carries them:
// bits 52-54 of message type 10 are the L1, L2 and L5 signal health
// (0 = OK, IS-GPS-200 30.3.3.1.1.2).
if (signal == "2S" || signal == "L5" || signal == "J5")
{
const auto cnav_it = gps_cnav_ephemeris_map.find(prn_key);
if (cnav_it != gps_cnav_ephemeris_map.cend())
{
const int32_t signal_bit = (signal == "2S") ? 0x2 : 0x1;
healthy = ((cnav_it->second.signal_health & signal_bit) == 0);
return true;
}
}
// L1 C/A: per-satellite SV health from LNAV subframe 1, falling back
// to the almanac (broadcast by every satellite) when no ephemeris has
// been decoded for this satellite yet.
const auto eph_it = gps_ephemeris_map.find(prn_key);
if (eph_it != gps_ephemeris_map.cend())
{
healthy = (eph_it->second.SV_health == 0);
return true;
}
const auto alm_it = gps_almanac_map.find(prn_key);
if (alm_it != gps_almanac_map.cend())
{
healthy = (alm_it->second.SV_health == 0);
return true;
}
return false;
}
case 'E':
{
if (get_galileo_signal_health(prn, signal, observation_tow, healthy))
{
return true;
}
// No ephemeris decoded for this signal's service yet -- fall
// back to the almanac, broadcast by every satellite.
const auto alm_it = galileo_almanac_map.find(prn_key);
if (alm_it != galileo_almanac_map.cend())
{
healthy = (alm_it->second.E1B_HS == 0);
return true;
}
return false;
}
case 'R':
{
// Same predicate as the ephemeris handed to RTKLIB (see
// eph_to_rtklib()), so a GLONASS satellite excluded from the solve
// for health reasons is reported with used = false, healthy = false.
const auto eph_it = glonass_gnav_ephemeris_map.find(prn_key);
if (eph_it != glonass_gnav_ephemeris_map.cend())
{
healthy = glonass_gnav_is_healthy(eph_it->second, d_conf.glonass_strict_health);
return true;
}
return false;
}
case 'C':
{
if (signal == "1D")
{
// B1C: B-CNAV1 subframe 3 health status (HS, 0 = healthy). The
// latest page data is preferred over the ephemeris record, as
// when the ephemeris is handed to RTKLIB.
const auto page_it = beidou_cnav1_page_data_map.find(prn_key);
if (page_it != beidou_cnav1_page_data_map.cend())
{
healthy = (page_it->second.common.hs == 0);
return true;
}
const auto cnav1_it = beidou_cnav1_ephemeris_map.find(prn_key);
if (cnav1_it != beidou_cnav1_ephemeris_map.cend())
{
healthy = (cnav1_it->second.hs == 0);
return true;
}
return false;
}
if (signal == "5D")
{
// B2a: B-CNAV2 health status (HS, 0 = healthy)
const auto cnav2_it = beidou_cnav2_ephemeris_map.find(prn_key);
if (cnav2_it != beidou_cnav2_ephemeris_map.cend())
{
healthy = (cnav2_it->second.hs == 0);
return true;
}
return false;
}
// B1I / B3I: DNAV satellite health (SatH1, 0 = healthy)
const auto dnav_it = beidou_dnav_ephemeris_map.find(prn_key);
if (dnav_it != beidou_dnav_ephemeris_map.cend())
{
healthy = (dnav_it->second.SV_health == 0);
return true;
}
return false;
}
default:
return false;
}
}
std::map<int, Galileo_Ephemeris> Rtklib_Solver::get_galileo_ephemeris_map_for_pvt() const
{
auto result = galileo_ephemeris_store.combined_view(d_galileo_nav_message_type_for_pvt);
@@ -3045,28 +3160,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
break;
}
// GPS health is per-satellite; falls back to the almanac
// (broadcast by every satellite) for one with no ephemeris
// decoded yet. Galileo health is per-signal, resolved below.
// Other systems default to healthy=true.
bool healthy = true;
if (sys_char == 'G')
{
const auto eph_it = gps_ephemeris_map.find(prn);
if (eph_it != gps_ephemeris_map.cend())
{
healthy = (eph_it->second.SV_health == 0);
}
else
{
const auto alm_it = gps_almanac_map.find(prn);
if (alm_it != gps_almanac_map.cend())
{
healthy = (alm_it->second.SV_health == 0);
}
}
}
std::vector<const Gnss_Synchro *> contributing_signals;
for (const auto &observable_pair : gnss_observables_map)
{
@@ -3094,22 +3187,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
info.elevation_deg = pvt_ssat[sat_idx].azel[1] * R2D;
info.combined = combined;
info.used = used;
info.healthy = healthy;
if (sys_char == 'E')
// Broadcast health of this signal, as reported by the
// navigation message that carries it (true when no health
// information is available). Independent of `used`.
const auto observation_tow = static_cast<uint32_t>(synchro->interp_TOW_ms / 1000.0);
bool healthy = true;
if (get_broadcast_signal_health(sys_char, static_cast<uint32_t>(prn), info.signal, observation_tow, healthy))
{
bool galileo_healthy = false;
const auto observation_tow = static_cast<uint32_t>(synchro->interp_TOW_ms / 1000.0);
if (get_galileo_signal_health(static_cast<uint32_t>(prn), info.signal, observation_tow, galileo_healthy))
{
info.healthy = galileo_healthy;
}
else
{
// No ephemeris decoded for this signal's service yet -- fall
// back to the almanac, broadcast by every satellite.
const auto alm_it = galileo_almanac_map.find(prn);
info.healthy = (alm_it == galileo_almanac_map.cend()) || (alm_it->second.E1B_HS == 0);
}
info.healthy = healthy;
}
d_monitor_pvt.tracked_satellites.push_back(info);
}
src/algorithms/PVT/libs/rtklib_solver.h
+11
View File
@@ -161,6 +161,17 @@ public:
Galileo_Nav_Message_Type galileo_nav_message_type_for_pvt() const;
bool is_galileo_signal_used_in_pvt(const std::string& signal) const;
bool get_galileo_signal_health(uint32_t prn, const std::string& signal, uint32_t observation_tow, bool& healthy) const;
/*!
* \brief Broadcast health of one tracked signal, as reported by the navigation
* message that carries it: GPS/QZSS L1 C/A from the LNAV SV health (almanac
* when no ephemeris has been decoded yet), GPS/QZSS L2C and L5 from the CNAV
* per-signal health bits, Galileo per signal (see get_galileo_signal_health(),
* almanac E1B_HS when no ephemeris is available), GLONASS from the GNAV ln/Bn
* flags, BeiDou B1I/B3I from the DNAV SV health and B1C/B2a from the
* B-CNAV1/B-CNAV2 health status. Independent of PVT.use_unhealthy_sats.
* \return true if health information is available for that signal (healthy is then set)
*/
bool get_broadcast_signal_health(char system, uint32_t prn, const std::string& signal, uint32_t observation_tow, bool& healthy) const;
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map_for_pvt() const;
bool select_galileo_ephemeris(uint32_t prn, const std::string& signal, uint32_t observation_tow,
Galileo_Ephemeris& ephemeris, bool& from_reduced_ced) const;
src/algorithms/libs/rtklib/rtklib_conversions.cc
+12 -6
View File
@@ -402,22 +402,28 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs,
}
bool glonass_gnav_is_healthy(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, bool glonass_strict_health)
{
// The ln flag (string 3) always marks a satellite malfunction. The MSB of
// the Bn word is a stricter health indicator that is only applied when
// glonass_strict_health is enabled
const bool bn_msb_unhealthy = glonass_strict_health && ((static_cast<int32_t>(glonass_gnav_eph.d_B_n) & 4) != 0);
return !(bn_msb_unhealthy || glonass_gnav_eph.d_l3rd_n);
}
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& gnav_clock_model, bool glonass_strict_health)
{
int week;
double sec;
int adj_week;
geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
// The ln flag (string 3) always marks a satellite malfunction. The MSB of
// the Bn word is a stricter health indicator that is only applied when
// glonass_strict_health is enabled
const bool bn_msb_unhealthy = glonass_strict_health && ((static_cast<int32_t>(glonass_gnav_eph.d_B_n) & 4) != 0);
const bool healthy = glonass_gnav_is_healthy(glonass_gnav_eph, glonass_strict_health);
rtklib_sat.sat = satno(SYS_GLO, glonass_gnav_eph.i_satellite_slot_number); /* satellite number */
rtklib_sat.iode = static_cast<int>(std::lround(glonass_gnav_eph.d_t_b / 900.0)); /* IODE (tb interval index) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = (bn_msb_unhealthy || glonass_gnav_eph.d_l3rd_n) ? 1 : 0; /* satellite health from the ln flag (and optionally the Bn MSB) */
rtklib_sat.svh = healthy ? 0 : 1; /* satellite health from the ln flag (and optionally the Bn MSB) */
rtklib_sat.sva = static_cast<int>(glonass_gnav_eph.d_F_T); /* satellite accuracy*/
rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_E_n); /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn * 1000; /* satellite position (ecef) (m) */
src/algorithms/libs/rtklib/rtklib_conversions.h
+9
View File
@@ -127,6 +127,15 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm, int ref_week = 0);
alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm, int ref_week = 0);
alm_t alm_to_rtklib(const Beidou_Dnav_Almanac& bei_alm);
/*!
* \brief Broadcast health of a GLONASS satellite according to its GNAV ephemeris
* \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
* \param glonass_strict_health when true (default), the MSB of the Bn word also marks the
* satellite as unhealthy; when false, only the ln flag is used
* \return true if the satellite does not report a malfunction
*/
bool glonass_gnav_is_healthy(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, bool glonass_strict_health = true);
/*!
* \brief Transforms a Glonass_Gnav_Ephemeris to its RTKLIB counterpart
* \param glonass_gnav_eph GLONASS GNAV Ephemeris structure