bds_b3i: fixing bugs in pvt computation

conf/gnss-sdr_BDS_B3I_byte.conf

@@ -23,6 +23,7 @@ SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
 SignalSource.enable_throttle_control=false
+;SignalSource.samples=200000
 
 ;######### SIGNAL_CONDITIONER CONFIG ############
 SignalConditioner.implementation=Signal_Conditioner
@@ -47,6 +48,8 @@ InputFilter.filter_type=bandpass
 InputFilter.grid_density=16
 InputFilter.sampling_frequency=50000000
 InputFilter.IF=12500000
+InputFilter.dump = false
+InputFilter.dump_filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat
 Resampler.implementation=Pass_Through
 Resampler.sample_freq_in=50000000
 Resampler.sample_freq_out=50000000
@@ -55,7 +58,7 @@ Resampler.item_type=gr_complex
 
 ;######### CHANNELS GLOBAL CONFIG ############
 Channels_B3.count=10
-Channels.in_acquisition=10
+Channels.in_acquisition=1
 Channel.signal=B3
 
 Channel0.satellite = 6;
@@ -74,7 +77,7 @@ Acquisition_B3.implementation=BEIDOU_B3I_PCPS_Acquisition
 Acquisition_B3.item_type=gr_complex
 Acquisition_B3.coherent_integration_time_ms=3
 Acquisition_B3.max_dwells = 2
-Acquisition_B3.threshold=0.0004
+Acquisition_B3.threshold=0.0005
 Acquisition_B3.doppler_max=10000
 Acquisition_B3.doppler_step=100
 Acquisition_B3.dump=false

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -66,6 +66,7 @@
 #include <utility>
 
 
+
 Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
 {
     // init empty ephemeris for all the available GNSS channels
@@ -892,6 +893,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
     if ((valid_obs + glo_valid_obs) > 3)
         {
             int result = 0;
+            int sat = 0;
             nav_t nav_data;
             nav_data.eph = eph_data;
             nav_data.geph = geph_data;
@@ -903,6 +905,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     i[0] = SPEED_OF_LIGHT / FREQ1;  // L1/E1
                     i[1] = SPEED_OF_LIGHT / FREQ2;  // L2
                     i[2] = SPEED_OF_LIGHT / FREQ5;  // L5/E5
+
+                    // Keep update on sat number
+                    sat++;
+                    if(sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS) {
+                    	i[0] = SPEED_OF_LIGHT / FREQ1_BDS;  // B1I
+                    	i[1] = SPEED_OF_LIGHT / FREQ3_BDS;  // B3I
+                    	i[2] = SPEED_OF_LIGHT / FREQ5;      // L5/E5
+                    }
                 }
 
             result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -43,12 +43,17 @@
 #include "rtklib_rtkcmn.h"
 #include <cmath>
 #include <cstdint>
+#include <string>
 
 obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band)
 {
+	// Get signal type info to adjust code type based on constellation
+	std::string sig_= gnss_synchro.Signal;
+
     rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
     rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
     rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / PI_2;
+
     switch (band)
         {
         case 0:
@@ -86,6 +91,14 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
             break;
         case 'C':
             rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
+            // Update signal code
+            if (sig_ == "B1"){
+            	rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2I);
+            }
+            else if (sig_ == "B3"){
+            	rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6I);
+            }
+
             break;
 
         default:

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -210,7 +210,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                 }
         }
     /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
-    if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO)
+    if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS)
         {
             gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
         }
@@ -282,7 +282,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                                     PC = P2 + P1_P2 - ISCl5i;
                                 }
                         }
-                    else if (sys == SYS_GAL or sys == SYS_GLO)  // Gal. E5a single freq.
+                    else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS)  // Gal. E5a single freq.
                         {
                             P2 += P2_C2; /* C2->P2 */
                             PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
@@ -306,7 +306,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
                             PC = P1 + P1_P2;
                         }
                 }
-            else if (sys == SYS_GAL or sys == SYS_GLO) /* E1 + E5a */
+            else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) /* E1 + E5a */
                 {
                     P1 += P1_C1;
                     P2 += P2_C2;

src/tests/test_main.cc

@@ -80,6 +80,8 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc"
+//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc"
+//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/adapter/adapter_test.cc"
 #include "unit-tests/signal-processing-blocks/adapter/pass_through_test.cc"
 #include "unit-tests/signal-processing-blocks/filter/fir_filter_test.cc"