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bds_b3i: fixing bugs in pvt computation

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Damian Miralles 2019-03-26 13:37:34 -05:00 committed by Carles Fernandez
parent 41036c1538
commit 1a2d90a8f1
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GPG Key ID: 4C583C52B0C3877D
5 changed files with 33 additions and 5 deletions
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7
conf/gnss-sdr_BDS_B3I_byte.conf
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@ -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

10
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -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);

13
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -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:

6
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -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;

2
src/tests/test_main.cc
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@ -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"