mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-09-28 15:08:51 +00:00
Code Issues Releases Wiki Activity

Add generation of RTCM messages for more receiver configurations

Browse Source
This commit is contained in:
Carles Fernandez 2016-11-04 09:19:31 +01:00
parent 05f8b78751
commit 19d212065b
3 changed files with 70 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

59
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -366,7 +366,6 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused))) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{ {
d_sample_counter++; d_sample_counter++;
bool arrived_galileo_almanac = false;
unsigned int gps_channel = 0; unsigned int gps_channel = 0;
unsigned int gal_channel = 0; unsigned int gal_channel = 0;
@ -743,8 +742,17 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
} }
} }
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
if(type_of_rx == 4) // Galileo E1B }
}
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{ {
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0) if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
{ {
@ -763,6 +771,27 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
} }
} }
} }
if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
{
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0)) if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
@ -833,7 +862,23 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if(!b_rtcm_writing_started) // the first time if(!b_rtcm_writing_started) // the first time
{ {
if(type_of_rx == 4) // Galileo E1B if(type_of_rx == 1) // GPS L1 C/A
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{ {
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ ) for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{ {
@ -848,7 +893,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if(type_of_rx == 1) // GPS L1 C/A if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
{ {
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{ {
@ -856,10 +901,11 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
} }
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
@ -880,7 +926,6 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
} }
} }
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{ {

16
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -161,6 +161,22 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph) bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
{ {
std::string m1019 = rtcm->print_MT1019(gps_eph); std::string m1019 = rtcm->print_MT1019(gps_eph);

2
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -57,6 +57,8 @@ public:
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes. bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes