Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

CMakeLists.txt

@@ -45,7 +45,7 @@ endif(NOT CMAKE_PREFIX_PATH)
 ########################################################################
 # Support of optional RF front-ends
 option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
-option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source (experimental)" OFF)
+option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF)
 option(ENABLE_FLEXIBAND "Enable the use of the signal source adater for the Teleorbit Flexiband GNURadio driver" OFF)
 option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal source (experimental)" OFF)
 option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF)
@@ -341,10 +341,10 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
 ################################################################################
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.200.x")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
-set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
+set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
 
 
@@ -622,7 +622,9 @@ if(NOT VOLK_GNSSSDR_FOUND)
         if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
             set(STRIP_VOLK_GNSSSDR_PROFILE "-DENABLE_STRIP=ON -DCMAKE_VERBOSE_MAKEFILE=ON")
         endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+        if(NOT DEFINED ENV{PROTECT_PASSWORDS})
             set(READ_ENVIRO ${CMAKE_COMMAND} -E environment)
+        endif(NOT DEFINED ENV{PROTECT_PASSWORDS})
     endif(ENABLE_PACKAGING)
 
     set(VOLK_GNSSSDR_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}")

README.md

@@ -186,9 +186,9 @@ $ sudo apt-get install libblas-dev liblapack-dev       # For Debian/Ubuntu/Linux
 $ sudo yum install lapack-devel blas-devel             # For Fedora/CentOS/RHEL
 $ sudo zypper install lapack-devel blas-devel          # For OpenSUSE
 $ sudo pacman -S blas lapack                           # For Arch Linux
-$ wget https://sourceforge.net/projects/arma/files/armadillo-8.500.1.tar.xz
+$ wget https://sourceforge.net/projects/arma/files/armadillo-9.100.5.tar.xz
-$ tar xvfz armadillo-8.500.1.tar.xz
+$ tar xvfz armadillo-9.100.5.tar.xz
-$ cd armadillo-8.500.1
+$ cd armadillo-9.100.5
 $ cmake .
 $ make
 $ sudo make install

cmake/Modules/FindGPSTK.cmake

@@ -24,10 +24,10 @@
 # also defined, but not for general use are
 #  GPSTK_LIBRARY, where to find the GPSTK library.
 
-FIND_PATH(GPSTK_INCLUDE_DIR Rinex3ObsBase.hpp
+FIND_PATH(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
-          HINTS /usr/include/gpstk
+          HINTS /usr/include
-                /usr/local/include/gpstk
+                /usr/local/include
-                /opt/local/include/gpstk )
+                /opt/local/include )
 
 SET(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
 FIND_LIBRARY(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}

cmake/Modules/FindGnssSimulator.cmake

@@ -0,0 +1,28 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# 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 <https://www.gnu.org/licenses/>.
+
+
+find_program(SW_GENERATOR_BIN gnss_sim
+             PATHS /usr/bin
+                   /usr/local/bin
+                   /opt/local/bin
+                   ${CMAKE_INSTALL_PREFIX}/bin
+             PATH_SUFFIXES bin )
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNSS-SIMULATOR  DEFAULT_MSG  SW_GENERATOR_BIN)
+MARK_AS_ADVANCED(SW_GENERATOR_BIN)

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -25,6 +25,10 @@ set(PVT_ADAPTER_SOURCES
 	rtklib_pvt.cc
 )
 
+set(PVT_ADAPTER_HEADERS
+	rtklib_pvt.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -41,8 +45,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_ADAPTER_HEADERS "*.h")
-list(SORT PVT_ADAPTER_HEADERS)
 add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
 target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -506,12 +506,12 @@ bool RtklibPvt::save_assistance_to_XML()
 
     if (eph_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L1 Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -519,13 +519,13 @@ bool RtklibPvt::save_assistance_to_XML()
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;  // return variable (true == succeeded)
         }
     else
         {
             LOG(WARNING) << "Failed to save Ephemeris, map is empty";
             return false;
         }
+    return true;  // return variable (true == succeeded)
 }
 
 

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -25,6 +25,10 @@ set(PVT_GR_BLOCKS_SOURCES
 	rtklib_pvt_cc.cc
 )
 
+set(PVT_GR_BLOCKS_HEADERS
+	rtklib_pvt_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -39,8 +43,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_GR_BLOCKS_HEADERS "*.h")
-list(SORT PVT_GR_BLOCKS_HEADERS)
 add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
 target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -50,6 +50,10 @@ namespace bc = boost::math;
 namespace bc = boost::integer;
 #endif
 
+//includes used by the observables serializarion (export observables for rtklib unit test)
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/serialization/map.hpp>
 
 using google::LogMessage;
 
@@ -392,16 +396,15 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
     msgctl(sysv_msqid, IPC_RMID, NULL);
 
     // save GPS L2CM ephemeris to XML file
-    std::string file_name = "eph_GPS_CNAV.xml";
+    std::string file_name = "gps_cnav_ephemeris.xml";
-
     if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
-                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -411,20 +414,19 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
         }
     else
         {
-            LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
+            LOG(INFO) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
         }
 
     // save GPS L1 CA ephemeris to XML file
-    file_name = "eph_GPS_L1CA.xml";
+    file_name = "gps_ephemeris.xml";
-
     if (d_ls_pvt->gps_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -434,20 +436,19 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
         }
     else
         {
-            LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty";
+            LOG(INFO) << "Failed to save GPS L1 CA Ephemeris, map is empty";
         }
 
     // save Galileo E1 ephemeris to XML file
-    file_name = "eph_Galileo_E1.xml";
+    file_name = "gal_ephemeris.xml";
-
     if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
-                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -457,20 +458,19 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
         }
     else
         {
-            LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
+            LOG(INFO) << "Failed to save Galileo E1 Ephemeris, map is empty";
         }
 
     // save GLONASS GNAV ephemeris to XML file
     file_name = "eph_GLONASS_GNAV.xml";
-
     if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
-                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -480,7 +480,73 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
         }
     else
         {
-            LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
+            LOG(INFO) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
+        }
+
+    // Save GPS UTC model parameters
+    file_name = "gps_utc_model.xml";
+    if (d_ls_pvt->gps_utc_model.valid)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", d_ls_pvt->gps_utc_model);
+                    LOG(INFO) << "Saved GPS UTC model parameters";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                }
+        }
+    else
+        {
+            LOG(INFO) << "Failed to save GPS UTC model parameters, not valid data";
+        }
+
+    // Save Galileo UTC model parameters
+    file_name = "gal_utc_model.xml";
+    if (d_ls_pvt->galileo_utc_model.A0_6 != 0.0)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", d_ls_pvt->galileo_utc_model);
+                    LOG(INFO) << "Saved Galileo UTC model parameters";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                }
+        }
+    else
+        {
+            LOG(INFO) << "Failed to save Galileo UTC model parameters, not valid data";
+        }
+
+    // Save GPS CNAV UTC model parameters
+    file_name = "gps_cnav_utc_model.xml";
+    if (d_ls_pvt->gps_cnav_utc_model.valid)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", d_ls_pvt->gps_cnav_utc_model);
+                    LOG(INFO) << "Saved GPS CNAV UTC model parameters";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                }
+        }
+    else
+        {
+            LOG(INFO) << "Failed to save GPS CNAV UTC model parameters, not valid data";
         }
 }
 
@@ -507,6 +573,54 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
 }
 
 
+bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
+{
+    if (gnss_observables_map.empty() == false)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+                    LOG(INFO) << "Saved gnss_sychro map data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+            return true;
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
+            return false;
+        }
+}
+
+
+bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
+{
+    // load from xml (boost serialize)
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gnss_observables_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+            //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+        }
+    catch (std::exception& e)
+        {
+            std::cout << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
 int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
     gr_vector_void_star& output_items __attribute__((unused)))
 {
@@ -526,7 +640,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
 
             gnss_observables_map.clear();
             const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
-
             // ############ 1. READ PSEUDORANGES ####
             for (uint32_t i = 0; i < d_nchannels; i++)
                 {
@@ -610,8 +723,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                             //        it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
                             //    }
 
+
                             if (d_ls_pvt->get_PVT(gnss_observables_map, false))
                                 {
+                                    //Optional debug code: export observables snapshot for rtklib unit testing
+                                    //std::cout << "step 1: save gnss_synchro map" << std::endl;
+                                    //save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
+                                    //getchar(); //stop the execution
+                                    //end debug
+
                                     if (current_RX_time_ms % d_display_rate_ms == 0)
                                         {
                                             flag_display_pvt = true;
@@ -2060,7 +2180,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                         {
                             std::streamsize ss = std::cout.precision();  // save current precision
                             std::cout.setf(std::ios::fixed, std::ios::floatfield);
-
                             auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
                             std::cout.imbue(std::locale(std::cout.getloc(), facet));
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -152,6 +152,10 @@ private:
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
     std::chrono::time_point<std::chrono::system_clock> start, end;
 
+    bool save_gnss_synchro_map_xml(const std::string file_name);  //debug helper function
+
+    bool load_gnss_synchro_map_xml(const std::string file_name);  //debug helper function
+
 public:
     rtklib_pvt_cc(uint32_t nchannels,
         bool dump, std::string dump_filename,

src/algorithms/PVT/libs/CMakeLists.txt

@@ -31,6 +31,20 @@ set(PVT_LIB_SOURCES
      rtklib_solver.cc
 )
 
+set(PVT_LIB_HEADERS 
+     pvt_solution.h
+     ls_pvt.h
+     hybrid_ls_pvt.h
+     kml_printer.h
+     gpx_printer.h
+     rinex_printer.h
+     nmea_printer.h  
+     rtcm_printer.h
+     geojson_printer.h
+     rtklib_solver.h
+)
+
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -45,8 +59,9 @@ include_directories(
      ${GLOG_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_LIB_HEADERS "*.h")
 list(SORT PVT_LIB_HEADERS)
+list(SORT PVT_LIB_SOURCES)
+
 add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
 source_group(Headers FILES ${PVT_LIB_HEADERS})
 add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
@@ -61,4 +76,3 @@ target_link_libraries(
     ${BLAS}
     ${LAPACK}
 )
-    

src/algorithms/PVT/libs/rtklib_solver.h

@@ -76,12 +76,13 @@ private:
     rtk_t rtk_;
     std::string d_dump_filename;
     std::ofstream d_dump_file;
-    sol_t pvt_sol;
+
     bool d_flag_dump_enabled;
     int d_nchannels;  // Number of available channels for positioning
     double dop_[4];
 
 public:
+    sol_t pvt_sol;
     rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
     ~rtklib_solver();
 

src/algorithms/acquisition/adapters/CMakeLists.txt

@@ -36,12 +36,43 @@ set(ACQ_ADAPTER_SOURCES
     glonass_l2_ca_pcps_acquisition.cc
 )
 
+set(ACQ_ADAPTER_HEADERS
+    gps_l1_ca_pcps_acquisition.h
+    gps_l1_ca_pcps_assisted_acquisition.h
+    gps_l1_ca_pcps_acquisition_fine_doppler.h
+    gps_l1_ca_pcps_tong_acquisition.h
+    gps_l1_ca_pcps_quicksync_acquisition.h
+    gps_l2_m_pcps_acquisition.h
+    gps_l5i_pcps_acquisition.h
+    galileo_e1_pcps_ambiguous_acquisition.h
+    galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
+    galileo_e1_pcps_quicksync_ambiguous_acquisition.h
+    galileo_e1_pcps_tong_ambiguous_acquisition.h
+    galileo_e1_pcps_8ms_ambiguous_acquisition.h
+    galileo_e5a_noncoherent_iq_acquisition_caf.h
+    galileo_e5a_pcps_acquisition.h
+    glonass_l1_ca_pcps_acquisition.h
+    glonass_l2_ca_pcps_acquisition.h
+)
+
+
 if(ENABLE_FPGA)
-    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc gps_l2_m_pcps_acquisition_fpga.cc galileo_e1_pcps_ambiguous_acquisition_fpga.cc galileo_e5a_pcps_acquisition_fpga.cc gps_l5i_pcps_acquisition_fpga.cc)
+    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc 
+                                                   gps_l2_m_pcps_acquisition_fpga.cc
+                                                   galileo_e1_pcps_ambiguous_acquisition_fpga.cc
+                                                   galileo_e5a_pcps_acquisition_fpga.cc
+                                                   gps_l5i_pcps_acquisition_fpga.cc)
+
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_acquisition_fpga.h 
+                                                   gps_l2_m_pcps_acquisition_fpga.h
+                                                   galileo_e1_pcps_ambiguous_acquisition_fpga.h
+                                                   galileo_e5a_pcps_acquisition_fpga.h
+                                                   gps_l5i_pcps_acquisition_fpga.h)                                                   
 endif(ENABLE_FPGA)
     
 if(OPENCL_FOUND)
     set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_opencl_acquisition.cc)
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_opencl_acquisition.h)
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -61,8 +92,8 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB ACQ_ADAPTER_HEADERS "*.h")
 list(SORT ACQ_ADAPTER_HEADERS)
+list(SORT ACQ_ADAPTER_SOURCES)
 add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
 source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
 target_link_libraries(acq_adapters acquisition_lib gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -28,12 +28,25 @@ set(ACQ_GR_BLOCKS_SOURCES
     galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
 )
 
+set(ACQ_GR_BLOCKS_HEADERS
+    pcps_acquisition.h
+    pcps_assisted_acquisition_cc.h
+    pcps_acquisition_fine_doppler_cc.h
+    pcps_tong_acquisition_cc.h
+    pcps_cccwsr_acquisition_cc.h
+    pcps_quicksync_acquisition_cc.h
+    galileo_pcps_8ms_acquisition_cc.h
+    galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
+) 
+
 if(ENABLE_FPGA)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
+    set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_acquisition_fpga.h)
 endif(ENABLE_FPGA)
     
 if(OPENCL_FOUND)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
+    set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -61,8 +74,8 @@ if(OPENCL_FOUND)
     endif(OS_IS_MACOSX)
 endif(OPENCL_FOUND)
 
-file(GLOB ACQ_GR_BLOCKS_HEADERS "*.h")
 list(SORT ACQ_GR_BLOCKS_HEADERS)
+list(SORT ACQ_GR_BLOCKS_SOURCES)
 add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -271,8 +271,8 @@ void pcps_acquisition::init()
     d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
 
     // Create the carrier Doppler wipeoff signals
-    d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+    if (d_grid_doppler_wipeoffs == nullptr) d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
-    if (acq_parameters.make_2_steps)
+    if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
         {
             d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
             for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
@@ -281,11 +281,18 @@ void pcps_acquisition::init()
                 }
         }
 
+    if (d_magnitude_grid == nullptr)
+        {
             d_magnitude_grid = new float*[d_num_doppler_bins];
             for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                 {
                     d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
                     d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
+                }
+        }
+
+    for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
             for (uint32_t k = 0; k < d_fft_size; k++)
                 {
                     d_magnitude_grid[doppler_index][k] = 0.0;

src/algorithms/acquisition/libs/CMakeLists.txt

@@ -18,6 +18,7 @@
 
 if(ENABLE_FPGA)
    set(ACQUISITION_LIB_SOURCES fpga_acquisition.cc )
+   set(ACQUISITION_LIB_HEADERS fpga_acquisition.h )
    include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -29,15 +30,14 @@ if(ENABLE_FPGA)
      ${GFlags_INCLUDE_DIRS}
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
    )
-
-   file(GLOB ACQUISITION_LIB_HEADERS "*.h")
 endif(ENABLE_FPGA)
 
 set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
-list(SORT ACQUISITION_LIB_HEADERS)
-
 set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
 
+list(SORT ACQUISITION_LIB_HEADERS)
+list(SORT ACQUISITION_LIB_SOURCES)
+
 add_library(acquisition_lib ${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_HEADERS})
 source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
 target_link_libraries(acquisition_lib ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/channel/adapters/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(CHANNEL_ADAPTER_SOURCES channel.cc)
+set(CHANNEL_ADAPTER_HEADERS channel.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -31,8 +32,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB CHANNEL_ADAPTER_HEADERS "*.h")
-list(SORT CHANNEL_ADAPTER_HEADERS)
 add_library(channel_adapters ${CHANNEL_ADAPTER_SOURCES} ${CHANNEL_ADAPTER_HEADERS})
 source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
 target_link_libraries(channel_adapters channel_fsm ${GNURADIO_RUNTIME_LIBRARIES} ${Boost_LIBRARIES} gnss_sdr_flags)

src/algorithms/channel/libs/CMakeLists.txt

@@ -21,6 +21,11 @@ set(CHANNEL_FSM_SOURCES
     channel_msg_receiver_cc.cc
     )
     
+set(CHANNEL_FSM_HEADERS 
+    channel_fsm.h 
+    channel_msg_receiver_cc.h
+    )    
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,8 +38,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB CHANNEL_FSM_HEADERS "*.h")
 list(SORT CHANNEL_FSM_HEADERS)
+list(SORT CHANNEL_FSM_SOURCES)
+
 add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
 add_dependencies(channel_fsm glog-${glog_RELEASE})

src/algorithms/conditioner/adapters/CMakeLists.txt

@@ -22,6 +22,11 @@ set(COND_ADAPTER_SOURCES
 	array_signal_conditioner.cc
 )
 
+set(COND_ADAPTER_HEADERS 
+	signal_conditioner.h
+	array_signal_conditioner.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -34,8 +39,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB COND_ADAPTER_HEADERS "*.h")
 list(SORT COND_ADAPTER_HEADERS)
+list(SORT COND_ADAPTER_SOURCES)
+
 add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
 source_group(Headers FILES ${COND_ADAPTER_HEADERS})
 add_dependencies(conditioner_adapters glog-${glog_RELEASE})

src/algorithms/data_type_adapter/adapters/CMakeLists.txt

@@ -26,6 +26,15 @@ set(DATATYPE_ADAPTER_SOURCES
 	ishort_to_complex.cc 
 )
 	 
+set(DATATYPE_ADAPTER_HEADERS 
+    byte_to_short.h
+    ibyte_to_cbyte.h
+    ibyte_to_complex.h
+    ibyte_to_cshort.h
+    ishort_to_cshort.h
+	ishort_to_complex.h 
+)	 
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -38,10 +47,10 @@ include_directories(
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB DATATYPE_ADAPTER_HEADERS "*.h")
 list(SORT DATATYPE_ADAPTER_HEADERS)
+list(SORT DATATYPE_ADAPTER_SOURCES)
+
 add_library(datatype_adapters ${DATATYPE_ADAPTER_SOURCES} ${DATATYPE_ADAPTER_HEADERS})
 source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
 add_dependencies(datatype_adapters glog-${glog_RELEASE})
 target_link_libraries(datatype_adapters data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
-

src/algorithms/data_type_adapter/gnuradio_blocks/CMakeLists.txt

@@ -23,14 +23,21 @@ set(DATA_TYPE_GR_BLOCKS_SOURCES
      interleaved_byte_to_complex_short.cc
 )
 
+set(DATA_TYPE_GR_BLOCKS_HEADERS 
+     interleaved_byte_to_complex_byte.h
+     interleaved_short_to_complex_short.h
+     interleaved_byte_to_complex_short.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB DATA_TYPE_GR_BLOCKS_HEADERS "*.h")
 list(SORT DATA_TYPE_GR_BLOCKS_HEADERS)
+list(SORT DATA_TYPE_GR_BLOCKS_SOURCES)
+
 add_library(data_type_gr_blocks ${DATA_TYPE_GR_BLOCKS_SOURCES} ${DATA_TYPE_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${DATA_TYPE_GR_BLOCKS_HEADERS})
 target_link_libraries(data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_LIBRARIES})

src/algorithms/input_filter/adapters/CMakeLists.txt

@@ -25,6 +25,15 @@ set(INPUT_FILTER_ADAPTER_SOURCES
      notch_filter_lite.cc
 )
 
+set(INPUT_FILTER_ADAPTER_HEADERS 
+     fir_filter.h
+     freq_xlating_fir_filter.h
+     beamformer_filter.h
+     pulse_blanking_filter.h
+     notch_filter.h
+     notch_filter_lite.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -41,8 +50,9 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
-file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
 list(SORT INPUT_FILTER_ADAPTER_HEADERS)
+list(SORT INPUT_FILTER_ADAPTER_SOURCES)
+
 add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})
 source_group(Headers FILES ${INPUT_FILTER_ADAPTER_HEADERS})
 add_dependencies(input_filter_adapters glog-${glog_RELEASE} gnss_sp_libs)

src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt

@@ -24,6 +24,13 @@ set(INPUT_FILTER_GR_BLOCKS_SOURCES
      notch_lite_cc.cc
 )
 
+set(INPUT_FILTER_GR_BLOCKS_HEADERS
+     beamformer.h
+     pulse_blanking_cc.h
+     notch_cc.h
+     notch_lite_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
@@ -33,8 +40,9 @@ include_directories(
      ${GFlags_INCLUDE_DIRS}
 )
 
-file(GLOB INPUT_FILTER_GR_BLOCKS_HEADERS "*.h")
 list(SORT INPUT_FILTER_GR_BLOCKS_HEADERS)
+list(SORT INPUT_FILTER_GR_BLOCKS_SOURCES)
+
 add_library(input_filter_gr_blocks ${INPUT_FILTER_GR_BLOCKS_SOURCES} ${INPUT_FILTER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${INPUT_FILTER_GR_BLOCKS_HEADERS})
 

src/algorithms/libs/CMakeLists.txt

@@ -18,14 +18,12 @@
 
 add_subdirectory(rtklib)
 
-if(ENABLE_FPGA)
 set(GNSS_SPLIBS_SOURCES
         gps_l2c_signal.cc
         gps_l5_signal.cc
         galileo_e1_signal_processing.cc
         gnss_sdr_valve.cc
         gnss_sdr_sample_counter.cc
-        gnss_sdr_time_counter.cc
         gnss_signal_processing.cc
         gps_sdr_signal_processing.cc
         glonass_l1_signal_processing.cc
@@ -40,30 +38,43 @@ if(ENABLE_FPGA)
         conjugate_cc.cc
         conjugate_sc.cc
         conjugate_ic.cc
+)
+
+set(GNSS_SPLIBS_HEADERS
+        gps_l2c_signal.h
+        gps_l5_signal.h
+        galileo_e1_signal_processing.h
+        gnss_sdr_valve.h
+        gnss_sdr_sample_counter.h
+        gnss_signal_processing.h
+        gps_sdr_signal_processing.h
+        glonass_l1_signal_processing.h
+        glonass_l2_signal_processing.h
+        pass_through.h
+        galileo_e5_signal_processing.h
+        complex_byte_to_float_x2.h
+        byte_x2_to_complex_byte.h
+        cshort_to_float_x2.h
+        short_x2_to_cshort.h
+        complex_float_to_complex_byte.h
+        conjugate_cc.h
+        conjugate_sc.h
+        conjugate_ic.h
+        gnss_circular_deque.h
+)
+
+
+if(ENABLE_FPGA)
+    set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
+        gnss_sdr_time_counter.cc
         gnss_sdr_fpga_sample_counter.cc
 	)
-else(ENABLE_FPGA)
+
-    set(GNSS_SPLIBS_SOURCES
+    set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
-        gps_l2c_signal.cc
+        gnss_sdr_time_counter.h
-        gps_l5_signal.cc
+        gnss_sdr_fpga_sample_counter.h
-        galileo_e1_signal_processing.cc
-        gnss_sdr_valve.cc
-        gnss_sdr_sample_counter.cc
-        gnss_signal_processing.cc
-        gps_sdr_signal_processing.cc
-        glonass_l1_signal_processing.cc
-        glonass_l2_signal_processing.cc
-        pass_through.cc
-        galileo_e5_signal_processing.cc
-        complex_byte_to_float_x2.cc
-        byte_x2_to_complex_byte.cc
-        cshort_to_float_x2.cc
-        short_x2_to_cshort.cc
-        complex_float_to_complex_byte.cc
-        conjugate_cc.cc
-        conjugate_sc.cc
-        conjugate_ic.cc
 	)
+	
 endif(ENABLE_FPGA)
 
 if(OPENCL_FOUND)
@@ -72,6 +83,12 @@ if(OPENCL_FOUND)
                             opencl/fft_setup.cc # Needs OpenCL
                             opencl/fft_kernelstring.cc # Needs OpenCL
     )
+       
+    set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
+                            opencl/fft_execute.h # Needs OpenCL
+                            opencl/fft_setup.h # Needs OpenCL
+                            opencl/fft_kernelstring.h # Needs OpenCL
+    )       
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -99,9 +116,9 @@ endif(OPENCL_FOUND)
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 
-file(GLOB GNSS_SPLIBS_HEADERS "*.h")
-list(REMOVE_ITEM GNSS_SPLIBS_HEADERS gnss_sdr_flags.h)
 list(SORT GNSS_SPLIBS_HEADERS)
+list(SORT GNSS_SPLIBS_SOURCES)
+
 add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
 source_group(Headers FILES ${GNSS_SPLIBS_HEADERS})
 

src/algorithms/libs/rtklib/CMakeLists.txt

@@ -38,6 +38,27 @@ set(RTKLIB_LIB_SOURCES
      rtklib_rtcm3.cc
 )
 
+set(RTKLIB_LIB_HEADERS
+     rtklib_rtkcmn.h
+     rtklib_ephemeris.h
+     rtklib_preceph.h
+     rtklib_sbas.h
+     rtklib_ionex.h
+     rtklib_pntpos.h
+     rtklib_ppp.h
+     rtklib_tides.h
+     rtklib_lambda.h
+     rtklib_rtkpos.h
+     rtklib_conversions.h
+     rtklib_stream.h
+     rtklib_rtksvr.h
+     rtklib_solution.h
+     rtklib_rtcm.h
+     rtklib_rtcm2.h
+     rtklib_rtcm3.h
+     rtklib.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -48,8 +69,10 @@ include_directories(
      ${GLOG_INCLUDE_DIRS}
 )
 
-file(GLOB RTKLIB_LIB_HEADERS "*.h")
+
 list(SORT RTKLIB_LIB_HEADERS)
+list(SORT RTKLIB_LIB_SOURCES)
+
 add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
 source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
 add_dependencies(rtklib_lib glog-${glog_RELEASE})

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -246,7 +246,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
             else if (obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE)
                 {
                     P1 += P1_C1; /* C1->P1 */
-                    PC = P1 + P1_P2;
+                    PC = P1 - P1_P2;
                 }
             else if (obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE)
                 {
@@ -739,6 +739,7 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
 {
     double lam, rate, pos[3], E[9], a[3], e[3], vs[3], cosel;
     int i, j, nv = 0;
+    int band = 0;
 
     trace(3, "resdop  : n=%d\n", n);
 
@@ -747,9 +748,12 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
 
     for (i = 0; i < n && i < MAXOBS; i++)
         {
-            lam = nav->lam[obs[i].sat - 1][0];
+            if (obs[i].code[0] != CODE_NONE) band = 0;
+            if (obs[i].code[1] != CODE_NONE) band = 1;
+            if (obs[i].code[2] != CODE_NONE) band = 2;
+            lam = nav->lam[obs[i].sat - 1][band];
 
-            if (obs[i].D[0] == 0.0 || lam == 0.0 || !vsat[i] || norm_rtk(rs + 3 + i * 6, 3) <= 0.0)
+            if (obs[i].D[band] == 0.0 || lam == 0.0 || !vsat[i] || norm_rtk(rs + 3 + i * 6, 3) <= 0.0)
                 {
                     continue;
                 }
@@ -767,7 +771,7 @@ int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
             rate = dot(vs, e, 3) + DEFAULT_OMEGA_EARTH_DOT / SPEED_OF_LIGHT * (rs[4 + i * 6] * rr[0] + rs[1 + i * 6] * x[0] - rs[3 + i * 6] * rr[1] - rs[i * 6] * x[1]);
 
             /* doppler residual */
-            v[nv] = -lam * obs[i].D[0] - (rate + x[3] - SPEED_OF_LIGHT * dts[1 + i * 2]);
+            v[nv] = -lam * obs[i].D[band] - (rate + x[3] - SPEED_OF_LIGHT * dts[1 + i * 2]);
 
             /* design matrix */
             for (j = 0; j < 4; j++) H[j + nv * 4] = j < 3 ? -e[j] : 1.0;

src/algorithms/libs/rtklib/rtklib_ppp.cc

@@ -673,277 +673,6 @@ void pppoutsolstat(rtk_t *rtk, int level, FILE *fp)
 }
 
 
-/* solar/lunar tides (ref [2] 7) ---------------------------------------------*/
-void tide_pl(const double *eu, const double *rp, double GMp,
-    const double *pos, double *dr)
-{
-    const double H3 = 0.292, L3 = 0.015;
-    double r, ep[3], latp, lonp, p, K2, K3, a, H2, L2, dp, du, cosp, sinl, cosl;
-    int i;
-
-    trace(4, "tide_pl : pos=%.3f %.3f\n", pos[0] * R2D, pos[1] * R2D);
-
-    if ((r = norm_rtk(rp, 3)) <= 0.0) return;
-
-    for (i = 0; i < 3; i++) ep[i] = rp[i] / r;
-
-    K2 = GMp / GME * std::pow(RE_WGS84, 2.0) * std::pow(RE_WGS84, 2.0) / (r * r * r);
-    K3 = K2 * RE_WGS84 / r;
-    latp = asin(ep[2]);
-    lonp = atan2(ep[1], ep[0]);
-    cosp = cos(latp);
-    sinl = sin(pos[0]);
-    cosl = cos(pos[0]);
-
-    /* step1 in phase (degree 2) */
-    p = (3.0 * sinl * sinl - 1.0) / 2.0;
-    H2 = 0.6078 - 0.0006 * p;
-    L2 = 0.0847 + 0.0002 * p;
-    a = dot(ep, eu, 3);
-    dp = K2 * 3.0 * L2 * a;
-    du = K2 * (H2 * (1.5 * a * a - 0.5) - 3.0 * L2 * a * a);
-
-    /* step1 in phase (degree 3) */
-    dp += K3 * L3 * (7.5 * a * a - 1.5);
-    du += K3 * (H3 * (2.5 * a * a * a - 1.5 * a) - L3 * (7.5 * a * a - 1.5) * a);
-
-    /* step1 out-of-phase (only radial) */
-    du += 3.0 / 4.0 * 0.0025 * K2 * sin(2.0 * latp) * sin(2.0 * pos[0]) * sin(pos[1] - lonp);
-    du += 3.0 / 4.0 * 0.0022 * K2 * cosp * cosp * cosl * cosl * sin(2.0 * (pos[1] - lonp));
-
-    dr[0] = dp * ep[0] + du * eu[0];
-    dr[1] = dp * ep[1] + du * eu[1];
-    dr[2] = dp * ep[2] + du * eu[2];
-
-    trace(5, "tide_pl : dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
-/* displacement by solid earth tide (ref [2] 7) ------------------------------*/
-void tide_solid(const double *rsun, const double *rmoon,
-    const double *pos, const double *E, double gmst, int opt,
-    double *dr)
-{
-    double dr1[3], dr2[3], eu[3], du, dn, sinl, sin2l;
-
-    trace(3, "tide_solid: pos=%.3f %.3f opt=%d\n", pos[0] * R2D, pos[1] * R2D, opt);
-
-    /* step1: time domain */
-    eu[0] = E[2];
-    eu[1] = E[5];
-    eu[2] = E[8];
-    tide_pl(eu, rsun, GMS, pos, dr1);
-    tide_pl(eu, rmoon, GMM, pos, dr2);
-
-    /* step2: frequency domain, only K1 radial */
-    sin2l = sin(2.0 * pos[0]);
-    du = -0.012 * sin2l * sin(gmst + pos[1]);
-
-    dr[0] = dr1[0] + dr2[0] + du * E[2];
-    dr[1] = dr1[1] + dr2[1] + du * E[5];
-    dr[2] = dr1[2] + dr2[2] + du * E[8];
-
-    /* eliminate permanent deformation */
-    if (opt & 8)
-        {
-            sinl = sin(pos[0]);
-            du = 0.1196 * (1.5 * sinl * sinl - 0.5);
-            dn = 0.0247 * sin2l;
-            dr[0] += du * E[2] + dn * E[1];
-            dr[1] += du * E[5] + dn * E[4];
-            dr[2] += du * E[8] + dn * E[7];
-        }
-    trace(5, "tide_solid: dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
-/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
-void tide_oload(gtime_t tut, const double *odisp, double *denu)
-{
-    const double args[][5] = {
-        {1.40519E-4, 2.0, -2.0, 0.0, 0.00},  /* M2 */
-        {1.45444E-4, 0.0, 0.0, 0.0, 0.00},   /* S2 */
-        {1.37880E-4, 2.0, -3.0, 1.0, 0.00},  /* N2 */
-        {1.45842E-4, 2.0, 0.0, 0.0, 0.00},   /* K2 */
-        {0.72921E-4, 1.0, 0.0, 0.0, 0.25},   /* K1 */
-        {0.67598E-4, 1.0, -2.0, 0.0, -0.25}, /* O1 */
-        {0.72523E-4, -1.0, 0.0, 0.0, -0.25}, /* P1 */
-        {0.64959E-4, 1.0, -3.0, 1.0, -0.25}, /* Q1 */
-        {0.53234E-5, 0.0, 2.0, 0.0, 0.00},   /* Mf */
-        {0.26392E-5, 0.0, 1.0, -1.0, 0.00},  /* Mm */
-        {0.03982E-5, 2.0, 0.0, 0.0, 0.00}    /* Ssa */
-    };
-    const double ep1975[] = {1975, 1, 1, 0, 0, 0};
-    double ep[6], fday, days, t, t2, t3, a[5], ang, dp[3] = {0};
-    int i, j;
-
-    trace(3, "tide_oload:\n");
-
-    /* angular argument: see subroutine arg.f for reference [1] */
-    time2epoch(tut, ep);
-    fday = ep[3] * 3600.0 + ep[4] * 60.0 + ep[5];
-    ep[3] = ep[4] = ep[5] = 0.0;
-    days = timediff(epoch2time(ep), epoch2time(ep1975)) / 86400.0;
-    t = (27392.500528 + 1.000000035 * days) / 36525.0;
-    t2 = t * t;
-    t3 = t2 * t;
-
-    a[0] = fday;
-    a[1] = (279.69668 + 36000.768930485 * t + 3.03E-4 * t2) * D2R;                 /* H0 */
-    a[2] = (270.434358 + 481267.88314137 * t - 0.001133 * t2 + 1.9E-6 * t3) * D2R; /* S0 */
-    a[3] = (334.329653 + 4069.0340329577 * t - 0.010325 * t2 - 1.2E-5 * t3) * D2R; /* P0 */
-    a[4] = 2.0 * PI;
-
-    /* displacements by 11 constituents */
-    for (i = 0; i < 11; i++)
-        {
-            ang = 0.0;
-            for (j = 0; j < 5; j++) ang += a[j] * args[i][j];
-            for (j = 0; j < 3; j++) dp[j] += odisp[j + i * 6] * cos(ang - odisp[j + 3 + i * 6] * D2R);
-        }
-    denu[0] = -dp[1];
-    denu[1] = -dp[2];
-    denu[2] = dp[0];
-
-    trace(5, "tide_oload: denu=%.3f %.3f %.3f\n", denu[0], denu[1], denu[2]);
-}
-
-
-/* iers mean pole (ref [7] eq.7.25) ------------------------------------------*/
-void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar)
-{
-    const double ep2000[] = {2000, 1, 1, 0, 0, 0};
-    double y, y2, y3;
-
-    y = timediff(tut, epoch2time(ep2000)) / 86400.0 / 365.25;
-
-    if (y < 3653.0 / 365.25)
-        { /* until 2010.0 */
-            y2 = y * y;
-            y3 = y2 * y;
-            *xp_bar = 55.974 + 1.8243 * y + 0.18413 * y2 + 0.007024 * y3; /* (mas) */
-            *yp_bar = 346.346 + 1.7896 * y - 0.10729 * y2 - 0.000908 * y3;
-        }
-    else
-        {                                  /* after 2010.0 */
-            *xp_bar = 23.513 + 7.6141 * y; /* (mas) */
-            *yp_bar = 358.891 - 0.6287 * y;
-        }
-}
-
-
-/* displacement by pole tide (ref [7] eq.7.26) --------------------------------*/
-void tide_pole(gtime_t tut, const double *pos, const double *erpv,
-    double *denu)
-{
-    double xp_bar, yp_bar, m1, m2, cosl, sinl;
-
-    trace(3, "tide_pole: pos=%.3f %.3f\n", pos[0] * R2D, pos[1] * R2D);
-
-    /* iers mean pole (mas) */
-    iers_mean_pole(tut, &xp_bar, &yp_bar);
-
-    /* ref [7] eq.7.24 */
-    m1 = erpv[0] / AS2R - xp_bar * 1E-3; /* (as) */
-    m2 = -erpv[1] / AS2R + yp_bar * 1E-3;
-
-    /* sin(2*theta) = sin(2*phi), cos(2*theta)=-cos(2*phi) */
-    cosl = cos(pos[1]);
-    sinl = sin(pos[1]);
-    denu[0] = 9E-3 * sin(pos[0]) * (m1 * sinl - m2 * cosl);         /* de= Slambda (m) */
-    denu[1] = -9E-3 * cos(2.0 * pos[0]) * (m1 * cosl + m2 * sinl);  /* dn=-Stheta  (m) */
-    denu[2] = -33E-3 * sin(2.0 * pos[0]) * (m1 * cosl + m2 * sinl); /* du= Sr      (m) */
-
-    trace(5, "tide_pole : denu=%.3f %.3f %.3f\n", denu[0], denu[1], denu[2]);
-}
-
-
-/* tidal displacement ----------------------------------------------------------
- * displacements by earth tides
- * args   : gtime_t tutc     I   time in utc
- *          double *rr       I   site position (ecef) (m)
- *          int    opt       I   options (or of the followings)
- *                                 1: solid earth tide
- *                                 2: ocean tide loading
- *                                 4: pole tide
- *                                 8: elimate permanent deformation
- *          double *erp      I   earth rotation parameters (NULL: not used)
- *          double *odisp    I   ocean loading parameters  (NULL: not used)
- *                                 odisp[0+i*6]: consituent i amplitude radial(m)
- *                                 odisp[1+i*6]: consituent i amplitude west  (m)
- *                                 odisp[2+i*6]: consituent i amplitude south (m)
- *                                 odisp[3+i*6]: consituent i phase radial  (deg)
- *                                 odisp[4+i*6]: consituent i phase west    (deg)
- *                                 odisp[5+i*6]: consituent i phase south   (deg)
- *                                (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,
- *                                   8:Mf,9:Mm,10:Ssa)
- *          double *dr       O   displacement by earth tides (ecef) (m)
- * return : none
- * notes  : see ref [1], [2] chap 7
- *          see ref [4] 5.2.1, 5.2.2, 5.2.3
- *          ver.2.4.0 does not use ocean loading and pole tide corrections
- *-----------------------------------------------------------------------------*/
-void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
-    const double *odisp, double *dr)
-{
-    gtime_t tut;
-    double pos[2], E[9], drt[3], denu[3], rs[3], rm[3], gmst, erpv[5] = {0};
-    int i;
-#ifdef IERS_MODEL
-    double ep[6], fhr;
-    int year, mon, day;
-#endif
-
-    trace(3, "tidedisp: tutc=%s\n", time_str(tutc, 0));
-
-    if (erp) geterp(erp, tutc, erpv);
-
-    tut = timeadd(tutc, erpv[2]);
-
-    dr[0] = dr[1] = dr[2] = 0.0;
-
-    if (norm_rtk(rr, 3) <= 0.0) return;
-
-    pos[0] = asin(rr[2] / norm_rtk(rr, 3));
-    pos[1] = atan2(rr[1], rr[0]);
-    xyz2enu(pos, E);
-
-    if (opt & 1)
-        { /* solid earth tides */
-
-            /* sun and moon position in ecef */
-            sunmoonpos(tutc, erpv, rs, rm, &gmst);
-
-#ifdef IERS_MODEL
-            time2epoch(tutc, ep);
-            year = (int)ep[0];
-            mon = (int)ep[1];
-            day = (int)ep[2];
-            fhr = ep[3] + ep[4] / 60.0 + ep[5] / 3600.0;
-
-            /* call DEHANTTIDEINEL */
-            dehanttideinel_((double *)rr, &year, &mon, &day, &fhr, rs, rm, drt);
-#else
-            tide_solid(rs, rm, pos, E, gmst, opt, drt);
-#endif
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    if ((opt & 2) && odisp)
-        { /* ocean tide loading */
-            tide_oload(tut, odisp, denu);
-            matmul("TN", 3, 1, 3, 1.0, E, denu, 0.0, drt);
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    if ((opt & 4) && erp)
-        { /* pole tide */
-            tide_pole(tut, pos, erpv, denu);
-            matmul("TN", 3, 1, 3, 1.0, E, denu, 0.0, drt);
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    trace(5, "tidedisp: dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
 /* exclude meas of eclipsing satellite (block IIA) ---------------------------*/
 void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs)
 {

src/algorithms/libs/rtklib/rtklib_ppp.h

@@ -129,21 +129,6 @@ int pppamb(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav, const double
 /* functions originally included in RTKLIB/src/ppp.c v2.4.2 */
 void pppoutsolstat(rtk_t *rtk, int level, FILE *fp);
 
-void tide_pl(const double *eu, const double *rp, double GMp, const double *pos, double *dr);
-
-void tide_solid(const double *rsun, const double *rmoon,
-    const double *pos, const double *E, double gmst, int opt,
-    double *dr);
-
-void tide_oload(gtime_t tut, const double *odisp, double *denu);
-
-void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar);
-
-void tide_pole(gtime_t tut, const double *pos, const double *erpv, double *denu);
-
-void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
-    const double *odisp, double *dr);
-
 void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs);
 
 double varerr(int sat, int sys, double el, int type, const prcopt_t *opt);

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h

@@ -0,0 +1,122 @@
+/*!
+ * \file volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
+ * \brief VOLK_GNSSSDR kernel: multiplies N complex (32-bit float per component) vectors
+ * by a common vector, phase rotated and accumulates the results in N float complex outputs.
+ * \authors <ul>
+ *          <li> Antonio Ramos 2018. antonio.ramosdet(at)gmail.com
+ *          </ul>
+ *
+ * VOLK_GNSSSDR kernel that multiplies N 32 bits complex vectors by a common vector, which is
+ * phase-rotated by phase offset and phase increment, and accumulates the results
+ * in N 32 bits float complex outputs.
+ * It is optimized to perform the N tap correlation process in GNSS receivers.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+/*!
+ * \page volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn
+ *
+ * \b Overview
+ *
+ * Rotates and multiplies the reference complex vector with an arbitrary number of other real vectors,
+ * accumulates the results and stores them in the output vector.
+ * The rotation is done at a fixed rate per sample, from an initial \p phase offset.
+ * This function can be used for Doppler wipe-off and multiple correlator.
+ *
+ * <b>Dispatcher Prototype</b>
+ * \code
+ * void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points);
+ * \endcode
+ *
+ * \b Inputs
+ * \li in_common:      Pointer to one of the vectors to be rotated, multiplied and accumulated (reference vector).
+ * \li phase_inc:      Phase increment = lv_cmake(cos(phase_step_rad), sin(phase_step_rad))
+ * \li phase_inc_rate: Phase increment rate = lv_cmake(cos(phase_step_rate_rad), sin(phase_step_rate_rad))
+ * \li phase:          Initial phase = lv_cmake(cos(initial_phase_rad), sin(initial_phase_rad))
+ * \li in_a:           Pointer to an array of pointers to multiple vectors to be multiplied and accumulated.
+ * \li num_a_vectors:  Number of vectors to be multiplied by the reference vector and accumulated.
+ * \li num_points:     Number of complex values to be multiplied together, accumulated and stored into \p result.
+ *
+ * \b Outputs
+ * \li phase:         Final phase.
+ * \li result:        Vector of \p num_a_vectors components with the multiple vectors of \p in_a rotated, multiplied by \p in_common and accumulated.
+ *
+ */
+
+#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
+#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
+
+
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
+#include <volk_gnsssdr/volk_gnsssdr_complex.h>
+#include <volk_gnsssdr/saturation_arithmetic.h>
+#include <math.h>
+
+#ifdef LV_HAVE_GENERIC
+
+static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points)
+{
+    lv_32fc_t tmp32_1;
+#ifdef __cplusplus
+    lv_32fc_t half_phase_inc_rate = std::sqrt(phase_inc_rate);
+#else
+    lv_32fc_t half_phase_inc_rate = csqrtf(phase_inc_rate);
+#endif
+    lv_32fc_t constant_rotation = phase_inc * half_phase_inc_rate;
+    lv_32fc_t delta_phase_rate = lv_cmake(1.0f, 0.0f);
+    int n_vec;
+    unsigned int n;
+    for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
+        {
+            result[n_vec] = lv_cmake(0.0f, 0.0f);
+        }
+    for (n = 0; n < num_points; n++)
+        {
+            tmp32_1 = *in_common++ * (*phase);
+            // Regenerate phase
+            if (n % 256 == 0)
+                {
+#ifdef __cplusplus
+                    (*phase) /= std::abs((*phase));
+                    delta_phase_rate /= std::abs(delta_phase_rate);
+#else
+                    (*phase) /= hypotf(lv_creal(*phase), lv_cimag(*phase));
+                    delta_phase_rate /= hypotf(lv_creal(delta_phase_rate), lv_cimag(delta_phase_rate));
+#endif
+                }
+            (*phase) *= (constant_rotation * delta_phase_rate);
+            delta_phase_rate *= phase_inc_rate;
+            for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
+                {
+                    result[n_vec] += (tmp32_1 * in_a[n_vec][n]);
+                }
+        }
+}
+
+#endif /*LV_HAVE_GENERIC*/
+
+#endif /* INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H */

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc.h

@@ -0,0 +1,163 @@
+/*!
+ * \file volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc.h
+ * \brief Volk puppet for the multiple 16-bit complex dot product kernel.
+ * \authors <ul>
+ *          <li> Carles Fernandez Prades 2016 cfernandez at cttc dot cat
+ *          </ul>
+ *
+ * Volk puppet for integrating the resampler into volk's test system
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
+#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
+
+#include "volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h"
+#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <string.h>
+
+#ifdef LV_HAVE_GENERIC
+
+static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_generic(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
+{
+    // phases must be normalized. Phase rotator expects a complex exponential input!
+    float rem_carrier_phase_in_rad = 0.25;
+    float phase_step_rad = 0.1;
+    lv_32fc_t phase[1];
+    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
+    lv_32fc_t phase_inc[1];
+    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
+    lv_32fc_t phase_inc_rate[1];
+    phase_inc_rate[0] = lv_cmake(cos(phase_step_rad * 0.001), sin(phase_step_rad * 0.001));
+    int n;
+    int num_a_vectors = 3;
+    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
+    for (n = 0; n < num_a_vectors; n++)
+        {
+            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
+            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
+        }
+    volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(result, local_code, phase_inc[0], phase_inc_rate[0], phase, (const float**)in_a, num_a_vectors, num_points);
+
+    for (n = 0; n < num_a_vectors; n++)
+        {
+            volk_gnsssdr_free(in_a[n]);
+        }
+    volk_gnsssdr_free(in_a);
+}
+#endif  // Generic
+
+//
+//#ifdef LV_HAVE_GENERIC
+//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_generic_reload(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
+//{
+//    // phases must be normalized. Phase rotator expects a complex exponential input!
+//    float rem_carrier_phase_in_rad = 0.25;
+//    float phase_step_rad = 0.1;
+//    lv_32fc_t phase[1];
+//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
+//    lv_32fc_t phase_inc[1];
+//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
+//    int n;
+//    int num_a_vectors = 3;
+//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
+//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
+//        }
+//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_generic_reload(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
+//
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            volk_gnsssdr_free(in_a[n]);
+//        }
+//    volk_gnsssdr_free(in_a);
+//}
+//
+//#endif  // Generic
+//
+//#ifdef LV_HAVE_AVX
+//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_u_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
+//{
+//    // phases must be normalized. Phase rotator expects a complex exponential input!
+//    float rem_carrier_phase_in_rad = 0.25;
+//    float phase_step_rad = 0.1;
+//    lv_32fc_t phase[1];
+//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
+//    lv_32fc_t phase_inc[1];
+//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
+//    int n;
+//    int num_a_vectors = 3;
+//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
+//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
+//        }
+//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_u_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
+//
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            volk_gnsssdr_free(in_a[n]);
+//        }
+//    volk_gnsssdr_free(in_a);
+//}
+//
+//#endif  // AVX
+//
+//
+//#ifdef LV_HAVE_AVX
+//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_a_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
+//{
+//    // phases must be normalized. Phase rotator expects a complex exponential input!
+//    float rem_carrier_phase_in_rad = 0.25;
+//    float phase_step_rad = 0.1;
+//    lv_32fc_t phase[1];
+//    phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
+//    lv_32fc_t phase_inc[1];
+//    phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
+//    int n;
+//    int num_a_vectors = 3;
+//    float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
+//            memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
+//        }
+//    volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_a_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
+//
+//    for (n = 0; n < num_a_vectors; n++)
+//        {
+//            volk_gnsssdr_free(in_a[n]);
+//        }
+//    volk_gnsssdr_free(in_a);
+//}
+//
+//#endif  // AVX
+
+#endif  // INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/kernel_tests.h

@@ -99,6 +99,7 @@ std::vector<volk_gnsssdr_test_case_t> init_test_list(volk_gnsssdr_test_params_t
     QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn, test_params_int16))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn, test_params_int1))
     QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn, test_params_int1));
+    QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn, test_params_int1));
 
     return test_cases;
 }

src/algorithms/observables/adapters/CMakeLists.txt

@@ -20,6 +20,10 @@ set(OBS_ADAPTER_SOURCES
 	hybrid_observables.cc
 )
 
+set(OBS_ADAPTER_HEADERS
+	hybrid_observables.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,8 +37,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB OBS_ADAPTER_HEADERS "*.h")
-list(SORT OBS_ADAPTER_HEADERS)
 add_library(obs_adapters ${OBS_ADAPTER_SOURCES} ${OBS_ADAPTER_HEADERS})
 source_group(Headers FILES ${OBS_ADAPTER_HEADERS})
 target_link_libraries(obs_adapters obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/observables/gnuradio_blocks/CMakeLists.txt

@@ -20,6 +20,10 @@ set(OBS_GR_BLOCKS_SOURCES
 	hybrid_observables_cc.cc
 )
 
+set(OBS_GR_BLOCKS_HEADERS 
+	hybrid_observables_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -34,8 +38,6 @@ include_directories(
      ${MATIO_INCLUDE_DIRS}
 )
 
-file(GLOB OBS_GR_BLOCKS_HEADERS "*.h")
-list(SORT OBS_GR_BLOCKS_HEADERS)
 add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
 if(MATIO_FOUND)

src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc

@@ -484,7 +484,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
             if (T_rx_clock_step_samples == 0)
                 {
                     T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3);  // 1 ms
-                    std::cout << "Observables clock step samples set to " << T_rx_clock_step_samples << std::endl;
+                    LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples;
                     usleep(1000000);
                 }
 

src/algorithms/resampler/adapters/CMakeLists.txt

@@ -21,6 +21,12 @@ set(RESAMPLER_ADAPTER_SOURCES
         mmse_resampler_conditioner.cc
 )
 
+
+set(RESAMPLER_ADAPTER_HEADERS
+        direct_resampler_conditioner.h
+        mmse_resampler_conditioner.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/interfaces
@@ -36,9 +42,9 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
-
-file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")
 list(SORT RESAMPLER_ADAPTER_HEADERS)
+list(SORT RESAMPLER_ADAPTER_SOURCES)
+
 add_library(resampler_adapters ${RESAMPLER_ADAPTER_SOURCES} ${RESAMPLER_ADAPTER_HEADERS})
 source_group(Headers FILES ${RESAMPLER_ADAPTER_HEADERS})
 target_link_libraries(resampler_adapters resampler_gr_blocks)

src/algorithms/resampler/gnuradio_blocks/CMakeLists.txt

@@ -23,6 +23,12 @@ set(RESAMPLER_GR_BLOCKS_SOURCES
      direct_resampler_conditioner_cb.cc
 )
 
+set(RESAMPLER_GR_BLOCKS_HEADERS 
+     direct_resampler_conditioner_cc.h
+     direct_resampler_conditioner_cs.h
+     direct_resampler_conditioner_cb.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GLOG_INCLUDE_DIRS}
@@ -31,8 +37,9 @@ include_directories(
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB RESAMPLER_GR_BLOCKS_HEADERS "*.h")
 list(SORT RESAMPLER_GR_BLOCKS_HEADERS)
+list(SORT RESAMPLER_GR_BLOCKS_SOURCES)
+
 add_library(resampler_gr_blocks ${RESAMPLER_GR_BLOCKS_SOURCES} ${RESAMPLER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${RESAMPLER_GR_BLOCKS_HEADERS})
 add_dependencies(resampler_gr_blocks glog-${glog_RELEASE})

src/algorithms/signal_generator/adapters/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(SIGNAL_GENERATOR_ADAPTER_SOURCES signal_generator.cc)
+set(SIGNAL_GENERATOR_ADAPTER_HEADERS signal_generator.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -30,8 +31,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_GENERATOR_ADAPTER_HEADERS "*.h")
-list(SORT SIGNAL_GENERATOR_ADAPTER_HEADERS)
 add_library(signal_generator_adapters ${SIGNAL_GENERATOR_ADAPTER_SOURCES} ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
 source_group(Headers FILES ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
 target_link_libraries(signal_generator_adapters gnss_sp_libs 

src/algorithms/signal_generator/gnuradio_blocks/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(SIGNAL_GENERATOR_BLOCK_SOURCES signal_generator_c.cc)
+set(SIGNAL_GENERATOR_BLOCK_HEADERS signal_generator_c.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -30,8 +31,6 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_GENERATOR_BLOCK_HEADERS "*.h")
-list(SORT SIGNAL_GENERATOR_BLOCK_HEADERS)
 add_library(signal_generator_blocks ${SIGNAL_GENERATOR_BLOCK_SOURCES} ${SIGNAL_GENERATOR_BLOCK_HEADERS})
 source_group(Headers FILES ${SIGNAL_GENERATOR_BLOCK_HEADERS})
 target_link_libraries(signal_generator_blocks gnss_system_parameters gnss_sp_libs
@@ -44,4 +43,4 @@ if(VOLK_GNSSSDR_FOUND)
     # add_dependencies(signal_generator_blocks glog-${glog_RELEASE})
 else(VOLK_GNSSSDR_FOUND)
     add_dependencies(signal_generator_blocks volk_gnsssdr_module)
-endif()
+endif(VOLK_GNSSSDR_FOUND)

src/algorithms/signal_source/adapters/CMakeLists.txt

@@ -16,8 +16,6 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 #
 
-file(GLOB SIGNAL_SOURCE_ADAPTER_HEADERS "*.h")
-list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
 
 # Optional drivers
 
@@ -30,6 +28,7 @@ if(ENABLE_RAW_UDP)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} custom_udp_signal_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} custom_udp_signal_source.h)
 endif(ENABLE_RAW_UDP)
 
 if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
@@ -67,6 +66,7 @@ if(ENABLE_PLUTOSDR)
     ##############################################
     if(IIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} plutosdr_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} plutosdr_signal_source.h)
     endif(IIO_FOUND)
 endif(ENABLE_PLUTOSDR)
 
@@ -77,6 +77,7 @@ if(ENABLE_FMCOMMS2)
     ###############################################
     if(IIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} fmcomms2_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} fmcomms2_signal_source.h)
     endif(IIO_FOUND)
 endif(ENABLE_FMCOMMS2)
 
@@ -86,6 +87,7 @@ if(ENABLE_AD9361)
     ###############################################
     if(LIBIIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad9361_fpga_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} ad9361_fpga_signal_source.h)
     endif(LIBIIO_FOUND)
 endif(ENABLE_AD9361)
 
@@ -103,6 +105,7 @@ if(ENABLE_GN3S)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_GN3S_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_GN3S_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gn3s_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gn3s_signal_source.h)
 endif(ENABLE_GN3S)
 
 
@@ -123,6 +126,7 @@ if(ENABLE_FLEXIBAND)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${TELEORBIT_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${FLEXIBAND_DRIVER_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} flexiband_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} flexiband_signal_source.h)
 endif(ENABLE_FLEXIBAND)
 
 
@@ -138,6 +142,7 @@ if(ENABLE_ARRAY)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_DBFCTTC_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_DBFCTTC_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} raw_array_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} raw_array_signal_source.h)
 endif(ENABLE_ARRAY)
 
 
@@ -156,6 +161,7 @@ if(ENABLE_OSMOSDR)
             ${GROSMOSDR_INCLUDE_DIR}/osmosdr
         )
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} osmosdr_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} osmosdr_signal_source.h)
         set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GROSMOSDR_LIBRARIES})
         set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${OSMO_DRIVER_INCLUDE_DIRS})
     endif(NOT GROSMOSDR_FOUND)
@@ -163,10 +169,9 @@ endif(ENABLE_OSMOSDR)
 
 if(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} uhd_signal_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} uhd_signal_source.h)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${UHD_LIBRARIES} ${GNURADIO_UHD_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${UHD_INCLUDE_DIRS})
-else(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
-    list(REMOVE_ITEM SIGNAL_SOURCE_ADAPTER_HEADERS ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters/uhd_signal_source.h)
 endif(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
 
 
@@ -180,10 +185,24 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
                                   ${OPT_DRIVER_SOURCES}
 )
 
+set(SIGNAL_SOURCE_ADAPTER_HEADERS file_signal_source.h
+                                  gen_signal_source.h
+                                  nsr_file_signal_source.h
+                                  spir_file_signal_source.h
+                                  spir_gss6450_file_signal_source.h
+                                  rtl_tcp_signal_source.h
+                                  labsat_signal_source.h
+                                  ${OPT_DRIVER_HEADERS}
+)
+
+
 if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
      set(SIGNAL_SOURCE_ADAPTER_SOURCES ${SIGNAL_SOURCE_ADAPTER_SOURCES}
          two_bit_cpx_file_signal_source.cc
          two_bit_packed_file_signal_source.cc )
+     set(SIGNAL_SOURCE_ADAPTER_HEADERS ${SIGNAL_SOURCE_ADAPTER_HEADERS}
+         two_bit_cpx_file_signal_source.h
+         two_bit_packed_file_signal_source.h )         
 endif(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
 
 include_directories(
@@ -207,6 +226,9 @@ endif(ARCH_64BITS)
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 
+list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
+list(SORT SIGNAL_SOURCE_ADAPTER_SOURCES)
+
 add_library(signal_source_adapters ${SIGNAL_SOURCE_ADAPTER_SOURCES} ${SIGNAL_SOURCE_ADAPTER_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_ADAPTER_HEADERS})
 target_link_libraries(signal_source_adapters signal_source_gr_blocks

src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt

@@ -26,8 +26,10 @@ if(ENABLE_RAW_UDP)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gr_complex_ip_packet_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gr_complex_ip_packet_source.h)
 endif(ENABLE_RAW_UDP)
 
+
 set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
      unpack_byte_2bit_samples.cc
      unpack_byte_2bit_cpx_samples.cc
@@ -40,6 +42,19 @@ set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
      ${OPT_DRIVER_SOURCES}
 )
 
+set(SIGNAL_SOURCE_GR_BLOCKS_HEADERS
+     unpack_byte_2bit_samples.h
+     unpack_byte_2bit_cpx_samples.h
+     unpack_byte_4bit_samples.h
+     unpack_intspir_1bit_samples.h
+     rtl_tcp_signal_source_c.h
+     unpack_2bit_samples.h
+     unpack_spir_gss6450_samples.h
+     labsat23_source.h
+     ${OPT_DRIVER_HEADERS}
+)
+
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
@@ -50,8 +65,9 @@ include_directories(
      ${OPT_DRIVER_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_SOURCE_GR_BLOCKS_HEADERS "*.h")
 list(SORT SIGNAL_SOURCE_GR_BLOCKS_HEADERS)
+list(SORT SIGNAL_SOURCE_GR_BLOCKS_SOURCES)
+
 add_library(signal_source_gr_blocks ${SIGNAL_SOURCE_GR_BLOCKS_SOURCES} ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
 target_link_libraries(signal_source_gr_blocks 

src/algorithms/signal_source/libs/CMakeLists.txt

@@ -78,6 +78,8 @@ set(SIGNAL_SOURCE_LIB_HEADERS
 )
 
 list(SORT SIGNAL_SOURCE_LIB_HEADERS)
+list(SORT SIGNAL_SOURCE_LIB_SOURCES)
+
 add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_LIB_HEADERS})
 target_link_libraries(signal_source_lib ${OPT_LIBRARIES})

src/algorithms/telemetry_decoder/adapters/CMakeLists.txt

@@ -28,6 +28,17 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES
     glonass_l2_ca_telemetry_decoder.cc 
 )
 
+set(TELEMETRY_DECODER_ADAPTER_HEADERS
+    gps_l1_ca_telemetry_decoder.h
+    gps_l2c_telemetry_decoder.h
+    gps_l5_telemetry_decoder.h 
+    galileo_e1b_telemetry_decoder.h
+    sbas_l1_telemetry_decoder.h
+    galileo_e5a_telemetry_decoder.h
+    glonass_l1_ca_telemetry_decoder.h
+    glonass_l2_ca_telemetry_decoder.h 
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -42,8 +53,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_ADAPTER_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS)
+list(SORT TELEMETRY_DECODER_ADAPTER_SOURCES)
+
 add_library(telemetry_decoder_adapters ${TELEMETRY_DECODER_ADAPTER_SOURCES} ${TELEMETRY_DECODER_ADAPTER_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
 target_link_libraries(telemetry_decoder_adapters telemetry_decoder_gr_blocks gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt

@@ -26,6 +26,16 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
      galileo_telemetry_decoder_cc.cc
 )
 
+set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
+     gps_l1_ca_telemetry_decoder_cc.h
+     gps_l2c_telemetry_decoder_cc.h
+     gps_l5_telemetry_decoder_cc.h
+     sbas_l1_telemetry_decoder_cc.h
+     glonass_l1_ca_telemetry_decoder_cc.h
+     glonass_l2_ca_telemetry_decoder_cc.h
+     galileo_telemetry_decoder_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -39,8 +49,9 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
+list(SORT TELEMETRY_DECODER_GR_BLOCKS_SOURCES)
+
 add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
 target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES})

src/algorithms/telemetry_decoder/libs/CMakeLists.txt

@@ -22,6 +22,11 @@ set(TELEMETRY_DECODER_LIB_SOURCES
      viterbi_decoder.cc
 )
 
+set(TELEMETRY_DECODER_LIB_HEADERS
+     viterbi_decoder.h
+     convolutional.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,9 +38,9 @@ include_directories(
      ${GFlags_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_LIB_HEADERS "*.h")
-
 list(SORT TELEMETRY_DECODER_LIB_HEADERS)
+list(SORT TELEMETRY_DECODER_LIB_SOURCES)
+
 add_library(telemetry_decoder_lib ${TELEMETRY_DECODER_LIB_SOURCES} ${TELEMETRY_DECODER_LIB_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_LIB_HEADERS})
 target_link_libraries(telemetry_decoder_lib gnss_system_parameters)

src/algorithms/telemetry_decoder/libs/libswiftcnav/CMakeLists.txt

@@ -23,12 +23,20 @@ set(TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES
      viterbi27.c   
 )
 
+set(TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS 
+     cnav_msg.h
+     bits.h
+     edc.h
+     swift_common.h  
+     fec.h 
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-file(GLOB TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS)
+list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES)
 
 add_library(telemetry_decoder_libswiftcnav STATIC ${TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES} ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -17,12 +17,25 @@
 #
 
 if(ENABLE_CUDA)
-     set(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_gpu.cc)
+     set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu.cc)
+     set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu.h)
      set(OPT_TRACKING_INCLUDE_DIRS ${OPT_TRACKING_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
 endif(ENABLE_CUDA)
 
 if(ENABLE_FPGA)
-     SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc gps_l2_m_dll_pll_tracking_fpga.cc galileo_e1_dll_pll_veml_tracking_fpga.cc galileo_e5a_dll_pll_tracking_fpga.cc gps_l5_dll_pll_tracking_fpga.cc)
+     set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} 
+                                       gps_l1_ca_dll_pll_tracking_fpga.cc
+                                       gps_l2_m_dll_pll_tracking_fpga.cc
+                                       galileo_e1_dll_pll_veml_tracking_fpga.cc
+                                       galileo_e5a_dll_pll_tracking_fpga.cc
+                                       gps_l5_dll_pll_tracking_fpga.cc)
+
+     set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} 
+                                       gps_l1_ca_dll_pll_tracking_fpga.h
+                                       gps_l2_m_dll_pll_tracking_fpga.h
+                                       galileo_e1_dll_pll_veml_tracking_fpga.h
+                                       galileo_e5a_dll_pll_tracking_fpga.h
+                                       gps_l5_dll_pll_tracking_fpga.h)                       
 endif(ENABLE_FPGA)
 
 set(TRACKING_ADAPTER_SOURCES
@@ -39,7 +52,24 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l5_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_c_aid_tracking.cc
-     ${OPT_TRACKING_ADAPTERS}
+     ${OPT_TRACKING_ADAPTERS_SOURCES}
+)
+
+set(TRACKING_ADAPTER_HEADERS
+     galileo_e1_dll_pll_veml_tracking.h
+     galileo_e1_tcp_connector_tracking.h
+     gps_l1_ca_dll_pll_tracking.h
+     gps_l1_ca_dll_pll_c_aid_tracking.h
+     gps_l1_ca_tcp_connector_tracking.h
+     galileo_e5a_dll_pll_tracking.h
+     gps_l2_m_dll_pll_tracking.h
+     glonass_l1_ca_dll_pll_tracking.h
+     glonass_l1_ca_dll_pll_c_aid_tracking.h
+     gps_l1_ca_kf_tracking.h
+     gps_l5_dll_pll_tracking.h
+     glonass_l2_ca_dll_pll_tracking.h
+     glonass_l2_ca_dll_pll_c_aid_tracking.h
+     ${OPT_TRACKING_ADAPTERS_HEADERS}
 )
 
 include_directories(
@@ -58,8 +88,9 @@ include_directories(
      ${OPT_TRACKING_INCLUDE_DIRS}
 )
 
-file(GLOB TRACKING_ADAPTER_HEADERS "*.h")
 list(SORT TRACKING_ADAPTER_HEADERS)
+list(SORT TRACKING_ADAPTER_SOURCES)
+
 add_library(tracking_adapters ${TRACKING_ADAPTER_SOURCES} ${TRACKING_ADAPTER_HEADERS})
 source_group(Headers FILES ${TRACKING_ADAPTER_HEADERS})
 target_link_libraries(tracking_adapters tracking_gr_blocks gnss_sp_libs gnss_sdr_flags)

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc

@@ -59,6 +59,16 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
     trk_param.fs_in = fs_in;
     bool dump = configuration->property(role + ".dump", false);
     trk_param.dump = dump;
+    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
+    if (configuration->property(role + ".smoother_length", 10) < 1)
+        {
+            trk_param.smoother_length = 1;
+            std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
+        }
+    else
+        {
+            trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
+        }
     float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
     if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
     trk_param.pll_bw_hz = pll_bw_hz;

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc

@@ -59,6 +59,16 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
     trk_param.fs_in = fs_in;
     bool dump = configuration->property(role + ".dump", false);
     trk_param.dump = dump;
+    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
+    if (configuration->property(role + ".smoother_length", 10) < 1)
+        {
+            trk_param.smoother_length = 1;
+            std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
+        }
+    else
+        {
+            trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
+        }
     float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
     if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
     trk_param.pll_bw_hz = pll_bw_hz;

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc

@@ -57,6 +57,16 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
     int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
     int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     trk_param.fs_in = fs_in;
+    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
+    if (configuration->property(role + ".smoother_length", 10) < 1)
+        {
+            trk_param.smoother_length = 1;
+            std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
+        }
+    else
+        {
+            trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
+        }
     bool dump = configuration->property(role + ".dump", false);
     trk_param.dump = dump;
     float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc

@@ -59,6 +59,16 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
     trk_param.fs_in = fs_in;
     bool dump = configuration->property(role + ".dump", false);
     trk_param.dump = dump;
+    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
+    if (configuration->property(role + ".smoother_length", 10) < 1)
+        {
+            trk_param.smoother_length = 1;
+            std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
+        }
+    else
+        {
+            trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
+        }
     float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
     if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
     trk_param.pll_bw_hz = pll_bw_hz;

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -17,13 +17,15 @@
 #
 
 if(ENABLE_CUDA)
-     set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
+     set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
+     set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu_cc.h)
      set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
      set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
 endif(ENABLE_CUDA)
 
 if(ENABLE_FPGA)
-     set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} dll_pll_veml_tracking_fpga.cc)
+     set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} dll_pll_veml_tracking_fpga.cc)
+     set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} dll_pll_veml_tracking_fpga.h)
 endif(ENABLE_FPGA)
 
 set(TRACKING_GR_BLOCKS_SOURCES
@@ -39,7 +41,23 @@ set(TRACKING_GR_BLOCKS_SOURCES
      glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
      glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
      dll_pll_veml_tracking.cc
-     ${OPT_TRACKING_BLOCKS}
+     ${OPT_TRACKING_BLOCKS_SOURCES}
+)
+
+set(TRACKING_GR_BLOCKS_HEADERS
+     galileo_e1_tcp_connector_tracking_cc.h
+     gps_l1_ca_tcp_connector_tracking_cc.h
+     gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+     gps_l1_ca_dll_pll_c_aid_tracking_sc.h
+     glonass_l1_ca_dll_pll_tracking_cc.h
+     glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+     glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+     gps_l1_ca_kf_tracking_cc.h  
+     glonass_l2_ca_dll_pll_tracking_cc.h
+     glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
+     glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+     dll_pll_veml_tracking.h
+     ${OPT_TRACKING_BLOCKS_HEADERS}
 )
 
 include_directories(
@@ -63,8 +81,9 @@ if(ENABLE_GENERIC_ARCH)
     add_definitions( -DGENERIC_ARCH=1 )
 endif(ENABLE_GENERIC_ARCH)
 
-file(GLOB TRACKING_GR_BLOCKS_HEADERS "*.h")
 list(SORT TRACKING_GR_BLOCKS_HEADERS)
+list(SORT TRACKING_GR_BLOCKS_SOURCES)
+
 add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
 

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -58,6 +58,7 @@
 #include <cmath>
 #include <iostream>
 #include <sstream>
+#include <numeric>
 
 using google::LogMessage;
 
@@ -355,6 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         {
             // Extra correlator for the data component
             correlator_data_cpu.init(2 * trk_parameters.vector_length, 1);
+            correlator_data_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
             d_data_code = static_cast<float *>(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
         }
     else
@@ -363,7 +365,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
         }
 
     // --- Initializations ---
-    multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
+    multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
     // Initial code frequency basis of NCO
     d_code_freq_chips = d_code_chip_rate;
     // Residual code phase (in chips)
@@ -397,12 +399,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
     d_code_phase_step_chips = 0.0;
     d_code_phase_rate_step_chips = 0.0;
     d_carrier_phase_step_rad = 0.0;
+    d_carrier_phase_rate_step_rad = 0.0;
     d_rem_code_phase_chips = 0.0;
-    d_K_blk_samples = 0.0;
     d_code_phase_samples = 0.0;
     d_last_prompt = gr_complex(0.0, 0.0);
     d_state = 0;  // initial state: standby
     clear_tracking_vars();
+    if (trk_parameters.smoother_length > 0)
+        {
+            d_carr_ph_history.resize(trk_parameters.smoother_length * 2);
+            d_code_ph_history.resize(trk_parameters.smoother_length * 2);
+        }
+    else
+        {
+            d_carr_ph_history.resize(1);
+            d_code_ph_history.resize(1);
+        }
 }
 
 
@@ -424,6 +436,7 @@ void dll_pll_veml_tracking::start_tracking()
     // new chip and PRN sequence periods based on acq Doppler
     d_code_freq_chips = radial_velocity * d_code_chip_rate;
     d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
+    d_code_phase_rate_step_chips = 0.0;
     double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
     double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
     double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
@@ -446,7 +459,9 @@ void dll_pll_veml_tracking::start_tracking()
 
     d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
     d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
-
+    d_carrier_phase_rate_step_rad = 0.0;
+    d_carr_ph_history.clear();
+    d_code_ph_history.clear();
     // DLL/PLL filter initialization
     d_carrier_loop_filter.initialize();  // initialize the carrier filter
     d_code_loop_filter.initialize();     // initialize the code filter
@@ -706,7 +721,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
     multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, input_samples);
     multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
         d_rem_carr_phase_rad,
-        d_carrier_phase_step_rad,
+        d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
         static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
         static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
         static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -718,7 +733,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
             correlator_data_cpu.set_input_output_vectors(d_Prompt_Data, input_samples);
             correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
                 d_rem_carr_phase_rad,
-                d_carrier_phase_step_rad,
+                d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
                 static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
                 static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
                 static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
@@ -777,6 +792,10 @@ void dll_pll_veml_tracking::clear_tracking_vars()
     d_current_symbol = 0;
     d_Prompt_buffer_deque.clear();
     d_last_prompt = gr_complex(0.0, 0.0);
+    d_carrier_phase_rate_step_rad = 0.0;
+    d_code_phase_rate_step_chips = 0.0;
+    d_carr_ph_history.clear();
+    d_code_ph_history.clear();
 }
 
 
@@ -796,15 +815,60 @@ void dll_pll_veml_tracking::update_tracking_vars()
     //################### PLL COMMANDS #################################################
     // carrier phase step (NCO phase increment per sample) [rads/sample]
     d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
+    // carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
+    if (trk_parameters.high_dyn)
+        {
+            d_carr_ph_history.push_back(std::pair<double, double>(d_carrier_phase_step_rad, static_cast<double>(d_current_prn_length_samples)));
+            if (d_carr_ph_history.full())
+                {
+                    double tmp_cp1 = 0.0;
+                    double tmp_cp2 = 0.0;
+                    double tmp_samples = 0.0;
+                    for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
+                        {
+                            tmp_cp1 += d_carr_ph_history.at(k).first;
+                            tmp_cp2 += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
+                            tmp_samples += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
+                        }
+                    tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
+                    tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
+                    d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
+                }
+        }
+    //std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
     // remnant carrier phase to prevent overflow in the code NCO
-    d_rem_carr_phase_rad += d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+    d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
     d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
+
+
     // carrier phase accumulator
-    d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+    //double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+    //double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
+    //std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
+    d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
 
     //################### DLL COMMANDS #################################################
     // code phase step (Code resampler phase increment per sample) [chips/sample]
     d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
+    if (trk_parameters.high_dyn)
+        {
+            d_code_ph_history.push_back(std::pair<double, double>(d_code_phase_step_chips, static_cast<double>(d_current_prn_length_samples)));
+            if (d_code_ph_history.full())
+                {
+                    double tmp_cp1 = 0.0;
+                    double tmp_cp2 = 0.0;
+                    double tmp_samples = 0.0;
+                    for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
+                        {
+                            tmp_cp1 += d_code_ph_history.at(k).first;
+                            tmp_cp2 += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
+                            tmp_samples += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
+                        }
+                    tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
+                    tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
+                    d_code_phase_rate_step_chips = (tmp_cp2 - tmp_cp1) / tmp_samples;
+                }
+        }
     // remnant code phase [chips]
     d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples);  // rounding error < 1 sample
     d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
@@ -947,8 +1011,14 @@ void dll_pll_veml_tracking::log_data(bool integrating)
                     // carrier and code frequency
                     tmp_float = d_carrier_doppler_hz;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
+                    // carrier phase rate [Hz/s]
+                    tmp_float = d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2;
+                    d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     tmp_float = d_code_freq_chips;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
+                    // code phase rate [chips/s^2]
+                    tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
+                    d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     // PLL commands
                     tmp_float = d_carr_error_hz;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@@ -986,7 +1056,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
     // READ DUMP FILE
     std::ifstream::pos_type size;
     int32_t number_of_double_vars = 1;
-    int32_t number_of_float_vars = 17;
+    int32_t number_of_float_vars = 19;
     int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
                                sizeof(float) * number_of_float_vars + sizeof(uint32_t);
     std::ifstream dump_file;
@@ -1022,7 +1092,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
     uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
     float *acc_carrier_phase_rad = new float[num_epoch];
     float *carrier_doppler_hz = new float[num_epoch];
+    float *carrier_doppler_rate_hz = new float[num_epoch];
     float *code_freq_chips = new float[num_epoch];
+    float *code_freq_rate_chips = new float[num_epoch];
     float *carr_error_hz = new float[num_epoch];
     float *carr_error_filt_hz = new float[num_epoch];
     float *code_error_chips = new float[num_epoch];
@@ -1049,7 +1121,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
                             dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
                             dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(float));
                             dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float));
                             dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
+                            dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips[i]), sizeof(float));
                             dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
                             dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
                             dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
@@ -1076,7 +1150,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
             delete[] PRN_start_sample_count;
             delete[] acc_carrier_phase_rad;
             delete[] carrier_doppler_hz;
+            delete[] carrier_doppler_rate_hz;
             delete[] code_freq_chips;
+            delete[] code_freq_rate_chips;
             delete[] carr_error_hz;
             delete[] carr_error_filt_hz;
             delete[] code_error_chips;
@@ -1139,10 +1215,18 @@ int32_t dll_pll_veml_tracking::save_matfile()
             Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
             Mat_VarFree(matvar);
 
+            matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
             matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
             Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
             Mat_VarFree(matvar);
 
+            matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
+            Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
+            Mat_VarFree(matvar);
+
             matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
             Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
             Mat_VarFree(matvar);
@@ -1190,7 +1274,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
     delete[] PRN_start_sample_count;
     delete[] acc_carrier_phase_rad;
     delete[] carrier_doppler_hz;
+    delete[] carrier_doppler_rate_hz;
     delete[] code_freq_chips;
+    delete[] code_freq_rate_chips;
     delete[] carr_error_hz;
     delete[] carr_error_filt_hz;
     delete[] code_error_chips;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h

@@ -41,6 +41,7 @@
 #include <string>
 #include <map>
 #include <queue>
+#include <utility>
 #include <boost/circular_buffer.hpp>
 
 class dll_pll_veml_tracking;
@@ -146,10 +147,13 @@ private:
 
     double d_code_phase_step_chips;
     double d_code_phase_rate_step_chips;
+    boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
     double d_carrier_phase_step_rad;
+    double d_carrier_phase_rate_step_rad;
+    boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
     // remaining code phase and carrier phase between tracking loops
     double d_rem_code_phase_samples;
-    double d_rem_carr_phase_rad;
+    float d_rem_carr_phase_rad;
 
     // PLL and DLL filter library
     Tracking_2nd_DLL_filter d_code_loop_filter;
@@ -164,7 +168,6 @@ private:
     double d_carr_error_filt_hz;
     double d_code_error_chips;
     double d_code_error_filt_chips;
-    double d_K_blk_samples;
     double d_code_freq_chips;
     double d_carrier_doppler_hz;
     double d_acc_carrier_phase_rad;

src/algorithms/tracking/libs/CMakeLists.txt

@@ -30,7 +30,6 @@ if(ENABLE_CUDA)
 endif(ENABLE_CUDA)
 
 
-
 set(TRACKING_LIB_SOURCES
      cpu_multicorrelator.cc
      cpu_multicorrelator_real_codes.cc
@@ -47,8 +46,25 @@ set(TRACKING_LIB_SOURCES
      bayesian_estimation.cc
 )
 
+set(TRACKING_LIB_HEADERS
+     cpu_multicorrelator.h
+     cpu_multicorrelator_real_codes.h
+     cpu_multicorrelator_16sc.h
+     lock_detectors.h
+     tcp_communication.h
+     tcp_packet_data.h
+     tracking_2nd_DLL_filter.h
+     tracking_2nd_PLL_filter.h
+     tracking_discriminators.h
+     tracking_FLL_PLL_filter.h
+     tracking_loop_filter.h
+     dll_pll_conf.h
+     bayesian_estimation.h
+)
+
 if(ENABLE_FPGA)
-    SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
+    set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
+    set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
 endif(ENABLE_FPGA)
 
 include_directories(
@@ -74,8 +90,9 @@ if (SSE3_AVAILABLE)
 endif(SSE3_AVAILABLE)
 
 
-file(GLOB TRACKING_LIB_HEADERS "*.h")
 list(SORT TRACKING_LIB_HEADERS)
+list(SORT TRACKING_LIB_SOURCES)
+
 add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
 source_group(Headers FILES ${TRACKING_LIB_HEADERS})
 target_link_libraries(tracking_lib ${OPT_TRACKING_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc

@@ -125,7 +125,32 @@ void cpu_multicorrelator_real_codes::update_local_code(int correlator_length_sam
         }
 }
 
-
+// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
+bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
+    float rem_carrier_phase_in_rad,
+    float phase_step_rad,
+    float phase_rate_step_rad,
+    float rem_code_phase_chips,
+    float code_phase_step_chips,
+    float code_phase_rate_step_chips,
+    int signal_length_samples)
+{
+    update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips);
+    // Regenerate phase at each call in order to avoid numerical issues
+    lv_32fc_t phase_offset_as_complex[1];
+    phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
+    // call VOLK_GNSSSDR kernel
+    if (d_use_high_dynamics_resampler)
+        {
+            volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), std::exp(lv_32fc_t(0.0, -phase_rate_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
+        }
+    else
+        {
+            volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
+        }
+    return true;
+}
+// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
 bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
     float rem_carrier_phase_in_rad,
     float phase_step_rad,

src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h

@@ -52,6 +52,8 @@ public:
     bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips);
     bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in);
     void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0);
+    // Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
+    bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
     bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
     bool free();
 

src/algorithms/tracking/libs/dll_pll_conf.cc

@@ -36,7 +36,8 @@
 Dll_Pll_Conf::Dll_Pll_Conf()
 {
     /* DLL/PLL tracking configuration */
-    use_high_dynamics_resampler = true;
+    high_dyn = false;
+    smoother_length = 10;
     fs_in = 0.0;
     vector_length = 0U;
     dump = false;

src/algorithms/tracking/libs/dll_pll_conf.h

@@ -56,11 +56,12 @@ public:
     float early_late_space_narrow_chips;
     float very_early_late_space_narrow_chips;
     int32_t extend_correlation_symbols;
-    bool use_high_dynamics_resampler;
+    bool high_dyn;
     int32_t cn0_samples;
     int32_t carrier_lock_det_mav_samples;
     int32_t cn0_min;
     int32_t max_lock_fail;
+    uint32_t smoother_length;
     double carrier_lock_th;
     bool track_pilot;
     char system;

src/core/libs/CMakeLists.txt

@@ -29,6 +29,13 @@ set(CORE_LIBS_SOURCES
     gnss_sdr_supl_client.cc
 )
 
+set(CORE_LIBS_HEADERS 
+    ini.h
+    INIReader.h
+    string_converter.h
+    gnss_sdr_supl_client.h
+)
+	
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -40,8 +47,9 @@ include_directories(
     ${Boost_INCLUDE_DIRS}
 )
 
-file(GLOB CORE_LIBS_HEADERS "*.h")
 list(SORT CORE_LIBS_HEADERS)
+list(SORT CORE_LIBS_SOURCES)
+
 add_library(rx_core_lib ${CORE_LIBS_SOURCES} ${CORE_LIBS_HEADERS})
 source_group(Headers FILES ${CORE_LIBS_HEADERS})
 target_link_libraries(rx_core_lib supl_library) 

src/core/libs/gnss_sdr_supl_client.cc

@@ -370,13 +370,13 @@ void gnss_sdr_supl_client::read_supl_data()
 
 bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             gps_ephemeris_map.clear();
             xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", this->gps_ephemeris_map);
-            ifs.close();
             LOG(INFO) << "Loaded Ephemeris map data with " << this->gps_ephemeris_map.size() << " satellites";
         }
     catch (std::exception& e)
@@ -392,12 +392,12 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
 {
     if (eph_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -405,24 +405,118 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ephemeris, map is empty";
             return false;
         }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::load_gal_ephemeris_xml(const std::string file_name)
+{
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gal_ephemeris_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
+            LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
+        }
+    catch (std::exception& e)
+        {
+            LOG(WARNING) << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
+bool save_gal_ephemeris_map_xml(const std::string file_name, std::map<int, Galileo_Ephemeris> eph_map)
+{
+    if (eph_map.empty() == false)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", eph_map);
+                    LOG(INFO) << "Saved Galileo ephemeris map data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save Galileo ephemeris, map is empty";
+            return false;
+        }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::load_cnav_ephemeris_xml(const std::string file_name)
+{
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gps_cnav_ephemeris_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", this->gps_cnav_ephemeris_map);
+            LOG(INFO) << "Loaded Ephemeris map data with " << this->gps_cnav_ephemeris_map.size() << " satellites";
+        }
+    catch (std::exception& e)
+        {
+            LOG(WARNING) << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
+bool save_cnav_ephemeris_map_xml(const std::string file_name, std::map<int, Gps_CNAV_Ephemeris> eph_map)
+{
+    if (eph_map.empty() == false)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", eph_map);
+                    LOG(INFO) << "Saved GPS CNAV ephemeris map data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save GPS CNAV ephemeris, map is empty";
+            return false;
+        }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
-            xml >> boost::serialization::make_nvp("GNSS-SDR_utc_map", this->gps_utc);
+            xml >> boost::serialization::make_nvp("GNSS-SDR_utc_model", this->gps_utc);
-            ifs.close();
             LOG(INFO) << "Loaded UTC model data";
         }
     catch (std::exception& e)
@@ -434,41 +528,133 @@ bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
 }
 
 
-bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::map<int, Gps_Utc_Model> utc_map)
+bool gnss_sdr_supl_client::save_utc_xml(const std::string file_name, Gps_Utc_Model& utc)
 {
-    if (utc_map.empty() == false)
+    if (utc.valid)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
-                    xml << boost::serialization::make_nvp("GNSS-SDR_utc_map", utc_map);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", utc);
-                    ofs.close();
+                    LOG(INFO) << "Saved GPS UTC Model data";
-                    LOG(INFO) << "Saved UTC Model data";
                 }
             catch (std::exception& e)
                 {
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
-            LOG(WARNING) << "Failed to save UTC model, map is empty";
+            LOG(WARNING) << "Failed to save GPS UTC model, no valid data";
             return false;
         }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::load_cnav_utc_xml(const std::string file_name)
+{
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            xml >> boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", this->gps_cnav_utc);
+            LOG(INFO) << "Loaded CNAV UTC model data";
+        }
+    catch (std::exception& e)
+        {
+            LOG(WARNING) << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::save_cnav_utc_xml(const std::string file_name, Gps_CNAV_Utc_Model& utc)
+{
+    if (utc.valid)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", utc);
+                    LOG(INFO) << "Saved GPS CNAV UTC model data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save GPS CNAV UTC model, no valid data";
+            return false;
+        }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::load_gal_utc_xml(const std::string file_name)
+{
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", this->gal_utc);
+            LOG(INFO) << "Loaded Galileo UTC model data";
+        }
+    catch (std::exception& e)
+        {
+            LOG(WARNING) << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::save_gal_utc_xml(const std::string file_name, Galileo_Utc_Model& utc)
+{
+    if (utc.flag_utc_model)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", utc);
+                    LOG(INFO) << "Saved Galileo UTC Model data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save Galileo UTC model, no valid data";
+            return false;
+        }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
-            xml >> boost::serialization::make_nvp("GNSS-SDR_iono_map", this->gps_iono);
+            xml >> boost::serialization::make_nvp("GNSS-SDR_iono_model", this->gps_iono);
-            ifs.close();
             LOG(INFO) << "Loaded IONO model data";
         }
     catch (std::exception& e)
@@ -480,16 +666,16 @@ bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
 }
 
 
-bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::map<int, Gps_Iono> iono_map)
+bool gnss_sdr_supl_client::save_iono_xml(const std::string file_name, Gps_Iono& iono)
 {
-    if (iono_map.empty() == false)
+    if (iono.valid)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
-                    xml << boost::serialization::make_nvp("GNSS-SDR_iono_map", iono_map);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", iono);
-                    ofs.close();
                     LOG(INFO) << "Saved IONO Model data";
                 }
             catch (std::exception& e)
@@ -497,24 +683,70 @@ bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::m
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save IONO model, map is empty";
             return false;
         }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::load_gal_iono_xml(const std::string file_name)
+{
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", this->gal_iono);
+            LOG(INFO) << "Loaded Galileo IONO model data";
+        }
+    catch (std::exception& e)
+        {
+            LOG(WARNING) << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::save_gal_iono_xml(const std::string file_name, Galileo_Iono& iono)
+{
+    if (iono.ai0_5 != 0.0)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", iono);
+                    LOG(INFO) << "Saved Galileo IONO Model data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save Galileo IONO model, map is empty";
+            return false;
+        }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_ref_time_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_ref_time_map", this->gps_time);
-            ifs.close();
             LOG(INFO) << "Loaded Ref Time data";
         }
     catch (std::exception& e)
@@ -530,12 +762,13 @@ bool gnss_sdr_supl_client::save_ref_time_map_xml(const std::string file_name, st
 {
     if (ref_time_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ref_time_map", ref_time_map);
-                    ofs.close();
+
                     LOG(INFO) << "Saved Ref Time data";
                 }
             catch (std::exception& e)
@@ -543,24 +776,24 @@ bool gnss_sdr_supl_client::save_ref_time_map_xml(const std::string file_name, st
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ref Time, map is empty";
             return false;
         }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_ref_location_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_ref_location_map", this->gps_ref_loc);
-            ifs.close();
             LOG(INFO) << "Loaded Ref Location data";
         }
     catch (std::exception& e)
@@ -576,12 +809,12 @@ bool gnss_sdr_supl_client::save_ref_location_map_xml(const std::string file_name
 {
     if (ref_location_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ref_location_map", ref_location_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Ref Location data";
                 }
             catch (std::exception& e)
@@ -589,11 +822,11 @@ bool gnss_sdr_supl_client::save_ref_location_map_xml(const std::string file_name
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ref Location, map is empty";
             return false;
         }
+    return true;
 }

src/core/libs/gnss_sdr_supl_client.h

@@ -43,9 +43,14 @@ extern "C"
 #include "gps_iono.h"
 #include "gps_almanac.h"
 #include "gps_utc_model.h"
+#include "gps_cnav_utc_model.h"
 #include "gps_acq_assist.h"
 #include "gps_ref_time.h"
 #include "gps_ref_location.h"
+#include "gps_cnav_ephemeris.h"
+#include "galileo_ephemeris.h"
+#include "galileo_utc_model.h"
+#include "galileo_iono.h"
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/serialization/map.hpp>
@@ -77,15 +82,20 @@ public:
     int request;
     // ephemeris map
     std::map<int, Gps_Ephemeris> gps_ephemeris_map;
+    std::map<int, Galileo_Ephemeris> gal_ephemeris_map;
+    std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
     // almanac map
     std::map<int, Gps_Almanac> gps_almanac_map;
 
     // ionospheric model
     Gps_Iono gps_iono;
+    Galileo_Iono gal_iono;
     // reference time
     Gps_Ref_Time gps_time;
     // UTC model
     Gps_Utc_Model gps_utc;
+    Galileo_Utc_Model gal_utc;
+    Gps_CNAV_Utc_Model gps_cnav_utc;
     // reference location
     Gps_Ref_Location gps_ref_loc;
     // Acquisition Assistance map
@@ -107,7 +117,7 @@ public:
     void read_supl_data();
 
     /*!
-     * \brief Read ephemeris map from XML file
+     * \brief Read GPS NAV ephemeris map from XML file
      */
     bool load_ephemeris_xml(const std::string file_name);
 
@@ -118,16 +128,59 @@ public:
         std::map<int, Gps_Ephemeris> eph_map);
 
     /*!
-     * \brief Read utc model from XML file
+     * \brief Read GPS CNAV ephemeris map from XML file
+     */
+    bool load_cnav_ephemeris_xml(const std::string file_name);
+
+    /*!
+     * \brief Save GPS CNAV ephemeris map to XML file.
+     */
+    bool save_cnav_ephemeris_map_xml(const std::string file_name,
+        std::map<int, Gps_CNAV_Ephemeris> eph_map);
+
+    /*!
+     * \brief Read Galileo ephemeris map from XML file
+     */
+    bool load_gal_ephemeris_xml(const std::string file_name);
+
+    /*!
+     * \brief Save Galileo ephemeris map to XML file.
+     */
+    bool save_gal_ephemeris_map_xml(const std::string file_name,
+        std::map<int, Galileo_Ephemeris> eph_map);
+
+    /*!
+     * \brief Read GPS utc model from XML file
      */
     bool load_utc_xml(const std::string file_name);
 
     /*!
-     * \brief Save utc model map to XML file
+     * \brief Save UTC model map to XML file
      * To be called by ControlThread::gps_utc_model_data_write_to_XML()
      */
-    bool save_utc_map_xml(const std::string file_name,
+    bool save_utc_xml(const std::string file_name, Gps_Utc_Model& utc);
-        std::map<int, Gps_Utc_Model> utc_map);
+
+    /*!
+     * \brief Read CNAV GPS utc model from XML file
+     */
+    bool load_cnav_utc_xml(const std::string file_name);
+
+    /*!
+     * \brief Save CNAV UTC model map to XML file
+     * To be called by ControlThread::gps_utc_model_data_write_to_XML()
+     */
+    bool save_cnav_utc_xml(const std::string file_name, Gps_CNAV_Utc_Model& utc);
+
+    /*!
+     * \brief Read Galileo utc model from XML file
+     */
+    bool load_gal_utc_xml(const std::string file_name);
+
+    /*!
+     * \brief Save Galileo UTC model map to XML file
+     * To be called by ControlThread::gal_utc_model_data_write_to_XML()
+     */
+    bool save_gal_utc_xml(const std::string file_name, Galileo_Utc_Model& utc);
 
     /*!
      * \brief Read iono from XML file
@@ -137,8 +190,17 @@ public:
     /*!
      * \brief Save iono map to XML file
      */
-    bool save_iono_map_xml(const std::string file_name,
+    bool save_iono_xml(const std::string file_name, Gps_Iono& iono);
-        std::map<int, Gps_Iono> iono_map);
+
+    /*!
+     * \brief Read Galileo iono from XML file
+     */
+    bool load_gal_iono_xml(const std::string file_name);
+
+    /*!
+     * \brief Save Galileo iono map to XML file
+     */
+    bool save_gal_iono_xml(const std::string file_name, Galileo_Iono& iono);
 
     /*!
      * \brief Read ref time from XML file

src/core/monitor/CMakeLists.txt

@@ -22,6 +22,12 @@ set(CORE_MONITOR_LIBS_SOURCES
 	gnss_synchro_udp_sink.cc
 )
 
+set(CORE_MONITOR_LIBS_HEADERS 
+	gnss_synchro_monitor.h
+	gnss_synchro_udp_sink.h
+)
+
+
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -31,8 +37,9 @@ include_directories(
     ${Boost_INCLUDE_DIRS}
 )
 
-file(GLOB CORE_MONITOR_LIBS_HEADERS "*.h")
 list(SORT CORE_MONITOR_LIBS_HEADERS)
+list(SORT CORE_MONITOR_LIBS_SOURCES)
+
 add_library(core_monitor_lib ${CORE_MONITOR_LIBS_SOURCES} ${CORE_MONITOR_LIBS_HEADERS})
 source_group(Headers FILES ${CORE_MONITOR_LIBS_HEADERS})
 target_link_libraries(core_monitor_lib ${Boost_LIBRARIES}) 

src/core/receiver/CMakeLists.txt

@@ -26,6 +26,17 @@ set(GNSS_RECEIVER_SOURCES
      in_memory_configuration.cc
 )
 
+set(GNSS_RECEIVER_HEADERS
+     control_thread.h
+     control_message_factory.h
+     file_configuration.h
+     gnss_block_factory.h
+     gnss_flowgraph.h
+     in_memory_configuration.h
+     concurrent_map.h
+     concurrent_queue.h
+     control_message.h
+)
 
 if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
      add_definitions(-DMODERN_GNURADIO=1)
@@ -149,10 +160,21 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB GNSS_RECEIVER_HEADERS "*.h")
 list(SORT GNSS_RECEIVER_HEADERS)
-file(GLOB GNSS_RECEIVER_INTERFACE_HEADERS "../interfaces/*.h")
+list(SORT GNSS_RECEIVER_SOURCES)
+
+set(GNSS_RECEIVER_INTERFACE_HEADERS ../interfaces/acquisition_interface.h
+                                    ../interfaces/channel_interface.h
+                                    ../interfaces/configuration_interface.h
+                                    ../interfaces/gnss_block_interface.h
+                                    ../interfaces/observables_interface.h
+                                    ../interfaces/pvt_interface.h
+                                    ../interfaces/telemetry_decoder_interface.h
+                                    ../interfaces/tracking_interface.h
+)
+
 list(SORT GNSS_RECEIVER_INTERFACE_HEADERS)
+
 add_library(gnss_rx ${GNSS_RECEIVER_SOURCES} ${GNSS_RECEIVER_HEADERS} ${GNSS_RECEIVER_INTERFACE_HEADERS})
 source_group(Headers FILES ${GNSS_RECEIVER_HEADERS} ${GNSS_RECEIVER_INTERFACE_HEADERS})
 

src/core/receiver/control_thread.cc

@@ -201,10 +201,17 @@ bool ControlThread::read_assistance_from_XML()
     std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
     std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
     std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
+    std::string gal_iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_iono_xml", gal_iono_default_xml_filename);
     std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
     std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
+    std::string eph_gal_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_ephemeris_xml", eph_gal_default_xml_filename);
+    std::string eph_cnav_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_cnav_ephemeris_xml", eph_cnav_default_xml_filename);
+    std::string gal_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_utc_model.xml", gal_utc_default_xml_filename);
+    std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model.xml", cnav_utc_default_xml_filename);
+
+    std::cout << "Trying to read GNSS ephemeris from XML file(s)..."
+              << std::endl;
 
-    std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
     if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
         {
             std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
@@ -212,45 +219,91 @@ bool ControlThread::read_assistance_from_XML()
                  gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
                  gps_eph_iter++)
                 {
-                    std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
+                    std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << std::endl;
                     std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
                     flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
                 }
             ret = true;
         }
-    else
+
+    if (supl_client_ephemeris_.load_gal_ephemeris_xml(eph_gal_xml_filename) == true)
+        {
+            std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter;
+            for (gal_eph_iter = supl_client_ephemeris_.gal_ephemeris_map.cbegin();
+                 gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend();
+                 gal_eph_iter++)
+                {
+                    std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.i_satellite_PRN) << std::endl;
+                    std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second);
+                    flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+                }
+            ret = true;
+        }
+
+    if (supl_client_ephemeris_.load_cnav_ephemeris_xml(eph_cnav_xml_filename) == true)
+        {
+            std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter;
+            for (gps_cnav_eph_iter = supl_client_ephemeris_.gps_cnav_ephemeris_map.cbegin();
+                 gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
+                 gps_cnav_eph_iter++)
+                {
+                    std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.i_satellite_PRN) << std::endl;
+                    std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
+                    flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+                }
+            ret = true;
+        }
+
+    if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
+        {
+            std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(supl_client_acquisition_.gps_utc);
+            flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+            std::cout << "From XML file: Read GPS UTC parameters." << std::endl;
+            ret = true;
+        }
+
+    if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
+        {
+            std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(supl_client_acquisition_.gps_iono);
+            flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+            std::cout << "From XML file: Read GPS iono parameters." << std::endl;
+            ret = true;
+        }
+
+    if (supl_client_acquisition_.load_gal_iono_xml(gal_iono_xml_filename) == true)
+        {
+            std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(supl_client_acquisition_.gal_iono);
+            flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+            std::cout << "From XML file: Read Galileo iono parameters." << std::endl;
+            ret = true;
+        }
+
+    if (supl_client_acquisition_.load_gal_utc_xml(gal_utc_xml_filename) == true)
+        {
+            std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(supl_client_acquisition_.gal_utc);
+            flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+            std::cout << "From XML file: Read Galileo UTC parameters." << std::endl;
+            ret = true;
+        }
+
+    if (supl_client_acquisition_.load_cnav_utc_xml(cnav_utc_xml_filename) == true)
+        {
+            std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(supl_client_acquisition_.gps_cnav_utc);
+            flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
+            std::cout << "From XML file: Read GPS CNAV UTC parameters." << std::endl;
+            ret = true;
+        }
+
+    if (ret == false)
         {
             std::cout << "ERROR: SUPL client error reading XML" << std::endl;
             std::cout << "Disabling SUPL assistance..." << std::endl;
         }
-    // Only look for {utc, iono, ref time, ref location} if SUPL is enabled
+
+    // Only look for {ref time, ref location} if SUPL is enabled
     bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
     if (enable_gps_supl_assistance == true)
         {
-            // Try to read UTC model from XML
-            if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
-                {
-                    LOG(INFO) << "SUPL: Read XML UTC model";
-                    std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(supl_client_acquisition_.gps_utc);
-                    flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
-                }
-            else
-                {
-                    LOG(INFO) << "SUPL: couldn't read UTC model XML";
-                }
-
-            // Try to read Iono model from XML
-            if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
-                {
-                    LOG(INFO) << "SUPL: Read XML IONO model";
-                    std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(supl_client_acquisition_.gps_iono);
-                    flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
-                }
-            else
-                {
-                    LOG(INFO) << "SUPL: couldn't read IONO model XML";
-                }
-
             // Try to read Ref Time from XML
             if (supl_client_acquisition_.load_ref_time_xml(ref_time_xml_filename) == true)
                 {
@@ -324,7 +377,7 @@ void ControlThread::assist_GNSS()
                     // read assistance from file
                     if (read_assistance_from_XML())
                         {
-                            std::cout << "GPS assistance data loaded from local XML file." << std::endl;
+                            std::cout << "GNSS assistance data loaded from local XML file(s)." << std::endl;
                         }
                 }
             else

src/core/receiver/control_thread.h

@@ -167,6 +167,11 @@ private:
     const std::string iono_default_xml_filename = "./gps_iono.xml";
     const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
     const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
+    const std::string eph_gal_default_xml_filename = "./gal_ephemeris.xml";
+    const std::string eph_cnav_default_xml_filename = "./gps_cnav_ephemeris.xml";
+    const std::string gal_iono_default_xml_filename = "./gal_iono.xml";
+    const std::string gal_utc_default_xml_filename = "./gal_utc_model.xml";
+    const std::string cnav_utc_default_xml_filename = "./gps_cnav_utc_model.xml";
 };
 
 #endif /*GNSS_SDR_CONTROL_THREAD_H_*/

src/core/receiver/gnss_flowgraph.cc

@@ -801,8 +801,8 @@ void GNSSFlowgraph::wait()
 
 bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
 {
-    //push ephemeris to PVT telemetry msg in port using a channel out port
+    // Push ephemeris to PVT telemetry msg in port using a channel out port
-    // it uses the first channel as a message produces (it is already connected to PVT)
+    // it uses the first channel as a message producer (it is already connected to PVT)
     channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
     return true;
 }
@@ -816,6 +816,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
  */
 void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
 {
+    std::lock_guard<std::mutex> lock(signal_list_mutex);
     DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
     unsigned int sat = 0;
     try
@@ -826,7 +827,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
         {
             LOG(WARNING) << e.what();
         }
-    std::lock_guard<std::mutex> lock(signal_list_mutex);
     switch (what)
         {
         case 0:
@@ -1336,8 +1336,8 @@ void GNSSFlowgraph::set_signals_list()
     if (configuration_->property("Channels_1G.count", 0) > 0)
         {
             // Loop to create the list of GLONASS L1 C/A signals
-            for (available_gnss_prn_iter = available_glonass_prn.begin();
+            for (available_gnss_prn_iter = available_glonass_prn.cbegin();
-                 available_gnss_prn_iter != available_glonass_prn.end();
+                 available_gnss_prn_iter != available_glonass_prn.cend();
                  available_gnss_prn_iter++)
                 {
                     available_GLO_1G_signals_.push_back(Gnss_Signal(
@@ -1349,8 +1349,8 @@ void GNSSFlowgraph::set_signals_list()
     if (configuration_->property("Channels_2G.count", 0) > 0)
         {
             // Loop to create the list of GLONASS L2 C/A signals
-            for (available_gnss_prn_iter = available_glonass_prn.begin();
+            for (available_gnss_prn_iter = available_glonass_prn.cbegin();
-                 available_gnss_prn_iter != available_glonass_prn.end();
+                 available_gnss_prn_iter != available_glonass_prn.cend();
                  available_gnss_prn_iter++)
                 {
                     available_GLO_2G_signals_.push_back(Gnss_Signal(
@@ -1363,6 +1363,7 @@ void GNSSFlowgraph::set_signals_list()
 
 void GNSSFlowgraph::set_channels_state()
 {
+    std::lock_guard<std::mutex> lock(signal_list_mutex);
     max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
     if (max_acq_channels_ > channels_count_)
         {
@@ -1382,7 +1383,6 @@ void GNSSFlowgraph::set_channels_state()
                 }
             DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
         }
-    std::lock_guard<std::mutex> lock(signal_list_mutex);
     acq_channels_count_ = max_acq_channels_;
     DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
 }

src/core/system_parameters/CMakeLists.txt

@@ -45,6 +45,47 @@ set(SYSTEM_PARAMETERS_SOURCES
      glonass_gnav_navigation_message.cc
 )
 
+set(SYSTEM_PARAMETERS_HEADERS
+     gnss_satellite.h
+     gnss_signal.h
+     gps_navigation_message.h
+     gps_ephemeris.h
+     gps_iono.h
+     gps_almanac.h
+     gps_utc_model.h
+     gps_acq_assist.h
+     gps_ref_time.h
+     gps_ref_location.h
+     galileo_utc_model.h
+     galileo_ephemeris.h
+     galileo_almanac.h
+     galileo_iono.h
+     galileo_navigation_message.h
+     sbas_ephemeris.h
+     galileo_fnav_message.h
+     gps_cnav_ephemeris.h
+     gps_cnav_navigation_message.h
+     gps_cnav_iono.h
+     gps_cnav_utc_model.h
+     rtcm.h
+     glonass_gnav_ephemeris.h
+     glonass_gnav_almanac.h
+     glonass_gnav_utc_model.h
+     glonass_gnav_navigation_message.h
+     display.h
+     Galileo_E1.h
+     Galileo_E5a.h
+     GLONASS_L1_L2_CA.h
+     gnss_frequencies.h
+     gnss_obs_codes.h
+     gnss_synchro.h
+     GPS_CNAV.h
+     GPS_L1_CA.h
+     GPS_L2C.h
+     GPS_L5.h
+     MATH_CONSTANTS.h     
+)
+
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -57,8 +98,10 @@ include_directories(
 )
 
 link_directories(${Boost_LIBRARY_DIR})
-file(GLOB SYSTEM_PARAMETERS_HEADERS "*.h")
+
 list(SORT SYSTEM_PARAMETERS_HEADERS)
+list(SORT SYSTEM_PARAMETERS_SOURCES)
+
 add_library(gnss_system_parameters ${SYSTEM_PARAMETERS_SOURCES} ${SYSTEM_PARAMETERS_HEADERS})
 source_group(Headers FILES ${SYSTEM_PARAMETERS_HEADERS})
 add_dependencies(gnss_system_parameters rtklib_lib glog-${glog_RELEASE})

src/core/system_parameters/galileo_iono.h

@@ -32,6 +32,7 @@
 #ifndef GNSS_SDR_GALILEO_IONO_H_
 #define GNSS_SDR_GALILEO_IONO_H_
 
+#include <boost/serialization/nvp.hpp>
 
 /*!
  * \brief This class is a storage for the GALILEO IONOSPHERIC data as described in Galileo ICD paragraph 5.1.6
@@ -61,6 +62,30 @@ public:
      * Default constructor
      */
     Galileo_Iono();
+
+    template <class Archive>
+
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization.
+     Here is used to save the iono data on disk file.
+     */
+    inline void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if (version)
+            {
+            };
+        archive& make_nvp("ai0_5", ai0_5);
+        archive& make_nvp("ai1_5", ai1_5);
+        archive& make_nvp("ai2_5", ai2_5);
+        archive& make_nvp("Region1_flag_5", Region1_flag_5);
+        archive& make_nvp("Region2_flag_5", Region2_flag_5);
+        archive& make_nvp("Region3_flag_5", Region3_flag_5);
+        archive& make_nvp("Region4_flag_5", Region4_flag_5);
+        archive& make_nvp("Region5_flag_5", Region5_flag_5);
+        archive& make_nvp("TOW_5", TOW_5);
+        archive& make_nvp("WN_5", WN_5);
+    }
 };
 
 #endif

src/core/system_parameters/galileo_utc_model.h

@@ -33,6 +33,7 @@
 #ifndef GNSS_SDR_GALILEO_UTC_MODEL_H_
 #define GNSS_SDR_GALILEO_UTC_MODEL_H_
 
+#include <boost/serialization/nvp.hpp>
 
 /*!
  * \brief This class is a storage for the GALILEO UTC MODEL data as described in Galileo ICD
@@ -58,6 +59,29 @@ public:
      * Default constructor
      */
     Galileo_Utc_Model();
+
+    template <class Archive>
+
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization.
+     Here is used to save the UTC data on disk file.
+     */
+    inline void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if (version)
+            {
+            };
+        archive& make_nvp("A0_6", A0_6);
+        archive& make_nvp("A1_6", A1_6);
+        archive& make_nvp("Delta_tLS_6", Delta_tLS_6);
+        archive& make_nvp("t0t_6", t0t_6);
+        archive& make_nvp("WNot_6", WNot_6);
+        archive& make_nvp("WN_LSF_6", WN_LSF_6);
+        archive& make_nvp("DN_6", DN_6);
+        archive& make_nvp("Delta_tLSF_6", Delta_tLSF_6);
+        archive& make_nvp("flag_utc_model", flag_utc_model);
+    }
 };
 
 #endif

src/core/system_parameters/gnss_synchro.h

@@ -33,6 +33,7 @@
 #ifndef GNSS_SDR_GNSS_SYNCHRO_H_
 #define GNSS_SDR_GNSS_SYNCHRO_H_
 
+#include <boost/serialization/nvp.hpp>
 #include "gnss_signal.h"
 #include <cstdint>
 
@@ -83,41 +84,42 @@ public:
      * Gnss_Synchro objects from a byte stream.
      */
     template <class Archive>
+
     void serialize(Archive& ar, const unsigned int version)
     {
         if (version)
             {
             };
         // Satellite and signal info
-        ar& System;
+        ar& BOOST_SERIALIZATION_NVP(System);
-        ar& Signal;
+        ar& BOOST_SERIALIZATION_NVP(Signal);
-        ar& PRN;
+        ar& BOOST_SERIALIZATION_NVP(PRN);
-        ar& Channel_ID;
+        ar& BOOST_SERIALIZATION_NVP(Channel_ID);
         // Acquisition
-        ar& Acq_delay_samples;
+        ar& BOOST_SERIALIZATION_NVP(Acq_delay_samples);
-        ar& Acq_doppler_hz;
+        ar& BOOST_SERIALIZATION_NVP(Acq_doppler_hz);
-        ar& Acq_samplestamp_samples;
+        ar& BOOST_SERIALIZATION_NVP(Acq_samplestamp_samples);
-        ar& Acq_doppler_step;
+        ar& BOOST_SERIALIZATION_NVP(Acq_doppler_step);
-        ar& Flag_valid_acquisition;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_acquisition);
         // Tracking
-        ar& fs;
+        ar& BOOST_SERIALIZATION_NVP(fs);
-        ar& Prompt_I;
+        ar& BOOST_SERIALIZATION_NVP(Prompt_I);
-        ar& Prompt_Q;
+        ar& BOOST_SERIALIZATION_NVP(Prompt_Q);
-        ar& CN0_dB_hz;
+        ar& BOOST_SERIALIZATION_NVP(CN0_dB_hz);
-        ar& Carrier_Doppler_hz;
+        ar& BOOST_SERIALIZATION_NVP(Carrier_Doppler_hz);
-        ar& Carrier_phase_rads;
+        ar& BOOST_SERIALIZATION_NVP(Carrier_phase_rads);
-        ar& Code_phase_samples;
+        ar& BOOST_SERIALIZATION_NVP(Code_phase_samples);
-        ar& Tracking_sample_counter;
+        ar& BOOST_SERIALIZATION_NVP(Tracking_sample_counter);
-        ar& Flag_valid_symbol_output;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_symbol_output);
-        ar& correlation_length_ms;
+        ar& BOOST_SERIALIZATION_NVP(correlation_length_ms);
         // Telemetry Decoder
-        ar& Flag_valid_word;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_word);
-        ar& TOW_at_current_symbol_ms;
+        ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms);
         // Observables
-        ar& Pseudorange_m;
+        ar& BOOST_SERIALIZATION_NVP(Pseudorange_m);
-        ar& RX_time;
+        ar& BOOST_SERIALIZATION_NVP(RX_time);
-        ar& Flag_valid_pseudorange;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_pseudorange);
-        ar& interp_TOW_ms;
+        ar& BOOST_SERIALIZATION_NVP(interp_TOW_ms);
     }
 };
 

src/core/system_parameters/gps_cnav_navigation_message.cc

@@ -391,5 +391,6 @@ bool Gps_CNAV_Navigation_Message::have_new_utc_model()  // Check if we have a ne
 
 Gps_CNAV_Utc_Model Gps_CNAV_Navigation_Message::get_utc_model()
 {
+    utc_model_record.valid = true;
     return utc_model_record;
 }

src/core/system_parameters/gps_ephemeris.h

@@ -153,7 +153,7 @@ public:
         archive& make_nvp("d_Cus", d_Cus);                        //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
         archive& make_nvp("d_sqrt_A", d_sqrt_A);                  //!< Square Root of the Semi-Major Axis [sqrt(m)]
         archive& make_nvp("d_Toe", d_Toe);                        //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
-        archive& make_nvp("d_Toc", d_Toe);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
+        archive& make_nvp("d_Toc", d_Toc);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
         archive& make_nvp("d_Cic", d_Cic);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
         archive& make_nvp("d_OMEGA0", d_OMEGA0);                  //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
         archive& make_nvp("d_Cis", d_Cis);                        //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]

src/tests/CMakeLists.txt

@@ -179,6 +179,7 @@ endif(ENABLE_UNIT_TESTING_MINIMAL)
 ################################################################################
 # Optional generator
 ################################################################################
+option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
 if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    if(ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
@@ -188,6 +189,12 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    else(ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "")
    endif(ENABLE_FPGA)
+   find_package(GnssSimulator QUIET)
+   if(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
+      add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
+      add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
+      add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
+   else(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
       ExternalProject_Add(
          gnss-sim
          GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
@@ -213,6 +220,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
          add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
          add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
       endif(ENABLE_INSTALL_TESTS)
+   endif(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
 
    ################################################################################
    # Local installation of GPSTk http://www.gpstk.org/
@@ -220,7 +228,10 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    find_package(GPSTK)
    if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
       message(STATUS "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing 'make'.")
-
+         if ("${TOOLCHAIN_ARG}" STREQUAL "")
+            set(TOOLCHAIN_ARG "-DCMAKE_CXX_FLAGS=\"-Wno-deprecated\"")
+            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated")     
+         endif("${TOOLCHAIN_ARG}" STREQUAL "")
  #     if(NOT ENABLE_FPGA)
           if(CMAKE_VERSION VERSION_LESS 3.2)
            ExternalProject_Add(
@@ -305,12 +316,16 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 
@@ -391,6 +406,7 @@ if(ENABLE_UNIT_TESTING)
                                 signal_generator_adapters
                                 pvt_gr_blocks
                                 signal_processing_testing_lib
+                                system_testing_lib
                                 ${VOLK_GNSSSDR_LIBRARIES}
                                 ${MATIO_LIBRARIES}
                                 ${GNSS_SDR_TEST_OPTIONAL_LIBS}

src/tests/common-files/observable_tests_flags.h

@@ -37,5 +37,6 @@
 DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
 DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
 DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies differences");
-
+DEFINE_bool(duplicated_satellites_test, false, "Enable special observable test mode where the scenario contains duplicated satellite orbits");
+DEFINE_string(duplicated_satellites_prns, "1,2,3,4", "List of duplicated satellites PRN pairs (i.e. 1,2,3,4 indicates that the PRNs 1,2 share the same orbit. The same applies for PRNs 3,4)");
 #endif

src/tests/common-files/tracking_tests_flags.h

@@ -41,7 +41,7 @@ DEFINE_bool(enable_external_signal_file, false, "Use an external signal file cap
 DEFINE_double(external_signal_acquisition_threshold, 2.5, "Threshold for satellite acquisition when external file is used");
 DEFINE_int32(external_signal_acquisition_dwells, 5, "Maximum dwells count for satellite acquisition when external file is used");
 DEFINE_double(external_signal_acquisition_doppler_max_hz, 5000.0, "Doppler max for satellite acquisition when external file is used");
-DEFINE_double(external_signal_acquisition_doppler_step_hz, 125, "Doppler step for satellite acquisition when external file is used");
+DEFINE_double(external_signal_acquisition_doppler_step_hz, 125.0, "Doppler step for satellite acquisition when external file is used");
 
 DEFINE_string(signal_file, std::string("signal_out.bin"), "Path of the external signal capture file");
 DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");
@@ -77,6 +77,8 @@ DEFINE_double(skip_trk_transitory_s, 1.0, "Skip the initial tracking output sign
 
 //Tracking configuration
 DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)");
+DEFINE_int32(smoother_length, 10, "Set the moving average size for the carrier phase and code phase in case of high dynamics");
+DEFINE_bool(high_dyn, false, "Activates the code resampler and NCO generator for high dynamics");
 
 //Test output configuration
 DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");

src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml

@@ -0,0 +1,481 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<!DOCTYPE boost_serialization>
+<boost_serialization signature="serialization::archive" version="12">
+<GNSS-SDR_ephemeris_map class_id="0" tracking_level="0" version="0">
+	<count>11</count>
+	<item_version>0</item_version>
+	<item class_id="1" tracking_level="0" version="0">
+		<first>1</first>
+		<second class_id="2" tracking_level="0" version="0">
+			<i_satellite_PRN>1</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>9.20000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>9.20000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.83125000000000000e+01</d_Crs>
+			<d_Delta_n>4.86413118201646669e-09</d_Delta_n>
+			<d_M_0>2.06468198930943725e+00</d_M_0>
+			<d_Cuc>9.42498445510864258e-07</d_Cuc>
+			<d_e_eccentricity>3.73082922305911736e-03</d_e_eccentricity>
+			<d_Cus>5.76488673686981201e-06</d_Cus>
+			<d_sqrt_A>5.15366174697875977e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-5.40167093276977539e-08</d_Cic>
+			<d_OMEGA0>9.52167247599200905e-01</d_OMEGA0>
+			<d_Cis>1.86264514923095703e-08</d_Cis>
+			<d_i_0>9.61377026423456127e-01</d_i_0>
+			<d_Crc>2.66968750000000000e+02</d_Crc>
+			<d_OMEGA>4.44935333708291858e-01</d_OMEGA>
+			<d_OMEGA_DOT>-8.14641075927847669e-09</d_OMEGA_DOT>
+			<d_IDOT>4.15017287135849497e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>5.12227416038513184e-09</d_TGD>
+			<d_IODC>9.20000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.09937973320484161e-05</d_A_f0>
+			<d_A_f1>3.41060513164847988e-13</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>2</first>
+		<second>
+			<i_satellite_PRN>2</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>5.50000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>5.50000000000000000e+01</d_IODE_SF3>
+			<d_Crs>2.22812500000000000e+01</d_Crs>
+			<d_Delta_n>5.12771358985317661e-09</d_Delta_n>
+			<d_M_0>2.75926302782053146e+00</d_M_0>
+			<d_Cuc>1.10082328319549561e-06</d_Cuc>
+			<d_e_eccentricity>1.40569622162729484e-02</d_e_eccentricity>
+			<d_Cus>6.26407563686370850e-06</d_Cus>
+			<d_sqrt_A>5.15372654151916504e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.86264514923095703e-08</d_Cic>
+			<d_OMEGA0>9.18037446344556307e-01</d_OMEGA0>
+			<d_Cis>-2.16066837310791016e-07</d_Cis>
+			<d_i_0>9.39991586696909520e-01</d_i_0>
+			<d_Crc>2.45468750000000000e+02</d_Crc>
+			<d_OMEGA>-2.35598690357981555e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.07140763509730069e-09</d_OMEGA_DOT>
+			<d_IDOT>5.25736184736635464e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-2.00234353542327881e-08</d_TGD>
+			<d_IODC>5.50000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>5.36850653588771820e-04</d_A_f0>
+			<d_A_f1>2.16004991671070416e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>3</first>
+		<second>
+			<i_satellite_PRN>3</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>7.00000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>7.00000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-2.04375000000000000e+01</d_Crs>
+			<d_Delta_n>4.75769817722603366e-09</d_Delta_n>
+			<d_M_0>-1.78871492992227910e+00</d_M_0>
+			<d_Cuc>-1.30012631416320801e-06</d_Cuc>
+			<d_e_eccentricity>9.70319728367030512e-04</d_e_eccentricity>
+			<d_Cus>8.26455652713775635e-06</d_Cus>
+			<d_sqrt_A>5.15378153991699219e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>7.82310962677001953e-08</d_Cic>
+			<d_OMEGA0>1.99297660614955263e+00</d_OMEGA0>
+			<d_Cis>-1.11758708953857422e-08</d_Cis>
+			<d_i_0>9.59058451948379909e-01</d_i_0>
+			<d_Crc>2.19593750000000000e+02</d_Crc>
+			<d_OMEGA>-3.00536842405812843e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.02712007605698577e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.17164399115929480e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>5.12227416038513184e-09</d_TGD>
+			<d_IODC>7.00000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>8.80691222846508026e-05</d_A_f0>
+			<d_A_f1>2.89901436190120811e-11</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>6</first>
+		<second>
+			<i_satellite_PRN>6</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>2.30000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>2.30000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.63750000000000000e+01</d_Crs>
+			<d_Delta_n>4.76305554323897445e-09</d_Delta_n>
+			<d_M_0>-1.28531071631616522e+00</d_M_0>
+			<d_Cuc>9.12696123123168945e-07</d_Cuc>
+			<d_e_eccentricity>5.50022465176880251e-04</d_e_eccentricity>
+			<d_Cus>6.24358654022216797e-06</d_Cus>
+			<d_sqrt_A>5.15365166282653809e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.30385160446166992e-08</d_Cic>
+			<d_OMEGA0>9.43624288779246867e-01</d_OMEGA0>
+			<d_Cis>-1.86264514923095703e-09</d_Cis>
+			<d_i_0>9.61292940818096020e-01</d_i_0>
+			<d_Crc>2.58406250000000000e+02</d_Crc>
+			<d_OMEGA>2.29191014519991665e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.08069373618639861e-09</d_OMEGA_DOT>
+			<d_IDOT>4.79305679291144535e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>4.65661287307739258e-09</d_TGD>
+			<d_IODC>2.30000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>3.07881273329257965e-05</d_A_f0>
+			<d_A_f1>8.18545231595635253e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>9</first>
+		<second>
+			<i_satellite_PRN>9</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>4.70000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>4.70000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.12906250000000000e+02</d_Crs>
+			<d_Delta_n>4.37911097897818463e-09</d_Delta_n>
+			<d_M_0>-2.75253879947800195e+00</d_M_0>
+			<d_Cuc>5.85243105888366699e-06</d_Cuc>
+			<d_e_eccentricity>2.16206186451017829e-04</d_e_eccentricity>
+			<d_Cus>1.16303563117980957e-05</d_Cus>
+			<d_sqrt_A>5.15369471168518066e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>1.67638063430786133e-08</d_Cic>
+			<d_OMEGA0>3.03742251571970812e+00</d_OMEGA0>
+			<d_Cis>-1.11758708953857422e-08</d_Cis>
+			<d_i_0>9.59160503650671514e-01</d_i_0>
+			<d_Crc>1.56125000000000000e+02</d_Crc>
+			<d_OMEGA>2.60662251530764344e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.85854162551643464e-09</d_OMEGA_DOT>
+			<d_IDOT>-3.46443002170201364e-11</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>4.65661287307739258e-10</d_TGD>
+			<d_IODC>4.70000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-3.18535603582859039e-05</d_A_f0>
+			<d_A_f1>-9.66338120633736091e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>10</first>
+		<second>
+			<i_satellite_PRN>10</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>5.80000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>5.80000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-2.72500000000000000e+01</d_Crs>
+			<d_Delta_n>5.27093384126580581e-09</d_Delta_n>
+			<d_M_0>-8.86982818851813737e-01</d_M_0>
+			<d_Cuc>-1.17719173431396484e-06</d_Cuc>
+			<d_e_eccentricity>1.44534236751496774e-02</d_e_eccentricity>
+			<d_Cus>7.90506601333618164e-06</d_Cus>
+			<d_sqrt_A>5.15363725471496582e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>1.45286321640014648e-07</d_Cic>
+			<d_OMEGA0>2.00408517949479270e+00</d_OMEGA0>
+			<d_Cis>2.40281224250793457e-07</d_Cis>
+			<d_i_0>9.41160112993577269e-01</d_i_0>
+			<d_Crc>2.15406250000000000e+02</d_Crc>
+			<d_OMEGA>9.09732121011562200e-01</d_OMEGA>
+			<d_OMEGA_DOT>-8.42213653007785350e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.42879755978047536e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-2.79396772384643555e-09</d_TGD>
+			<d_IODC>5.80000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.54968351125717163e-04</d_A_f0>
+			<d_A_f1>-1.59161572810262401e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>12</first>
+		<second>
+			<i_satellite_PRN>12</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>1.06000000000000000e+02</d_IODE_SF2>
+			<d_IODE_SF3>1.06000000000000000e+02</d_IODE_SF3>
+			<d_Crs>-1.17468750000000000e+02</d_Crs>
+			<d_Delta_n>3.94516433192994276e-09</d_Delta_n>
+			<d_M_0>1.11631735294997192e+00</d_M_0>
+			<d_Cuc>-6.15417957305908203e-06</d_Cuc>
+			<d_e_eccentricity>5.05860964767634782e-03</d_e_eccentricity>
+			<d_Cus>4.52436506748199463e-06</d_Cus>
+			<d_sqrt_A>5.15376680946350098e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-5.40167093276977539e-08</d_Cic>
+			<d_OMEGA0>-1.10425023618040785e+00</d_OMEGA0>
+			<d_Cis>4.09781932830810547e-08</d_Cis>
+			<d_i_0>9.88803748742243305e-01</d_i_0>
+			<d_Crc>3.07187500000000000e+02</d_Crc>
+			<d_OMEGA>5.00154452274795935e-01</d_OMEGA>
+			<d_OMEGA_DOT>-7.97176062725659211e-09</d_OMEGA_DOT>
+			<d_IDOT>-4.18231706743614228e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.16415321826934814e-08</d_TGD>
+			<d_IODC>1.06000000000000000e+02</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>2.54871323704719543e-04</d_A_f0>
+			<d_A_f1>2.72848410531878391e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>17</first>
+		<second>
+			<i_satellite_PRN>17</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>2.60000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>2.60000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-5.91250000000000000e+01</d_Crs>
+			<d_Delta_n>3.88194741297723567e-09</d_Delta_n>
+			<d_M_0>-1.94252959218893162e+00</d_M_0>
+			<d_Cuc>-3.04728746414184570e-06</d_Cuc>
+			<d_e_eccentricity>9.88844956737011498e-03</d_e_eccentricity>
+			<d_Cus>1.18296593427658081e-05</d_Cus>
+			<d_sqrt_A>5.15369299888610840e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>2.03028321266174316e-07</d_Cic>
+			<d_OMEGA0>-5.68690999805671268e-02</d_OMEGA0>
+			<d_Cis>-7.63684511184692383e-08</d_Cis>
+			<d_i_0>9.71201777972365177e-01</d_i_0>
+			<d_Crc>1.56531250000000000e+02</d_Crc>
+			<d_OMEGA>-2.06928329237789344e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.44602444251995675e-09</d_OMEGA_DOT>
+			<d_IDOT>4.40375486263771432e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.07102096080780029e-08</d_TGD>
+			<d_IODC>2.60000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.44933816045522690e-04</d_A_f0>
+			<d_A_f1>-2.27373675443232019e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>20</first>
+		<second>
+			<i_satellite_PRN>20</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>1.17000000000000000e+02</d_IODE_SF2>
+			<d_IODE_SF3>1.17000000000000000e+02</d_IODE_SF3>
+			<d_Crs>-2.58437500000000000e+01</d_Crs>
+			<d_Delta_n>5.60380484953655626e-09</d_Delta_n>
+			<d_M_0>1.28625710142833249e-01</d_M_0>
+			<d_Cuc>-1.52923166751861572e-06</d_Cuc>
+			<d_e_eccentricity>5.80669869668781671e-03</d_e_eccentricity>
+			<d_Cus>7.51018524169921875e-06</d_Cus>
+			<d_sqrt_A>5.15578671264648438e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-2.23517417907714844e-08</d_Cic>
+			<d_OMEGA0>1.92543994118208528e+00</d_OMEGA0>
+			<d_Cis>4.65661287307739258e-08</d_Cis>
+			<d_i_0>9.26021286652122910e-01</d_i_0>
+			<d_Crc>2.18031250000000000e+02</d_Crc>
+			<d_OMEGA>1.23365536128043107e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.54892752571746483e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.16450083647537340e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-8.38190317153930664e-09</d_TGD>
+			<d_IODC>1.17000000000000000e+02</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>2.69209500402212143e-04</d_A_f0>
+			<d_A_f1>4.20641299569979229e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>23</first>
+		<second>
+			<i_satellite_PRN>23</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>4.10000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>4.10000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.20250000000000000e+02</d_Crs>
+			<d_Delta_n>4.45161399901998963e-09</d_Delta_n>
+			<d_M_0>3.04794581942897569e+00</d_M_0>
+			<d_Cuc>6.13741576671600342e-06</d_Cuc>
+			<d_e_eccentricity>9.67817602213471954e-03</d_e_eccentricity>
+			<d_Cus>1.14180147647857666e-05</d_Cus>
+			<d_sqrt_A>5.15370163154602051e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-6.14672899246215820e-08</d_Cic>
+			<d_OMEGA0>3.04748172476042711e+00</d_OMEGA0>
+			<d_Cis>-1.04308128356933594e-07</d_Cis>
+			<d_i_0>9.50229191282804808e-01</d_i_0>
+			<d_Crc>1.56000000000000000e+02</d_Crc>
+			<d_OMEGA>-2.71676891930177256e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.78032408172749087e-09</d_OMEGA_DOT>
+			<d_IDOT>-2.75011455330984601e-11</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.95577740669250488e-08</d_TGD>
+			<d_IODC>4.10000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-7.56788067519664764e-05</d_A_f0>
+			<d_A_f1>-2.72848410531878391e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>28</first>
+		<second>
+			<i_satellite_PRN>28</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>3.30000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>3.30000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-1.27750000000000000e+02</d_Crs>
+			<d_Delta_n>4.04302555109966970e-09</d_Delta_n>
+			<d_M_0>-1.16607683198628931e+00</d_M_0>
+			<d_Cuc>-6.37024641036987305e-06</d_Cuc>
+			<d_e_eccentricity>1.97223023278638686e-02</d_e_eccentricity>
+			<d_Cus>5.66989183425903320e-06</d_Cus>
+			<d_sqrt_A>5.15368548965454102e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.37835741043090820e-07</d_Cic>
+			<d_OMEGA0>-1.08006546321039543e+00</d_OMEGA0>
+			<d_Cis>4.35858964920043945e-07</d_Cis>
+			<d_i_0>9.87961552655681530e-01</d_i_0>
+			<d_Crc>2.84718750000000000e+02</d_Crc>
+			<d_OMEGA>-1.69047108635756738e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.17855495535612472e-09</d_OMEGA_DOT>
+			<d_IDOT>-4.44661379074124424e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.11758708953857422e-08</d_TGD>
+			<d_IODC>3.30000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>4.06486913561820984e-04</d_A_f0>
+			<d_A_f1>2.61479726759716828e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+</GNSS-SDR_ephemeris_map>
+</boost_serialization>

src/tests/data/rtklib_test/obs_test1.xml

@@ -0,0 +1,358 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<!DOCTYPE boost_serialization>
+<boost_serialization signature="serialization::archive" version="12">
+<GNSS-SDR_gnss_synchro_map class_id="0" tracking_level="0" version="0">
+	<count>10</count>
+	<item_version>0</item_version>
+	<item class_id="1" tracking_level="0" version="0">
+		<first>0</first>
+		<second class_id="2" tracking_level="0" version="0">
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>1</PRN>
+			<Channel_ID>0</Channel_ID>
+			<Acq_delay_samples>2.28200000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-2.50000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>10791</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-3.85959140625000000e+04</Prompt_I>
+			<Prompt_Q>-9.03592163085937500e+02</Prompt_Q>
+			<CN0_dB_hz>5.96898384094238281e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-2.57914688873291016e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>8.35350813421410858e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.31084377635761484e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923691</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451424</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.28178186234515086e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451423887949765e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>1</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>3</PRN>
+			<Channel_ID>1</Channel_ID>
+			<Acq_delay_samples>2.38500000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>68450858</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.34972734375000000e+04</Prompt_I>
+			<Prompt_Q>4.21364685058593750e+02</Prompt_Q>
+			<CN0_dB_hz>5.16798934936523438e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-3.12509065246582031e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>4.93910706686261110e+05</Carrier_phase_rads>
+			<Code_phase_samples>7.36033200862493686e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923971</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451431</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.07516033774388395e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430780101955e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>2</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>28</PRN>
+			<Channel_ID>2</Channel_ID>
+			<Acq_delay_samples>1.52700000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>1350770</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.46268046875000000e+04</Prompt_I>
+			<Prompt_Q>-3.98811938476562500e+03</Prompt_Q>
+			<CN0_dB_hz>5.25376167297363281e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-2.92984253692626953e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>9.35704822809229488e+05</Carrier_phase_rads>
+			<Code_phase_samples>9.30327007595224131e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923941</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451436</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.92492043561209217e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451435791565657e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>4</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>23</PRN>
+			<Channel_ID>4</Channel_ID>
+			<Acq_delay_samples>1.13100000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>1.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>994247</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>3.98655546875000000e+04</Prompt_I>
+			<Prompt_Q>-8.63781860351562500e+02</Prompt_Q>
+			<CN0_dB_hz>5.24684982299804688e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>1.09281750951009121e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-3.54128275530727289e+05</Carrier_phase_rads>
+			<Code_phase_samples>4.08304036132904002e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922883</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451429</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.12256989876578376e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451429198689222e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>5</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>2</PRN>
+			<Channel_ID>5</Channel_ID>
+			<Acq_delay_samples>5.38000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>1.75000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>4917751</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.72456406250000000e+04</Prompt_I>
+			<Prompt_Q>-2.63723022460937500e+02</Prompt_Q>
+			<CN0_dB_hz>4.89446220397949219e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>1.83319645690917969e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-5.72184006019302527e+05</Carrier_phase_rads>
+			<Code_phase_samples>5.89544135488722532e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922337</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.08629709015843943e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430408619881e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>6</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>17</PRN>
+			<Channel_ID>6</Channel_ID>
+			<Acq_delay_samples>2.21000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>2.50000000000000000e+02</Acq_doppler_hz>
+			<Acq_samplestamp_samples>514377</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.27717460937500000e+04</Prompt_I>
+			<Prompt_Q>-9.45822082519531250e+02</Prompt_Q>
+			<CN0_dB_hz>5.38986015319824219e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.73018497467041016e+02</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-9.09813659855529113e+04</Carrier_phase_rads>
+			<Code_phase_samples>6.57473345280777721e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923172</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451440</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.79613337841309197e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451440087439477e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>7</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>9</PRN>
+			<Channel_ID>7</Channel_ID>
+			<Acq_delay_samples>1.56900000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>2.25000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>7365787</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-3.96159960937500000e+04</Prompt_I>
+			<Prompt_Q>-5.03847460937500000e+03</Prompt_Q>
+			<CN0_dB_hz>5.33032913208007812e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.30021731185913086e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-7.04913853936602012e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.21518194999043772e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922169</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.08435687343175523e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430473338544e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>8</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>10</PRN>
+			<Channel_ID>8</Channel_ID>
+			<Acq_delay_samples>2.12600000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>2.75000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>2173576</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.00322539062500000e+04</Prompt_I>
+			<Prompt_Q>-3.88590087890625000e+02</Prompt_Q>
+			<CN0_dB_hz>4.85561523437500000e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.81225794982910156e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-8.99142229977656389e+05</Carrier_phase_rads>
+			<Code_phase_samples>1.02370741655249731e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922664</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451438</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.85022797143675610e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451438283038080e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>9</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>12</PRN>
+			<Channel_ID>9</Channel_ID>
+			<Acq_delay_samples>2.13000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>7464974</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.03654140625000000e+04</Prompt_I>
+			<Prompt_Q>3.92351245117187500e+03</Prompt_Q>
+			<CN0_dB_hz>5.17314453125000000e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>3.03019989013671875e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-9.28340507655202877e+05</Carrier_phase_rads>
+			<Code_phase_samples>5.73995602361264901e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923741</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451427</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.19242346189941987e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451426868625164e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>10</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>6</PRN>
+			<Channel_ID>10</Channel_ID>
+			<Acq_delay_samples>4.70000000000000000e+01</Acq_delay_samples>
+			<Acq_doppler_hz>5.00000000000000000e+02</Acq_doppler_hz>
+			<Acq_samplestamp_samples>1859813</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>3.87814335937500000e+04</Prompt_I>
+			<Prompt_Q>2.13637329101562500e+03</Prompt_Q>
+			<CN0_dB_hz>6.00463027954101562e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>5.54514957427978516e+02</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-1.78723083774703584e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.47952294631795667e-01</Code_phase_samples>
+			<Tracking_sample_counter>133924211</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451439</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.83808922785463184e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451438687942982e+08</interp_TOW_ms>
+		</second>
+	</item>
+</GNSS-SDR_gnss_synchro_map>
+</boost_serialization>

src/tests/system-tests/libs/geofunctions.cc

@@ -28,10 +28,10 @@
  *
  * -------------------------------------------------------------------------
  */
+
 #include "geofunctions.h"
 
-const double STRP_G_SI = 9.80665;
+const double STRP_PI = 3.1415926535898;  // Pi as defined in IS-GPS-200E
-const double STRP_PI = 3.1415926535898;  //!< Pi as defined in IS-GPS-200E
 
 arma::mat Skew_symmetric(const arma::vec &a)
 {
@@ -205,7 +205,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
             cosphi = cos(*dphi);
 
             // compute radius of curvature in prime vertical direction
-            N_phi = a / sqrt(1 - esq * sinphi * sinphi);
+            N_phi = a / sqrt(1.0 - esq * sinphi * sinphi);
 
             // compute residuals in P and Z
             dP = P - (N_phi + (*h)) * cosphi;
@@ -233,7 +233,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
 arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
 {
     // Parameters
-    const double R_0 = 6378137;           // WGS84 Equatorial radius in meters
+    const double R_0 = 6378137.0;         // WGS84 Equatorial radius in meters
     const double mu = 3.986004418E14;     // WGS84 Earth gravitational constant (m^3 s^-2)
     const double J_2 = 1.082627E-3;       // WGS84 Earth's second gravitational constant
     const double omega_ie = 7.292115E-5;  // Earth rotation rate (rad/s)
@@ -259,12 +259,14 @@ arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
 }
 
 
-arma::vec LLH_to_deg(arma::vec &LLH)
+arma::vec LLH_to_deg(const arma::vec &LLH)
 {
     const double rtd = 180.0 / STRP_PI;
-    LLH(0) = LLH(0) * rtd;
+    arma::vec deg = arma::zeros(3, 1);
-    LLH(1) = LLH(1) * rtd;
+    deg(0) = LLH(0) * rtd;
-    return LLH;
+    deg(1) = LLH(1) * rtd;
+    deg(2) = LLH(2);
+    return deg;
 }
 
 
@@ -296,15 +298,16 @@ double mstokph(double MetersPerSeconds)
 }
 
 
-arma::vec CTM_to_Euler(arma::mat &C)
+arma::vec CTM_to_Euler(const arma::mat &C)
 {
     // Calculate Euler angles using (2.23)
+    arma::mat CTM = C;
     arma::vec eul = arma::zeros(3, 1);
-    eul(0) = atan2(C(1, 2), C(2, 2));  // roll
+    eul(0) = atan2(CTM(1, 2), CTM(2, 2));  // roll
-    if (C(0, 2) < -1.0) C(0, 2) = -1.0;
+    if (CTM(0, 2) < -1.0) CTM(0, 2) = -1.0;
-    if (C(0, 2) > 1.0) C(0, 2) = 1.0;
+    if (CTM(0, 2) > 1.0) CTM(0, 2) = 1.0;
-    eul(1) = -asin(C(0, 2));           // pitch
+    eul(1) = -asin(CTM(0, 2));             // pitch
-    eul(2) = atan2(C(0, 1), C(0, 0));  // yaw
+    eul(2) = atan2(CTM(0, 1), CTM(0, 0));  // yaw
     return eul;
 }
 
@@ -353,7 +356,7 @@ arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
     do
         {
             oldh = h;
-            N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
+            N = c / sqrt(1.0 + ex2 * (cos(phi) * cos(phi)));
             phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
             h = sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) / cos(phi) - N;
             iterations = iterations + 1;
@@ -363,7 +366,7 @@ arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
                     break;
                 }
         }
-    while (std::abs(h - oldh) > 1.0e-12);
+    while (std::fabs(h - oldh) > 1.0e-12);
 
     arma::vec LLH = {{phi, lambda, h}};  // radians
     return LLH;
@@ -398,11 +401,11 @@ void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::m
 void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
 {
     // Parameters
-    double R_0 = 6378137;        // WGS84 Equatorial radius in meters
+    double R_0 = 6378137.0;      // WGS84 Equatorial radius in meters
     double e = 0.0818191908425;  // WGS84 eccentricity
 
     // Calculate transverse radius of curvature using (2.105)
-    double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
+    double R_E = R_0 / sqrt(1.0 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
 
     // Convert position using (2.112)
     double cos_lat = cos(LLH(0));
@@ -434,7 +437,7 @@ void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat
 void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
 {
     // Parameters
-    const double R_0 = 6378137;        // WGS84 Equatorial radius in meters
+    const double R_0 = 6378137.0;      // WGS84 Equatorial radius in meters
     const double e = 0.0818191908425;  // WGS84 eccentricity
 
     // Calculate transverse radius of curvature using (2.105)
@@ -458,3 +461,315 @@ void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_
     // Transform velocity using (2.73)
     v_eb_e = C_e_n.t() * v_eb_n;
 }
+
+
+double great_circle_distance(double lat1, double lon1, double lat2, double lon2)
+{
+    // The Haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes.
+    // generally used geo measurement function
+    double R = 6378.137;  // Radius of earth in KM
+    double dLat = lat2 * STRP_PI / 180.0 - lat1 * STRP_PI / 180.0;
+    double dLon = lon2 * STRP_PI / 180.0 - lon1 * STRP_PI / 180.0;
+    double a = sin(dLat / 2.0) * sin(dLat / 2.0) +
+               cos(lat1 * STRP_PI / 180.0) * cos(lat2 * STRP_PI / 180.0) *
+                   sin(dLon / 2) * sin(dLon / 2.0);
+    double c = 2.0 * atan2(sqrt(a), sqrt(1.0 - a));
+    double d = R * c;
+    return d * 1000.0;  // meters
+}
+
+
+void cart2utm(const arma::vec &r_eb_e, int zone, arma::vec &r_enu)
+{
+    // Transformation of (X,Y,Z) to (E,N,U) in UTM, zone 'zone'
+    //
+    //   Inputs:
+    //       r_eb_e       - Cartesian coordinates. Coordinates are referenced
+    //                   with respect to the International Terrestrial Reference
+    //                   Frame 1996 (ITRF96)
+    //       zone        - UTM zone of the given position
+    //
+    //   Outputs:
+    //       r_enu      - UTM coordinates (Easting, Northing, Uping)
+    //
+    // Originally written in Matlab by Kai Borre, Nov. 1994
+    // Implemented in C++ by J.Arribas
+    //
+    // This implementation is based upon
+    // O. Andersson & K. Poder (1981) Koordinattransformationer
+    //  ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
+    //  Vol. 30: 552--571 and Vol. 31: 76
+    //
+    // An excellent, general reference (KW) is
+    // R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
+    //  h\"oheren Geod\"asie und Kartographie.
+    //  Erster Band, Springer Verlag
+    //
+    // Explanation of variables used:
+    // f	   flattening of ellipsoid
+    // a	   semi major axis in m
+    // m0	   1 - scale at central meridian; for UTM 0.0004
+    // Q_n	   normalized meridian quadrant
+    // E0	   Easting of central meridian
+    // L0	   Longitude of central meridian
+    // bg	   constants for ellipsoidal geogr. to spherical geogr.
+    // gb	   constants for spherical geogr. to ellipsoidal geogr.
+    // gtu	   constants for ellipsoidal N, E to spherical N, E
+    // utg	   constants for spherical N, E to ellipoidal N, E
+    // tolutm	tolerance for utm, 1.2E-10*meridian quadrant
+    // tolgeo	tolerance for geographical, 0.00040 second of arc
+    //
+    // B, L refer to latitude and longitude. Southern latitude is negative
+    // International ellipsoid of 1924, valid for ED50
+
+    double a = 6378388.0;
+    double f = 1.0 / 297.0;
+    double ex2 = (2.0 - f) * f / ((1.0 - f) * (1.0 - f));
+    double c = a * sqrt(1.0 + ex2);
+    arma::vec vec = r_eb_e;
+    vec(2) = vec(2) - 4.5;
+    double alpha = 0.756e-6;
+    arma::mat R = {{1.0, -alpha, 0.0}, {alpha, 1.0, 0.0}, {0.0, 0.0, 1.0}};
+    arma::vec trans = {89.5, 93.8, 127.6};
+    double scale = 0.9999988;
+    arma::vec v = scale * R * vec + trans;  // coordinate vector in ED50
+    double L = atan2(v(1), v(0));
+    double N1 = 6395000.0;                                                                   // preliminary value
+    double B = atan2(v(2) / ((1.0 - f) * (1.0 - f) * N1), arma::norm(v.subvec(0, 1)) / N1);  // preliminary value
+    double U = 0.1;
+    double oldU = 0.0;
+    int iterations = 0;
+    while (fabs(U - oldU) > 1.0E-4)
+        {
+            oldU = U;
+            N1 = c / sqrt(1.0 + ex2 * (cos(B) * cos(B)));
+            B = atan2(v(2) / ((1.0 - f) * (1.0 - f) * N1 + U), arma::norm(v.subvec(0, 1)) / (N1 + U));
+            U = arma::norm(v.subvec(0, 1)) / cos(B) - N1;
+            iterations = iterations + 1;
+            if (iterations > 100)
+                {
+                    std::cout << "Failed to approximate U with desired precision. U-oldU:" << U - oldU << std::endl;
+                    break;
+                }
+        }
+    // Normalized meridian quadrant, KW p. 50 (96), p. 19 (38b), p. 5 (21)
+    double m0 = 0.0004;
+    double n = f / (2.0 - f);
+    double m = n * n * (1.0 / 4.0 + n * n / 64.0);
+    double w = (a * (-n - m0 + m * (1.0 - m0))) / (1.0 + n);
+    double Q_n = a + w;
+
+    // Easting and longitude of central meridian
+    double E0 = 500000.0;
+    double L0 = (zone - 30) * 6.0 - 3.0;
+
+    // Check tolerance for reverse transformation
+    // double tolutm = STRP_PI / 2.0 * 1.2e-10 * Q_n;
+    // double tolgeo = 0.000040;
+    //    Coefficients of trigonometric series
+    //
+    //         ellipsoidal to spherical geographical, KW p .186 --187, (51) - (52)
+    //     bg[1] = n * (-2 + n * (2 / 3 + n * (4 / 3 + n * (-82 / 45))));
+    //     bg[2] = n ^ 2 * (5 / 3 + n * (-16 / 15 + n * (-13 / 9)));
+    //     bg[3] = n ^ 3 * (-26 / 15 + n * 34 / 21);
+    //     bg[4] = n ^ 4 * 1237 / 630;
+    //
+    //     spherical to ellipsoidal geographical, KW p.190 --191, (61) - (62) % gb[1] = n * (2 + n * (-2 / 3 + n * (-2 + n * 116 / 45)));
+    //     gb[2] = n ^ 2 * (7 / 3 + n * (-8 / 5 + n * (-227 / 45)));
+    //     gb[3] = n ^ 3 * (56 / 15 + n * (-136 / 35));
+    //     gb[4] = n ^ 4 * 4279 / 630;
+    //
+    //     spherical to ellipsoidal N, E, KW p.196, (69) % gtu[1] = n * (1 / 2 + n * (-2 / 3 + n * (5 / 16 + n * 41 / 180)));
+    //     gtu[2] = n ^ 2 * (13 / 48 + n * (-3 / 5 + n * 557 / 1440));
+    //     gtu[3] = n ^ 3 * (61 / 240 + n * (-103 / 140));
+    //     gtu[4] = n ^ 4 * 49561 / 161280;
+    //
+    //     ellipsoidal to spherical N, E, KW p.194, (65) % utg[1] = n * (-1 / 2 + n * (2 / 3 + n * (-37 / 96 + n * 1 / 360)));
+    //     utg[2] = n ^ 2 * (-1 / 48 + n * (-1 / 15 + n * 437 / 1440));
+    //     utg[3] = n ^ 3 * (-17 / 480 + n * 37 / 840);
+    //     utg[4] = n ^ 4 * (-4397 / 161280);
+    //
+    //     With f = 1 / 297 we get
+
+    arma::colvec bg = {-3.37077907e-3,
+        4.73444769e-6,
+        -8.29914570e-9,
+        1.58785330e-11};
+
+    arma::colvec gb = {3.37077588e-3,
+        6.62769080e-6,
+        1.78718601e-8,
+        5.49266312e-11};
+
+    arma::colvec gtu = {8.41275991e-4,
+        7.67306686e-7,
+        1.21291230e-9,
+        2.48508228e-12};
+
+    arma::colvec utg = {-8.41276339e-4,
+        -5.95619298e-8,
+        -1.69485209e-10,
+        -2.20473896e-13};
+
+    // Ellipsoidal latitude, longitude to spherical latitude, longitude
+    bool neg_geo = false;
+
+    if (B < 0.0) neg_geo = true;
+
+    double Bg_r = fabs(B);
+    double res_clensin = clsin(bg, 4, 2.0 * Bg_r);
+    Bg_r = Bg_r + res_clensin;
+    L0 = L0 * STRP_PI / 180.0;
+    double Lg_r = L - L0;
+
+    // Spherical latitude, longitude to complementary spherical latitude % i.e.spherical N, E
+    double cos_BN = cos(Bg_r);
+    double Np = atan2(sin(Bg_r), cos(Lg_r) * cos_BN);
+    double Ep = atanh(sin(Lg_r) * cos_BN);
+
+    // Spherical normalized N, E to ellipsoidal N, E
+    Np = 2.0 * Np;
+    Ep = 2.0 * Ep;
+
+    double dN;
+    double dE;
+    clksin(gtu, 4, Np, Ep, &dN, &dE);
+    Np = Np / 2.0;
+    Ep = Ep / 2.0;
+    Np = Np + dN;
+    Ep = Ep + dE;
+    double N = Q_n * Np;
+    double E = Q_n * Ep + E0;
+    if (neg_geo)
+        {
+            N = -N + 20000000.0;
+        }
+    r_enu(0) = E;
+    r_enu(1) = N;
+    r_enu(2) = U;
+}
+
+
+double clsin(const arma::colvec &ar, int degree, double argument)
+{
+    // Clenshaw summation of sinus of argument.
+    //
+    // result = clsin(ar, degree, argument);
+    //
+    // Originally written in Matlab by Kai Borre
+    // Implemented in C++ by J.Arribas
+
+    double cos_arg = 2.0 * cos(argument);
+    double hr1 = 0.0;
+    double hr = 0.0;
+    double hr2;
+    for (int t = degree; t > 0; t--)
+        {
+            hr2 = hr1;
+            hr1 = hr;
+            hr = ar(t - 1) + cos_arg * hr1 - hr2;
+        }
+
+    return (hr * sin(argument));
+}
+
+
+void clksin(const arma::colvec &ar, int degree, double arg_real, double arg_imag, double *re, double *im)
+{
+    // Clenshaw summation of sinus with complex argument
+    // [re, im] = clksin(ar, degree, arg_real, arg_imag);
+    //
+    // Originally written in Matlab by Kai Borre
+    // Implemented in C++ by J.Arribas
+
+    double sin_arg_r = sin(arg_real);
+    double cos_arg_r = cos(arg_real);
+    double sinh_arg_i = sinh(arg_imag);
+    double cosh_arg_i = cosh(arg_imag);
+
+    double r = 2.0 * cos_arg_r * cosh_arg_i;
+    double i = -2.0 * sin_arg_r * sinh_arg_i;
+
+    double hr1 = 0.0;
+    double hr = 0.0;
+    double hi1 = 0.0;
+    double hi = 0.0;
+    double hi2;
+    double hr2;
+    for (int t = degree; t > 0; t--)
+        {
+            hr2 = hr1;
+            hr1 = hr;
+            hi2 = hi1;
+            hi1 = hi;
+            double z = ar(t - 1) + r * hr1 - i * hi - hr2;
+            hi = i * hr1 + r * hi1 - hi2;
+            hr = z;
+        }
+
+    r = sin_arg_r * cosh_arg_i;
+    i = cos_arg_r * sinh_arg_i;
+
+    *re = r * hr - i * hi;
+    *im = r * hi + i * hr;
+}
+
+
+int findUtmZone(double latitude_deg, double longitude_deg)
+{
+    // Function finds the UTM zone number for given longitude and latitude.
+    // The longitude value must be between -180 (180 degree West) and 180 (180
+    // degree East) degree. The latitude must be within -80 (80 degree South) and
+    // 84 (84 degree North).
+    //
+    // utmZone = findUtmZone(latitude, longitude);
+    //
+    // Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
+    // 15 deg 30 min).
+    //
+    // Originally written in Matlab by Darius Plausinaitis
+    // Implemented in C++ by J.Arribas
+
+    // Check value bounds
+    if ((longitude_deg > 180.0) || (longitude_deg < -180.0))
+        std::cout << "Longitude value exceeds limits (-180:180).\n";
+
+    if ((latitude_deg > 84.0) || (latitude_deg < -80.0))
+        std::cout << "Latitude value exceeds limits (-80:84).\n";
+
+    //
+    // Find zone
+    //
+
+    // Start at 180 deg west = -180 deg
+    int utmZone = floor((180 + longitude_deg) / 6) + 1;
+
+    // Correct zone numbers for particular areas
+    if (latitude_deg > 72.0)
+        {
+            // Corrections for zones 31 33 35 37
+            if ((longitude_deg >= 0.0) && (longitude_deg < 9.0))
+                {
+                    utmZone = 31;
+                }
+            else if ((longitude_deg >= 9.0) && (longitude_deg < 21.0))
+                {
+                    utmZone = 33;
+                }
+            else if ((longitude_deg >= 21.0) && (longitude_deg < 33.0))
+                {
+                    utmZone = 35;
+                }
+            else if ((longitude_deg >= 33.0) && (longitude_deg < 42.0))
+                {
+                    utmZone = 37;
+                }
+        }
+    else if ((latitude_deg >= 56.0) && (latitude_deg < 64.0))
+        {
+            // Correction for zone 32
+            if ((longitude_deg >= 3.0) && (longitude_deg < 12.0))
+                utmZone = 32;
+        }
+    return utmZone;
+}

src/tests/system-tests/libs/geofunctions.h

@@ -94,7 +94,7 @@ arma::mat Gravity_ECEF(const arma::vec &r_eb_e);  //!< Calculates acceleration d
  */
 arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
 
-arma::vec LLH_to_deg(arma::vec &LLH);
+arma::vec LLH_to_deg(const arma::vec &LLH);
 
 double degtorad(double angleInDegrees);
 
@@ -104,7 +104,7 @@ double mstoknotsh(double MetersPerSeconds);
 
 double mstokph(double Kph);
 
-arma::vec CTM_to_Euler(arma::mat &C);
+arma::vec CTM_to_Euler(const arma::mat &C);
 
 arma::mat Euler_to_CTM(const arma::vec &eul);
 
@@ -151,4 +151,34 @@ void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat
  */
 void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
 
+
+/*!
+ * \brief The Haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes.
+ */
+double great_circle_distance(double lat1, double lon1, double lat2, double lon2);
+
+
+/*!
+ * \brief Transformation of ECEF (X,Y,Z) to (E,N,U) in UTM, zone 'zone'.
+ */
+void cart2utm(const arma::vec &r_eb_e, int zone, arma::vec &r_enu);
+
+
+/*!
+ * \brief Function finds the UTM zone number for given longitude and latitude.
+ */
+int findUtmZone(double latitude_deg, double longitude_deg);
+
+
+/*!
+ * \brief Clenshaw summation of sinus of argument.
+ */
+double clsin(const arma::colvec &ar, int degree, double argument);
+
+
+/*!
+ * \brief Clenshaw summation of sinus with complex argument.
+ */
+void clksin(const arma::colvec &ar, int degree, double arg_real, double arg_imag, double *re, double *im);
+
 #endif

src/tests/system-tests/libs/position_test_flags.h

@@ -42,5 +42,10 @@ DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a referenc
 DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
 DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
 DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
-
+DEFINE_double(static_2D_error_m, 2.0, "Static scenario 2D (East, North) positioning error threshold [meters]");
+DEFINE_double(static_3D_error_m, 5.0, "Static scenario 3D (East, North, Up) positioning error threshold [meters]");
+DEFINE_double(accuracy_CEP, 2.0, "Static scenario 2D (East, North) accuracy Circular Error Position (CEP) threshold [meters]");
+DEFINE_double(precision_SEP, 10.0, "Static scenario 3D (East, North, Up) precision Spherical Error Position (SEP) threshold [meters]");
+DEFINE_double(dynamic_3D_position_RMSE, 10.0, "Dynamic scenario 3D (ECEF) accuracy RMSE threshold [meters]");
+DEFINE_double(dynamic_3D_velocity_RMSE, 5.0, "Dynamic scenario 3D (ECEF) accuracy RMSE threshold [meters/second]");
 #endif

src/tests/system-tests/position_test.cc

@@ -32,6 +32,7 @@
  * -------------------------------------------------------------------------
  */
 
+#include "geofunctions.h"
 #include "position_test_flags.h"
 #include "rtklib_solver_dump_reader.h"
 #include "spirent_motion_csv_dump_reader.h"
@@ -54,6 +55,8 @@
 #include <fstream>
 #include <numeric>
 #include <thread>
+#include <armadillo>
+#include <matio.h>
 
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
@@ -67,6 +70,8 @@ public:
     int configure_receiver();
     int run_receiver();
     void check_results();
+    bool save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename);
+    bool save_mat_x(std::vector<double>& x, std::string filename);
     std::string config_filename_no_extension;
 
 private:
@@ -82,118 +87,13 @@ private:
     std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
     std::string filename_raw_data = FLAGS_filename_raw_data;
 
-    void print_results(const std::vector<double>& east,
+    void print_results(arma::mat R_eb_enu);
-        const std::vector<double>& north,
-        const std::vector<double>& up);
-
-    double compute_stdev_precision(const std::vector<double>& vec);
-    double compute_stdev_accuracy(const std::vector<double>& vec, double ref);
-
-    void geodetic2Enu(const double latitude, const double longitude, const double altitude,
-        double* east, double* north, double* up);
-
-    void geodetic2Ecef(const double latitude, const double longitude, const double altitude,
-        double* x, double* y, double* z);
-
     std::shared_ptr<InMemoryConfiguration> config;
     std::shared_ptr<FileConfiguration> config_f;
     std::string generated_kml_file;
 };
 
 
-void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
-    double* x, double* y, double* z)
-{
-    const double a = 6378137.0;       // WGS84
-    const double b = 6356752.314245;  // WGS84
-
-    double aux_x, aux_y, aux_z;
-
-    // Convert to ECEF (See https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_geodetic_to_ECEF_coordinates )
-    const double cLat = cos(latitude);
-    const double cLon = cos(longitude);
-    const double sLon = sin(longitude);
-    const double sLat = sin(latitude);
-    double N = std::pow(a, 2.0) / sqrt(std::pow(a, 2.0) * std::pow(cLat, 2.0) + std::pow(b, 2.0) * std::pow(sLat, 2.0));
-
-    aux_x = (N + altitude) * cLat * cLon;
-    aux_y = (N + altitude) * cLat * sLon;
-    aux_z = ((std::pow(b, 2.0) / std::pow(a, 2.0)) * N + altitude) * sLat;
-
-    *x = aux_x;
-    *y = aux_y;
-    *z = aux_z;
-}
-
-
-void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
-    double* east, double* north, double* up)
-{
-    double x, y, z;
-    const double d2r = PI / 180.0;
-
-    geodetic2Ecef(latitude * d2r, longitude * d2r, altitude, &x, &y, &z);
-
-    double aux_north, aux_east, aux_down;
-
-    std::istringstream iss2(FLAGS_static_position);
-    std::string str_aux;
-    std::getline(iss2, str_aux, ',');
-    double ref_long = std::stod(str_aux);
-    std::getline(iss2, str_aux, ',');
-    double ref_lat = std::stod(str_aux);
-    std::getline(iss2, str_aux, '\n');
-    double ref_h = std::stod(str_aux);
-    double ref_x, ref_y, ref_z;
-
-    geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z);
-
-    double aux_x = x;  // - ref_x;
-    double aux_y = y;  // - ref_y;
-    double aux_z = z;  // - ref_z;
-
-    // ECEF to NED matrix
-    double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0)));
-    const double sLat = sin(phiP);
-    const double sLon = sin(ref_long * d2r);
-    const double cLat = cos(phiP);
-    const double cLon = cos(ref_long * d2r);
-
-    aux_north = -aux_x * sLat * cLon - aux_y * sLon + aux_z * cLat * cLon;
-    aux_east = -aux_x * sLat * sLon + aux_y * cLon + aux_z * cLat * sLon;
-    aux_down = aux_x * cLat + aux_z * sLat;
-
-    *east = aux_east;
-    *north = aux_north;
-    *up = -aux_down;
-}
-
-
-double PositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
-{
-    double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
-    double mean__ = sum__ / vec.size();
-    double accum__ = 0.0;
-    std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
-        accum__ += (d - mean__) * (d - mean__);
-    });
-    double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
-    return stdev__;
-}
-
-
-double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
-{
-    const double mean__ = ref;
-    double accum__ = 0.0;
-    std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
-        accum__ += (d - mean__) * (d - mean__);
-    });
-    double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
-    return stdev__;
-}
-
-
 int PositionSystemTest::configure_generator()
 {
     // Configure signal generator
@@ -261,23 +161,23 @@ int PositionSystemTest::configure_receiver()
             const int grid_density = 16;
 
             const float zero = 0.0;
-            const int number_of_channels = 12;
+            const int number_of_channels = 11;
             const int in_acquisition = 1;
 
-            const float threshold = 0.01;
+            const float threshold = 2.5;
-            const float doppler_max = 8000.0;
+            const float doppler_max = 5000.0;
-            const float doppler_step = 500.0;
+            const float doppler_step = 250.0;
-            const int max_dwells = 1;
+            const int max_dwells = 10;
             const int tong_init_val = 2;
             const int tong_max_val = 10;
             const int tong_max_dwells = 30;
             const int coherent_integration_time_ms = 1;
 
-            const float pll_bw_hz = 30.0;
+            const float pll_bw_hz = 35.0;
-            const float dll_bw_hz = 4.0;
+            const float dll_bw_hz = 1.5;
             const float early_late_space_chips = 0.5;
-            const float pll_bw_narrow_hz = 20.0;
+            const float pll_bw_narrow_hz = 1.0;
-            const float dll_bw_narrow_hz = 2.0;
+            const float dll_bw_narrow_hz = 0.1;
             const int extend_correlation_ms = 1;
 
             const int display_rate_ms = 500;
@@ -307,7 +207,7 @@ int PositionSystemTest::configure_receiver()
             // Set the Signal Conditioner
             config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
             config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
-            config->set_property("InputFilter.implementation", "Fir_Filter");
+            config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
             config->set_property("InputFilter.dump", "false");
             config->set_property("InputFilter.input_item_type", "gr_complex");
             config->set_property("InputFilter.output_item_type", "gr_complex");
@@ -324,7 +224,7 @@ int PositionSystemTest::configure_receiver()
             config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
             config->set_property("InputFilter.band1_error", std::to_string(band1_error));
             config->set_property("InputFilter.band2_error", std::to_string(band2_error));
-            config->set_property("InputFilter.filter_type", "bandpass");
+            config->set_property("InputFilter.filter_type", "lowpass");
             config->set_property("InputFilter.grid_density", std::to_string(grid_density));
             config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
             config->set_property("InputFilter.IF", std::to_string(zero));
@@ -354,10 +254,10 @@ int PositionSystemTest::configure_receiver()
             config->set_property("Acquisition_1C.dump", "false");
             config->set_property("Acquisition_1C.dump_filename", "./acquisition");
             config->set_property("Acquisition_1C.dump_channel", "1");
+            config->set_property("Acquisition_1C.blocking", "true");
 
             // Set Tracking
             config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
-            //config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
             config->set_property("Tracking_1C.item_type", "gr_complex");
             config->set_property("Tracking_1C.dump", "false");
             config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
@@ -368,6 +268,8 @@ int PositionSystemTest::configure_receiver()
             config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
             config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
             config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms));
+            //config->set_property("Tracking_1C.high_dyn", "true");
+            //config->set_property("Tracking_1C.smoother_length", "200");
 
             // Set Telemetry
             config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
@@ -380,7 +282,7 @@ int PositionSystemTest::configure_receiver()
 
             // Set PVT
             config->set_property("PVT.implementation", "RTKLIB_PVT");
-            config->set_property("PVT.positioning_mode", "Single");
+            config->set_property("PVT.positioning_mode", "PPP_Static");
             config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
             config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
             config->set_property("PVT.dump_filename", "./PVT");
@@ -457,13 +359,76 @@ int PositionSystemTest::run_receiver()
 }
 
 
+bool PositionSystemTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
+{
+    try
+        {
+            // WRITE MAT FILE
+            mat_t* matfp;
+            matvar_t* matvar;
+            filename.append(".mat");
+            std::cout << "save_mat_xy write " << filename << std::endl;
+            matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT5);
+            if (reinterpret_cast<int64_t*>(matfp) != NULL)
+                {
+                    size_t dims[2] = {1, x.size()};
+                    matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
+                    Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
+                    Mat_VarFree(matvar);
+
+                    matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
+                    Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
+                    Mat_VarFree(matvar);
+                }
+            else
+                {
+                    std::cout << "save_mat_xy: error creating file" << std::endl;
+                }
+            Mat_Close(matfp);
+            return true;
+        }
+    catch (const std::exception& ex)
+        {
+            std::cout << "save_mat_xy: " << ex.what() << std::endl;
+            return false;
+        }
+}
+
+bool PositionSystemTest::save_mat_x(std::vector<double>& x, std::string filename)
+{
+    try
+        {
+            // WRITE MAT FILE
+            mat_t* matfp;
+            matvar_t* matvar;
+            filename.append(".mat");
+            std::cout << "save_mat_x write " << filename << std::endl;
+            matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT5);
+            if (reinterpret_cast<int64_t*>(matfp) != NULL)
+                {
+                    size_t dims[2] = {1, x.size()};
+                    matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
+                    Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
+                    Mat_VarFree(matvar);
+                }
+            else
+                {
+                    std::cout << "save_mat_x: error creating file" << std::endl;
+                }
+            Mat_Close(matfp);
+            return true;
+        }
+    catch (const std::exception& ex)
+        {
+            std::cout << "save_mat_x: " << ex.what() << std::endl;
+            return false;
+        }
+}
+
 void PositionSystemTest::check_results()
 {
-    std::vector<double> pos_e;
-    std::vector<double> pos_n;
-    std::vector<double> pos_u;
-
     arma::mat R_eb_e;    //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
+    arma::mat R_eb_enu;  //ENU position (N,E,U) estimation in UTM (Nx3)
     arma::mat V_eb_e;    //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
     arma::mat LLH;       //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
     arma::vec receiver_time_s;
@@ -481,10 +446,15 @@ void PositionSystemTest::check_results()
     double ref_long = std::stod(str_aux);
     std::getline(iss2, str_aux, '\n');
     double ref_h = std::stod(str_aux);
-    double ref_e, ref_n, ref_u;
+    int utm_zone = findUtmZone(ref_lat, ref_long);
-    geodetic2Enu(ref_lat, ref_long, ref_h,
-        &ref_e, &ref_n, &ref_u);
 
+    arma::vec v_eb_n = {0.0, 0.0, 0.0};
+    arma::vec true_r_eb_e = {0.0, 0.0, 0.0};
+    arma::vec true_v_eb_e = {0.0, 0.0, 0.0};
+    pv_Geo_to_ECEF(degtorad(ref_lat), degtorad(ref_long), ref_h, v_eb_n, true_r_eb_e, true_v_eb_e);
+    ref_R_eb_e.insert_cols(0, true_r_eb_e);
+    arma::vec ref_r_enu = {0, 0, 0};
+    cart2utm(true_r_eb_e, utm_zone, ref_r_enu);
     if (!FLAGS_use_pvt_solver_dump)
         {
             //fall back to read receiver KML output (position only)
@@ -502,8 +472,8 @@ void PositionSystemTest::check_results()
                     if (found != std::string::npos) is_header = false;
                 }
             bool is_data = true;
-
             //read data
+            int64_t current_epoch = 0;
             while (is_data)
                 {
                     if (!std::getline(myfile, line))
@@ -531,18 +501,20 @@ void PositionSystemTest::check_results()
                                     if (i == 2) h = value;
                                 }
 
-                            double north, east, up;
+                            arma::vec tmp_v_ecef;
-                            geodetic2Enu(lat, longitude, h, &east, &north, &up);
+                            arma::vec tmp_r_ecef;
+                            pv_Geo_to_ECEF(degtorad(lat), degtorad(longitude), h, arma::vec{0, 0, 0}, tmp_r_ecef, tmp_v_ecef);
+                            R_eb_e.insert_cols(current_epoch, tmp_r_ecef);
+                            arma::vec tmp_r_enu = {0, 0, 0};
+                            cart2utm(tmp_r_ecef, utm_zone, tmp_r_enu);
+                            R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
                             //                            std::cout << "lat = " << lat << ", longitude = " << longitude << "  h = " << h << std::endl;
                             //                            std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
-                            pos_e.push_back(east);
-                            pos_n.push_back(north);
-                            pos_u.push_back(up);
                             //                            getchar();
                         }
                 }
             myfile.close();
-            ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
+            ASSERT_FALSE(R_eb_e.n_cols == 0) << "KML file is empty";
         }
     else
         {
@@ -550,33 +522,27 @@ void PositionSystemTest::check_results()
             rtklib_solver_dump_reader pvt_reader;
             pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
             int64_t n_epochs = pvt_reader.num_epochs();
-            R_eb_e = arma::zeros(n_epochs, 3);
+            R_eb_e = arma::zeros(3, n_epochs);
-            V_eb_e = arma::zeros(n_epochs, 3);
+            V_eb_e = arma::zeros(3, n_epochs);
-            LLH = arma::zeros(n_epochs, 3);
+            LLH = arma::zeros(3, n_epochs);
             receiver_time_s = arma::zeros(n_epochs, 1);
             int64_t current_epoch = 0;
             while (pvt_reader.read_binary_obs())
                 {
-                    double north, east, up;
-                    geodetic2Enu(pvt_reader.latitude, pvt_reader.longitude, pvt_reader.height, &east, &north, &up);
-                    //                    std::cout << "lat = " << pvt_reader.latitude << ", longitude = " << pvt_reader.longitude << "  h = " << pvt_reader.height << std::endl;
-                    //                    std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
-                    pos_e.push_back(east);
-                    pos_n.push_back(north);
-                    pos_u.push_back(up);
-                    //                    getchar();
-
-                    //                    receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
                     receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
-                    R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
+                    R_eb_e(0, current_epoch) = pvt_reader.rr[0];
-                    R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
+                    R_eb_e(1, current_epoch) = pvt_reader.rr[1];
-                    R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
+                    R_eb_e(2, current_epoch) = pvt_reader.rr[2];
-                    V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
+                    V_eb_e(0, current_epoch) = pvt_reader.rr[3];
-                    V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
+                    V_eb_e(1, current_epoch) = pvt_reader.rr[4];
-                    V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
+                    V_eb_e(2, current_epoch) = pvt_reader.rr[5];
-                    LLH(current_epoch, 0) = pvt_reader.latitude;
+                    LLH(0, current_epoch) = pvt_reader.latitude;
-                    LLH(current_epoch, 1) = pvt_reader.longitude;
+                    LLH(1, current_epoch) = pvt_reader.longitude;
-                    LLH(current_epoch, 2) = pvt_reader.height;
+                    LLH(2, current_epoch) = pvt_reader.height;
+
+                    arma::vec tmp_r_enu = {0, 0, 0};
+                    cart2utm(R_eb_e.col(current_epoch), utm_zone, tmp_r_enu);
+                    R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
 
                     //debug check
                     //                    std::cout << "t1: " << pvt_reader.RX_time << std::endl;
@@ -592,20 +558,40 @@ void PositionSystemTest::check_results()
 
     if (FLAGS_static_scenario)
         {
-            double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
+            double sigma_E_2_precision = arma::var(R_eb_enu.row(0));
-            double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
+            double sigma_N_2_precision = arma::var(R_eb_enu.row(1));
-            double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
+            double sigma_U_2_precision = arma::var(R_eb_enu.row(2));
 
-            double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, ref_e), 2.0);
+            arma::rowvec error_east_m;
-            double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, ref_n), 2.0);
+            error_east_m = R_eb_enu.row(0) - ref_r_enu(0);
-            double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, ref_u), 2.0);
+            double sigma_E_2_accuracy = arma::as_scalar(error_east_m * error_east_m.t());
+            sigma_E_2_accuracy = sigma_E_2_accuracy / error_east_m.n_elem;
 
-            double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
+            arma::rowvec error_north_m;
-            double mean__e = sum__e / pos_e.size();
+            error_north_m = R_eb_enu.row(1) - ref_r_enu(1);
-            double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
+            double sigma_N_2_accuracy = arma::as_scalar(error_north_m * error_north_m.t());
-            double mean__n = sum__n / pos_n.size();
+            sigma_N_2_accuracy = sigma_N_2_accuracy / error_north_m.n_elem;
-            double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
+
-            double mean__u = sum__u / pos_u.size();
+            arma::rowvec error_up_m;
+            error_up_m = R_eb_enu.row(2) - ref_r_enu(2);
+            double sigma_U_2_accuracy = arma::as_scalar(error_up_m * error_up_m.t());
+            sigma_U_2_accuracy = sigma_U_2_accuracy / error_up_m.n_elem;
+
+            //            arma::mat error_enu_mat = arma::zeros(3, error_east_m.n_elem);
+            //            error_enu_mat.row(0) = error_east_m;
+            //            error_enu_mat.row(1) = error_north_m;
+            //            error_enu_mat.row(2) = error_up_m;
+            //
+            //            arma::vec error_2D_m = arma::zeros(error_enu_mat.n_cols, 1);
+            //            arma::vec error_3D_m = arma::zeros(error_enu_mat.n_cols, 1);
+            //            for (uint64_t n = 0; n < error_enu_mat.n_cols; n++)
+            //                {
+            //                    error_2D_m(n) = arma::norm(error_enu_mat.submat(0, n, 1, n));
+            //                    error_3D_m(n) = arma::norm(error_enu_mat.col(n));
+            //                }
+
+            double static_2D_error_m = sqrt(pow(arma::mean(error_east_m), 2.0) + pow(arma::mean(error_north_m), 2.0));
+            double static_3D_error_m = sqrt(pow(arma::mean(error_east_m), 2.0) + pow(arma::mean(error_north_m), 2.0) + pow(arma::mean(error_up_m), 2.0));
 
             std::stringstream stm;
             std::ofstream position_test_file;
@@ -613,25 +599,23 @@ void PositionSystemTest::check_results()
                 {
                     stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
                 }
-            if (FLAGS_config_file_ptest.empty())
+
-                {
+            stm << "---- STATIC ACCURACY ----" << std::endl;
-                    stm << "---- ACCURACY ----" << std::endl;
             stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
             stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
-                    stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, ref_n) + 0.56 * compute_stdev_accuracy(pos_e, ref_e) << " [m]" << std::endl;
+            stm << "CEP = " << 0.62 * sqrt(sigma_N_2_accuracy) + 0.56 * sqrt(sigma_E_2_accuracy) << " [m]" << std::endl;
             stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
             stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
             stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
             stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
-                    stm << "Bias 2D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0)) << " [m]" << std::endl;
+            stm << "Static Bias 2D = " << static_2D_error_m << " [m]" << std::endl;
-                    stm << "Bias 3D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0) + std::pow(abs(mean__u - ref_u), 2.0)) << " [m]" << std::endl;
+            stm << "Static Bias 3D = " << static_3D_error_m << " [m]" << std::endl;
             stm << std::endl;
-                }
 
-            stm << "---- PRECISION ----" << std::endl;
+            stm << "---- STATIC PRECISION ----" << std::endl;
             stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
             stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
-            stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
+            stm << "CEP = " << 0.62 * sqrt(sigma_N_2_precision) + 0.56 * sqrt(sigma_E_2_precision) << " [m]" << std::endl;
             stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
             stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
             stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
@@ -647,12 +631,17 @@ void PositionSystemTest::check_results()
                 }
 
             // Sanity Check
+            double accuracy_CEP = 0.62 * sqrt(sigma_N_2_accuracy) + 0.56 * sqrt(sigma_E_2_accuracy);
             double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
-            ASSERT_LT(precision_SEP, 20.0);
+
+            EXPECT_LT(static_2D_error_m, FLAGS_static_2D_error_m);
+            EXPECT_LT(static_2D_error_m, FLAGS_static_2D_error_m);
+            ASSERT_LT(accuracy_CEP, FLAGS_accuracy_CEP);
+            ASSERT_LT(precision_SEP, FLAGS_precision_SEP);
 
             if (FLAGS_plot_position_test == true)
                 {
-                    print_results(pos_e, pos_n, pos_u);
+                    print_results(R_eb_enu);
                 }
         }
     else
@@ -661,56 +650,55 @@ void PositionSystemTest::check_results()
             spirent_motion_csv_dump_reader ref_reader;
             ref_reader.open_obs_file(FLAGS_ref_motion_filename);
             int64_t n_epochs = ref_reader.num_epochs();
-            ref_R_eb_e = arma::zeros(n_epochs, 3);
+            ref_R_eb_e = arma::zeros(3, n_epochs);
-            ref_V_eb_e = arma::zeros(n_epochs, 3);
+            ref_V_eb_e = arma::zeros(3, n_epochs);
-            ref_LLH = arma::zeros(n_epochs, 3);
+            ref_LLH = arma::zeros(3, n_epochs);
             ref_time_s = arma::zeros(n_epochs, 1);
             int64_t current_epoch = 0;
             while (ref_reader.read_csv_obs())
                 {
                     ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
-                    ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
+                    ref_R_eb_e(0, current_epoch) = ref_reader.Pos_X;
-                    ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
+                    ref_R_eb_e(1, current_epoch) = ref_reader.Pos_Y;
-                    ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
+                    ref_R_eb_e(2, current_epoch) = ref_reader.Pos_Z;
-                    ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
+                    ref_V_eb_e(0, current_epoch) = ref_reader.Vel_X;
-                    ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
+                    ref_V_eb_e(1, current_epoch) = ref_reader.Vel_Y;
-                    ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
+                    ref_V_eb_e(2, current_epoch) = ref_reader.Vel_Z;
-                    ref_LLH(current_epoch, 0) = ref_reader.Lat;
+                    ref_LLH(0, current_epoch) = ref_reader.Lat;
-                    ref_LLH(current_epoch, 1) = ref_reader.Long;
+                    ref_LLH(1, current_epoch) = ref_reader.Long;
-                    ref_LLH(current_epoch, 2) = ref_reader.Height;
+                    ref_LLH(2, current_epoch) = ref_reader.Height;
                     current_epoch++;
                 }
-
             //interpolation of reference data to receiver epochs timestamps
-            arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
+            arma::mat ref_interp_R_eb_e = arma::zeros(3, R_eb_e.n_cols);
-            arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
+            arma::mat ref_interp_V_eb_e = arma::zeros(3, V_eb_e.n_cols);
-            arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
+            arma::mat ref_interp_LLH = arma::zeros(3, LLH.n_cols);
             arma::vec tmp_vector;
             for (int n = 0; n < 3; n++)
                 {
-                    arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
+                    arma::interp1(ref_time_s, ref_R_eb_e.row(n), receiver_time_s, tmp_vector);
-                    ref_interp_R_eb_e.col(n) = tmp_vector;
+                    ref_interp_R_eb_e.row(n) = tmp_vector.t();
-                    arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
+                    arma::interp1(ref_time_s, ref_V_eb_e.row(n), receiver_time_s, tmp_vector);
-                    ref_interp_V_eb_e.col(n) = tmp_vector;
+                    ref_interp_V_eb_e.row(n) = tmp_vector.t();
-                    arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
+                    arma::interp1(ref_time_s, ref_LLH.row(n), receiver_time_s, tmp_vector);
-                    ref_interp_LLH.col(n) = tmp_vector;
+                    ref_interp_LLH.row(n) = tmp_vector.t();
                 }
 
             //compute error vectors
-
+            arma::mat error_R_eb_e = arma::zeros(3, R_eb_e.n_cols);
-            arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
+            arma::mat error_V_eb_e = arma::zeros(3, V_eb_e.n_cols);
-            arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
+            arma::mat error_LLH = arma::zeros(3, LLH.n_cols);
-            arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
             error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
             error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
             error_LLH = LLH - ref_interp_LLH;
-            arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
+            arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_cols, 1);
-            arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
+            arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_cols, 1);
-            for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
+            for (uint64_t n = 0; n < R_eb_e.n_cols; n++)
                 {
-                    error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
+                    error_module_R_eb_e(n) = arma::norm(error_R_eb_e.col(n));
-                    error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
+                    error_module_V_eb_e(n) = arma::norm(error_V_eb_e.col(n));
                 }
+
             //Error statistics
             arma::vec tmp_vec;
             //RMSE, Mean, Variance and peaks
@@ -750,6 +738,11 @@ void PositionSystemTest::check_results()
             std::cout.precision(ss);
 
             // plots
+            if (FLAGS_plot_position_test == true)
+                {
+                    const std::string gnuplot_executable(FLAGS_gnuplot_executable);
+                    if (!gnuplot_executable.empty())
+                        {
                             Gnuplot g1("points");
                             if (FLAGS_show_plots)
                                 {
@@ -762,9 +755,13 @@ void PositionSystemTest::check_results()
                             g1.set_title("3D ECEF error coordinates");
                             g1.set_grid();
                             //conversion between arma::vec and std:vector
-            std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
+                            arma::rowvec arma_vec_error_x = error_R_eb_e.row(0);
-            std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
+                            arma::rowvec arma_vec_error_y = error_R_eb_e.row(1);
-            std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
+                            arma::rowvec arma_vec_error_z = error_R_eb_e.row(2);
+
+                            std::vector<double> X(arma_vec_error_x.colptr(0), arma_vec_error_x.colptr(0) + arma_vec_error_x.n_rows);
+                            std::vector<double> Y(arma_vec_error_y.colptr(0), arma_vec_error_y.colptr(0) + arma_vec_error_y.n_rows);
+                            std::vector<double> Z(arma_vec_error_z.colptr(0), arma_vec_error_z.colptr(0) + arma_vec_error_z.n_rows);
 
                             g1.cmd("set key box opaque");
                             g1.plot_xyz(X, Y, Z, "ECEF 3D error");
@@ -842,10 +839,15 @@ void PositionSystemTest::check_results()
                         }
                 }
 
+            //ERROR CHECK
+            //todo: reduce the error tolerance or enable the option to pass the error tolerance by parameter
+            EXPECT_LT(rmse_R_eb_e, FLAGS_dynamic_3D_position_RMSE);  //3D RMS positioning error less than 10 meters
+            EXPECT_LT(rmse_V_eb_e, FLAGS_dynamic_3D_velocity_RMSE);  //3D RMS speed error less than 5 meters/s (18 km/h)
+        }
+}
 
-void PositionSystemTest::print_results(const std::vector<double>& east,
+
-    const std::vector<double>& north,
+void PositionSystemTest::print_results(arma::mat R_eb_enu)
-    const std::vector<double>& up)
 {
     const std::string gnuplot_executable(FLAGS_gnuplot_executable);
     if (gnuplot_executable.empty())
@@ -856,29 +858,40 @@ void PositionSystemTest::print_results(const std::vector<double>& east,
         }
     else
         {
-            double sigma_E_2_precision = std::pow(compute_stdev_precision(east), 2.0);
+            double sigma_E_2_precision = arma::var(R_eb_enu.row(0));
-            double sigma_N_2_precision = std::pow(compute_stdev_precision(north), 2.0);
+            double sigma_N_2_precision = arma::var(R_eb_enu.row(1));
-            double sigma_U_2_precision = std::pow(compute_stdev_precision(up), 2.0);
+            double sigma_U_2_precision = arma::var(R_eb_enu.row(2));
 
-            double mean_east = std::accumulate(east.begin(), east.end(), 0.0) / east.size();
+            double mean_east = arma::mean(R_eb_enu.row(0));
-            double mean_north = std::accumulate(north.begin(), north.end(), 0.0) / north.size();
+            double mean_north = arma::mean(R_eb_enu.row(1));
+            double mean_up = arma::mean(R_eb_enu.row(2));
 
-            auto it_max_east = std::max_element(std::begin(east), std::end(east));
+            double it_max_east = arma::max(R_eb_enu.row(0) - mean_east);
-            auto it_min_east = std::min_element(std::begin(east), std::end(east));
+            double it_min_east = arma::min(R_eb_enu.row(0) - mean_east);
-            auto it_max_north = std::max_element(std::begin(north), std::end(north));
-            auto it_min_north = std::min_element(std::begin(north), std::end(north));
-            auto it_max_up = std::max_element(std::begin(up), std::end(up));
-            auto it_min_up = std::min_element(std::begin(up), std::end(up));
 
-            auto east_range = std::max(*it_max_east, std::abs(*it_min_east));
+            double it_max_north = arma::max(R_eb_enu.row(1) - mean_north);
-            auto north_range = std::max(*it_max_north, std::abs(*it_min_north));
+            double it_min_north = arma::min(R_eb_enu.row(1) - mean_north);
-            auto up_range = std::max(*it_max_up, std::abs(*it_min_up));
+
+            double it_max_up = arma::max(R_eb_enu.row(2) - mean_up);
+            double it_min_up = arma::min(R_eb_enu.row(2) - mean_up);
+
+            double east_range = std::max(it_max_east, std::abs(it_min_east));
+            double north_range = std::max(it_max_north, std::abs(it_min_north));
+            double up_range = std::max(it_max_up, std::abs(it_min_up));
 
             double range = std::max(east_range, north_range) * 1.1;
             double range_3d = std::max(std::max(east_range, north_range), up_range) * 1.1;
 
             double two_drms = 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision);
             double ninty_sas = 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
+            arma::rowvec arma_east = R_eb_enu.row(0) - mean_east;
+            arma::rowvec arma_north = R_eb_enu.row(1) - mean_north;
+            arma::rowvec arma_up = R_eb_enu.row(2) - mean_up;
+
+            std::vector<double> east(arma_east.colptr(0), arma_east.row(0).colptr(0) + arma_east.row(0).n_cols);
+            std::vector<double> north(arma_north.colptr(0), arma_north.colptr(0) + arma_north.n_cols);
+            std::vector<double> up(arma_up.colptr(0), arma_up.colptr(0) + arma_up.n_cols);
+
             try
                 {
                     boost::filesystem::path p(gnuplot_executable);
@@ -902,6 +915,7 @@ void PositionSystemTest::print_results(const std::vector<double>& east,
                     g1.cmd("set xrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
                     g1.cmd("set yrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
 
+
                     g1.plot_xy(east, north, "2D Position Fixes");
                     g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms, "2DRMS");
                     g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms / 2.0, "DRMS");

src/tests/test_main.cc

@@ -171,6 +171,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
+#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
 #if ENABLE_FPGA
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
 #endif

src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt

@@ -32,6 +32,7 @@ include_directories(
      ${GLOG_INCLUDE_DIRS}
      ${GFlags_INCLUDE_DIRS}
      ${MATIO_INCLUDE_DIRS}
+     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
 
@@ -41,5 +42,7 @@ add_library(signal_processing_testing_lib ${SIGNAL_PROCESSING_TESTING_LIB_SOURCE
 source_group(Headers FILES ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
 
 if(NOT MATIO_FOUND)
-   add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+   add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION} glog-${glog_RELEASE})
+else(NOT MATIO_FOUND)
+   add_dependencies(signal_processing_testing_lib glog-${glog_RELEASE})
 endif(NOT MATIO_FOUND)

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc

@@ -45,7 +45,9 @@ bool tracking_dump_reader::read_binary_obs()
             d_dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count), sizeof(uint64_t));
             d_dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float));
+            d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz_s), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float));
+            d_dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
             d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(float));
@@ -83,7 +85,7 @@ int64_t tracking_dump_reader::num_epochs()
 {
     std::ifstream::pos_type size;
     int number_of_double_vars = 1;
-    int number_of_float_vars = 17;
+    int number_of_float_vars = 19;
     int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
                            sizeof(float) * number_of_float_vars + sizeof(unsigned int);
     std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);

src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h

@@ -63,7 +63,9 @@ public:
 
     // carrier and code frequency
     float carrier_doppler_hz;
+    float carrier_doppler_rate_hz_s;
     float code_freq_chips;
+    float code_freq_rate_chips;
 
     // PLL commands
     float carr_error_hz;

src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc

@@ -236,6 +236,12 @@ public:
         arma::mat& measured_ch1,
         std::string data_title);
 
+    void check_results_duplicated_satellite(
+        arma::mat& measured_sat1,
+        arma::mat& measured_sat2,
+        int ch_id,
+        std::string data_title);
+
     HybridObservablesTest()
     {
         factory = std::make_shared<GNSSBlockFactory>();
@@ -255,7 +261,9 @@ public:
         double DLL_wide_bw_hz,
         double PLL_narrow_bw_hz,
         double DLL_narrow_bw_hz,
-        int extend_correlation_symbols);
+        int extend_correlation_symbols,
+        uint32_t smoother_length,
+        bool high_dyn);
 
     gr::top_block_sptr top_block;
     std::shared_ptr<GNSSBlockFactory> factory;
@@ -535,10 +543,17 @@ void HybridObservablesTest::configure_receiver(
     double DLL_wide_bw_hz,
     double PLL_narrow_bw_hz,
     double DLL_narrow_bw_hz,
-    int extend_correlation_symbols)
+    int extend_correlation_symbols,
+    uint32_t smoother_length,
+    bool high_dyn)
 {
     config = std::make_shared<InMemoryConfiguration>();
     config->set_property("Tracking.dump", "true");
+    if (high_dyn)
+        config->set_property("Tracking.high_dyn", "true");
+    else
+        config->set_property("Tracking.high_dyn", "false");
+    config->set_property("Tracking.smoother_length", std::to_string(smoother_length));
     config->set_property("Tracking.dump_filename", "./tracking_ch_");
     config->set_property("Tracking.implementation", implementation);
     config->set_property("Tracking.item_type", "gr_complex");
@@ -645,6 +660,8 @@ void HybridObservablesTest::configure_receiver(
     std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
     std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
     std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
+    std::cout << "high_dyn: " << config->property("Tracking.high_dyn", false) << "\n";
+    std::cout << "smoother_length: " << config->property("Tracking.smoother_length", 0) << "\n";
     std::cout << "*****************************************\n";
     std::cout << "*****************************************\n";
 }
@@ -987,6 +1004,256 @@ void HybridObservablesTest::check_results_carrier_doppler(
     ASSERT_LT(rmse_ch0, 30);
 }
 
+void HybridObservablesTest::check_results_duplicated_satellite(
+    arma::mat& measured_sat1,
+    arma::mat& measured_sat2,
+    int ch_id,
+    std::string data_title)
+{
+    //1. True value interpolation to match the measurement times
+
+    //define the common measured time interval
+    double t0_sat1 = measured_sat1(0, 0);
+    int size1 = measured_sat1.col(0).n_rows;
+    double t1_sat1 = measured_sat1(size1 - 1, 0);
+
+    double t0_sat2 = measured_sat2(0, 0);
+    int size2 = measured_sat2.col(0).n_rows;
+    double t1_sat2 = measured_sat2(size2 - 1, 0);
+
+    double t0;
+    double t1;
+    if (t0_sat1 > t0_sat2)
+        {
+            t0 = t0_sat1;
+        }
+    else
+        {
+            t0 = t0_sat2;
+        }
+
+    if (t1_sat1 > t1_sat2)
+        {
+            t1 = t1_sat2;
+        }
+    else
+        {
+            t1 = t1_sat1;
+        }
+
+    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
+    //conversion between arma::vec and std:vector
+    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
+    //Doppler
+    arma::vec meas_sat1_doppler_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
+    arma::vec meas_sat2_doppler_interp;
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
+
+    //Carrier Phase
+    arma::vec meas_sat1_carrier_phase_interp;
+    arma::vec meas_sat2_carrier_phase_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
+
+    // generate double difference accumulated carrier phases
+    //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
+    arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
+
+    //Pseudoranges
+    arma::vec meas_sat1_dist_interp;
+    arma::vec meas_sat2_dist_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
+    // generate delta pseudoranges
+    arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
+
+    //Carrier Doppler error
+    //2. RMSE
+    arma::vec err_ch0_hz;
+
+    //compute error
+    err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
+
+    //save matlab file for further analysis
+    std::vector<double> tmp_vector_common_time_s(t.colptr(0),
+        t.colptr(0) + t.n_rows);
+
+    std::vector<double> tmp_vector_err_ch0_hz(err_ch0_hz.colptr(0),
+        err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+    save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_ch0_hz, std::string("measured_doppler_error_ch_" + std::to_string(ch_id)));
+
+    //compute statistics
+    arma::vec err2_ch0 = arma::square(err_ch0_hz);
+    double rmse_ch0 = sqrt(arma::mean(err2_ch0));
+
+    //3. Mean err and variance
+    double error_mean_ch0 = arma::mean(err_ch0_hz);
+    double error_var_ch0 = arma::var(err_ch0_hz);
+
+    // 4. Peaks
+    double max_error_ch0 = arma::max(err_ch0_hz);
+    double min_error_ch0 = arma::min(err_ch0_hz);
+
+    //5. report
+    std::streamsize ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
+              << rmse_ch0 << ", mean = " << error_mean_ch0
+              << ", stdev = " << sqrt(error_var_ch0)
+              << " (max,min) = " << max_error_ch0
+              << "," << min_error_ch0
+              << " [Hz]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Carrier Doppler error [Hz]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Carrier Doppler error [Hz]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, error_vec,
+                "Carrier Doppler error");
+            g3.set_legend();
+            g3.savetops(data_title + "Carrier_doppler_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    EXPECT_LT(error_mean_ch0, 5);
+    EXPECT_GT(error_mean_ch0, -5);
+    //assuming PLL BW=35
+    EXPECT_LT(error_var_ch0, 250);
+    EXPECT_LT(max_error_ch0, 100);
+    EXPECT_GT(min_error_ch0, -100);
+    EXPECT_LT(rmse_ch0, 30);
+
+    //Carrier Phase error
+    //2. RMSE
+    arma::vec err_carrier_phase;
+
+    err_carrier_phase = delta_measured_carrier_phase_cycles;
+
+    //save matlab file for further analysis
+    std::vector<double> tmp_vector_err_carrier_phase(err_carrier_phase.colptr(0),
+        err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
+    save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_carrier_phase, std::string("measured_carrier_phase_error_ch_" + std::to_string(ch_id)));
+
+
+    arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
+    double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
+
+    //3. Mean err and variance
+    double error_mean_carrier_phase = arma::mean(err_carrier_phase);
+    double error_var_carrier_phase = arma::var(err_carrier_phase);
+
+    // 4. Peaks
+    double max_error_carrier_phase = arma::max(err_carrier_phase);
+    double min_error_carrier_phase = arma::min(err_carrier_phase);
+
+    //5. report
+    ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
+              << rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
+              << ", stdev = " << sqrt(error_var_carrier_phase)
+              << " (max,min) = " << max_error_carrier_phase
+              << "," << min_error_carrier_phase
+              << " [Cycles]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Carrier Phase error [Cycles]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Carrier Phase error [Cycles]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, range_error_m,
+                "Carrier Phase error");
+            g3.set_legend();
+            g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    EXPECT_LT(rmse_carrier_phase, 0.25);
+    EXPECT_LT(error_mean_carrier_phase, 0.2);
+    EXPECT_GT(error_mean_carrier_phase, -0.2);
+    EXPECT_LT(error_var_carrier_phase, 0.5);
+    EXPECT_LT(max_error_carrier_phase, 0.5);
+    EXPECT_GT(min_error_carrier_phase, -0.5);
+
+    //Pseudorange error
+    //2. RMSE
+    arma::vec err_pseudorange;
+
+    err_pseudorange = delta_measured_dist_m;
+
+    //save matlab file for further analysis
+    std::vector<double> tmp_vector_err_pseudorange(err_pseudorange.colptr(0),
+        err_pseudorange.colptr(0) + err_pseudorange.n_rows);
+    save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_pseudorange, std::string("measured_pr_error_ch_" + std::to_string(ch_id)));
+
+    arma::vec err2_pseudorange = arma::square(err_pseudorange);
+    double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
+
+    //3. Mean err and variance
+    double error_mean_pseudorange = arma::mean(err_pseudorange);
+    double error_var_pseudorange = arma::var(err_pseudorange);
+
+    // 4. Peaks
+    double max_error_pseudorange = arma::max(err_pseudorange);
+    double min_error_pseudorange = arma::min(err_pseudorange);
+
+    //5. report
+    ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
+              << rmse_pseudorange << ", mean = " << error_mean_pseudorange
+              << ", stdev = " << sqrt(error_var_pseudorange)
+              << " (max,min) = " << max_error_pseudorange
+              << "," << min_error_pseudorange
+              << " [meters]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Pseudorange error [m]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Pseudorange error [m]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, range_error_m,
+                "Pseudorrange error");
+            g3.set_legend();
+            g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    EXPECT_LT(rmse_pseudorange, 3.0);
+    EXPECT_LT(error_mean_pseudorange, 1.0);
+    EXPECT_GT(error_mean_pseudorange, -1.0);
+    EXPECT_LT(error_var_pseudorange, 10.0);
+    EXPECT_LT(max_error_pseudorange, 10.0);
+    EXPECT_GT(min_error_pseudorange, -10.0);
+}
+
 bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
 {
     try
@@ -1293,7 +1560,9 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         FLAGS_DLL_bw_hz_start,
         FLAGS_PLL_narrow_bw_hz,
         FLAGS_DLL_narrow_bw_hz,
-        FLAGS_extend_correlation_symbols);
+        FLAGS_extend_correlation_symbols,
+        FLAGS_smoother_length,
+        FLAGS_high_dyn);
 
 
     for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
@@ -1535,7 +1804,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                 }
         }
 
-
     //Cut measurement tail zeros
     arma::uvec index;
     for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
@@ -1548,9 +1816,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         }
 
     //Cut measurement initial transitory of the measurements
-
     double initial_transitory_s = FLAGS_skip_obs_transitory_s;
-
     for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
         {
             index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
@@ -1567,6 +1833,64 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         }
 
 
+    if (FLAGS_duplicated_satellites_test)
+        {
+            //special test mode for duplicated satellites
+            std::vector<int> prn_pairs;
+            std::stringstream ss(FLAGS_duplicated_satellites_prns);
+            int i;
+            while (ss >> i)
+                {
+                    prn_pairs.push_back(i);
+                    if (ss.peek() == ',')
+                        ss.ignore();
+                }
+
+            if (prn_pairs.size() % 2 != 0)
+                {
+                    std::cout << "Test settings error: duplicated_satellites_prns are even\n";
+                }
+            else
+                {
+                    for (unsigned int n = 0; n < prn_pairs.size(); n = n + 2)
+                        {
+                            int sat1_ch_id = -1;
+                            int sat2_ch_id = -1;
+                            for (unsigned int ch = 0; ch < measured_obs_vec.size(); ch++)
+                                {
+                                    if (epoch_counters_vec.at(ch) > 10)  //discard non-valid channels
+                                        {
+                                            if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n))
+                                                {
+                                                    sat1_ch_id = ch;
+                                                }
+                                            if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n + 1))
+                                                {
+                                                    sat2_ch_id = ch;
+                                                }
+                                        }
+                                }
+                            if (sat1_ch_id != -1 and sat2_ch_id != -1)
+                                {
+                                    //compute single differences for the duplicated satellite
+
+                                    check_results_duplicated_satellite(
+                                        measured_obs_vec.at(sat1_ch_id),
+                                        measured_obs_vec.at(sat2_ch_id),
+                                        sat1_ch_id,
+                                        "Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " ");
+                                }
+                            else
+                                {
+                                    std::cout << "Satellites PRNs " << prn_pairs.at(n) << "and " << prn_pairs.at(n) << " not found\n";
+                                }
+                        }
+                }
+        }
+    else
+        {
+            //normal mode
+
             //Correct the clock error using true values (it is not possible for a receiver to correct
             //the receiver clock offset error at the observables level because it is required the
             //decoding of the ephemeris data and solve the PVT equations)
@@ -1623,6 +1947,18 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                         measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
                     save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
 
+                    std::vector<double> tmp_vector_x5(true_obs_vec.at(n).col(0).colptr(0),
+                        true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
+                    std::vector<double> tmp_vector_y5(true_obs_vec.at(n).col(3).colptr(0),
+                        true_obs_vec.at(n).col(3).colptr(0) + true_obs_vec.at(n).col(3).n_rows);
+                    save_mat_xy(tmp_vector_x5, tmp_vector_y5, std::string("true_cp_ch_" + std::to_string(n)));
+
+                    std::vector<double> tmp_vector_x6(measured_obs_vec.at(n).col(0).colptr(0),
+                        measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
+                    std::vector<double> tmp_vector_y6(measured_obs_vec.at(n).col(3).colptr(0),
+                        measured_obs_vec.at(n).col(3).colptr(0) + measured_obs_vec.at(n).col(3).n_rows);
+                    save_mat_xy(tmp_vector_x6, tmp_vector_y6, std::string("measured_cp_ch_" + std::to_string(n)));
+
 
                     if (epoch_counters_vec.at(n) > 10)  //discard non-valid channels
                         {
@@ -1681,5 +2017,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                             std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
                         }
                 }
+        }
     std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
 }

src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc

@@ -0,0 +1,461 @@
+/*!
+ * \file rtklib_solver_test.cc
+ * \brief Implements Unit Test for the rtklib PVT solver class.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include <gtest/gtest.h>
+#include <string>
+#include <iomanip>
+#include <iostream>
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/serialization/map.hpp>
+#include "rtklib_solver.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_supl_client.h"
+#include "geofunctions.h"
+#include <armadillo>
+
+
+rtk_t configure_rtklib_options()
+{
+    std::shared_ptr<InMemoryConfiguration> configuration;
+    configuration = std::make_shared<InMemoryConfiguration>();
+    std::string role = "rtklib_solver";
+    // custom options
+    configuration->set_property("rtklib_solver.positioning_mode", "Single");
+    configuration->set_property("rtklib_solver.elevation_mask", "0");
+    configuration->set_property("rtklib_solver.iono_model", "OFF");
+    configuration->set_property("rtklib_solver.trop_model", "OFF");
+    //RTKLIB PVT solver options
+
+    // Settings 1
+    int positioning_mode = -1;
+    std::string default_pos_mode("Single");
+    std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
+    if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
+    if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
+    if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
+    if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
+
+    if (positioning_mode == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
+            std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
+            std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
+            std::cout << "Setting positioning_mode to Single" << std::endl;
+            positioning_mode = PMODE_SINGLE;
+        }
+
+    int num_bands = 1;
+
+    //    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
+
+    int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
+    if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
+        {
+            //warn user and set the default
+            number_of_frequencies = num_bands;
+        }
+
+    double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
+    if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
+            elevation_mask = 15.0;
+        }
+
+    int dynamics_model = configuration->property(role + ".dynamics_model", 0); /*  dynamics model (0:none, 1:velocity, 2:accel) */
+    if ((dynamics_model < 0) || (dynamics_model > 2))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
+            dynamics_model = 0;
+        }
+
+    std::string default_iono_model("OFF");
+    std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /*  (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    int iono_model = -1;
+    if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
+    if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
+    if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
+    if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
+    if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
+    if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
+    if (iono_model == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
+            std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
+            std::cout << "iono_model specified value: " << iono_model_str << std::endl;
+            std::cout << "Setting iono_model to OFF" << std::endl;
+            iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
+        }
+
+    std::string default_trop_model("OFF");
+    int trop_model = -1;
+    std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /*  (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
+    if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
+    if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
+    if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
+    if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
+    if (trop_model == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
+            std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
+            std::cout << "trop_model specified value: " << trop_model_str << std::endl;
+            std::cout << "Setting trop_model to OFF" << std::endl;
+            trop_model = TROPOPT_OFF;
+        }
+
+    /* RTKLIB positioning options */
+    int sat_PCV = 0; /*  Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
+    int rec_PCV = 0; /*  Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
+
+    /* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
+    int phwindup = configuration->property(role + ".phwindup", 0);
+
+    /* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
+    The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
+    int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
+
+    /* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
+    In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
+    The excluded satellite is selected to indicate the minimum SSE. */
+    int raim_fde = configuration->property(role + ".raim_fde", 0);
+
+    int earth_tide = configuration->property(role + ".earth_tide", 0);
+
+    int nsys = SYS_GPS;
+    //    if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
+    //    if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
+    //    if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO;
+    int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if ((navigation_system < 1) || (navigation_system > 255))                           /* GPS: 1   SBAS: 2   GPS+SBAS: 3 Galileo: 8  Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
+            navigation_system = nsys;
+        }
+
+    // Settings 2
+    std::string default_gps_ar("Continuous");
+    std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+    int integer_ambiguity_resolution_gps = -1;
+    if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
+    if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
+    if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
+    if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
+    if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
+    if (integer_ambiguity_resolution_gps == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
+            std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
+            std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
+            std::cout << "Setting AR_GPS to OFF" << std::endl;
+            integer_ambiguity_resolution_gps = ARMODE_OFF;
+        }
+
+    int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
+    if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
+            integer_ambiguity_resolution_glo = 1;
+        }
+
+    int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
+    if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
+            integer_ambiguity_resolution_bds = 1;
+        }
+
+    double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
+                                                                                                               which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
+
+    int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
+                                                                                                         If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
+
+    double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
+                                                                                                                        If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
+
+    int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value.  */
+
+    double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
+
+    double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
+
+    double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
+
+    int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
+                                                                                         If the baseline length is very short like 1 m, the iteration may be effective to handle
+                                                                                         the nonlinearity of measurement equation. */
+
+    /// Statistics
+    double bias_0 = configuration->property(role + ".bias_0", 30.0);
+
+    double iono_0 = configuration->property(role + ".iono_0", 0.03);
+
+    double trop_0 = configuration->property(role + ".trop_0", 0.3);
+
+    double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
+                                                                                bias (ambiguity) (cycle/sqrt(s)) */
+
+    double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
+
+    double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
+
+    double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
+                                                                                the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
+
+    double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
+                                                                                the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
+
+    double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
+
+    double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
+    double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
+    double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
+    double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
+    double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
+
+    snrmask_t snrmask = {{}, {{}, {}}};
+
+    prcopt_t rtklib_configuration_options = {
+        positioning_mode,                                                                  /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+        0,                                                                                 /* solution type (0:forward,1:backward,2:combined) */
+        number_of_frequencies,                                                             /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
+        navigation_system,                                                                 /* navigation system  */
+        elevation_mask * D2R,                                                              /* elevation mask angle (degrees) */
+        snrmask,                                                                           /* snrmask_t snrmask    SNR mask */
+        0,                                                                                 /* satellite ephemeris/clock (EPHOPT_XXX) */
+        integer_ambiguity_resolution_gps,                                                  /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+        integer_ambiguity_resolution_glo,                                                  /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
+        integer_ambiguity_resolution_bds,                                                  /* BeiDou AR mode (0:off,1:on) */
+        outage_reset_ambiguity,                                                            /* obs outage count to reset bias */
+        min_lock_to_fix_ambiguity,                                                         /* min lock count to fix ambiguity */
+        10,                                                                                /* min fix count to hold ambiguity */
+        1,                                                                                 /* max iteration to resolve ambiguity */
+        iono_model,                                                                        /* ionosphere option (IONOOPT_XXX) */
+        trop_model,                                                                        /* troposphere option (TROPOPT_XXX) */
+        dynamics_model,                                                                    /* dynamics model (0:none, 1:velocity, 2:accel) */
+        earth_tide,                                                                        /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
+        number_filter_iter,                                                                /* number of filter iteration */
+        0,                                                                                 /* code smoothing window size (0:none) */
+        0,                                                                                 /* interpolate reference obs (for post mission) */
+        0,                                                                                 /* sbssat_t sbssat  SBAS correction options */
+        0,                                                                                 /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
+        0,                                                                                 /* rover position for fixed mode */
+        0,                                                                                 /* base position for relative mode */
+                                                                                           /*    0:pos in prcopt,  1:average of single pos, */
+                                                                                           /*    2:read from file, 3:rinex header, 4:rtcm pos */
+        {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
+        {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0},     /* err[5]:  measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
+        {bias_0, iono_0, trop_0},                                                          /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
+        {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos},           /* prn[6] process-noise std */
+        5e-12,                                                                             /* sclkstab: satellite clock stability (sec/sec) */
+        {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0},              /* thresar[8]: AR validation threshold */
+        min_elevation_to_fix_ambiguity,                                                    /* elevation mask of AR for rising satellite (deg) */
+        0.0,                                                                               /* elevation mask to hold ambiguity (deg) */
+        slip_threshold,                                                                    /* slip threshold of geometry-free phase (m) */
+        30.0,                                                                              /* max difference of time (sec) */
+        threshold_reject_innovation,                                                       /* reject threshold of innovation (m) */
+        threshold_reject_gdop,                                                             /* reject threshold of gdop */
+        {},                                                                                /* double baseline[2] baseline length constraint {const,sigma} (m) */
+        {},                                                                                /* double ru[3]  rover position for fixed mode {x,y,z} (ecef) (m) */
+        {},                                                                                /* double rb[3]  base position for relative mode {x,y,z} (ecef) (m) */
+        {"", ""},                                                                          /* char anttype[2][MAXANT]  antenna types {rover,base}  */
+        {{}, {}},                                                                          /* double antdel[2][3]   antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
+        {},                                                                                /* pcv_t pcvr[2]   receiver antenna parameters {rov,base} */
+        {},                                                                                /* unsigned char exsats[MAXSAT]  excluded satellites (1:excluded, 2:included) */
+        0,                                                                                 /* max averaging epoches */
+        0,                                                                                 /* initialize by restart */
+        1,                                                                                 /* output single by dgps/float/fix/ppp outage */
+        {"", ""},                                                                          /* char rnxopt[2][256]   rinex options {rover,base} */
+        {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde},                            /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
+        0,                                                                                 /* solution sync mode (0:off,1:on) */
+        {{}, {}},                                                                          /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
+        {{}, {{}, {}}, {{}, {}}, {}, {}},                                                  /* exterr_t exterr   extended receiver error model */
+        0,                                                                                 /* disable L2-AR */
+        {}                                                                                 /* char pppopt[256]   ppp option   "-GAP_RESION="  default gap to reset iono parameters (ep) */
+    };
+
+    rtk_t rtk;
+    rtkinit(&rtk, &rtklib_configuration_options);
+    return rtk;
+}
+
+
+//todo: add test cases for Galileo E1, E5 and GPS L5
+TEST(RTKLibSolverTest, test1)
+{
+    //test case #1: GPS L1 CA simulated with gnss-sim
+    std::string path = std::string(TEST_PATH);
+    int nchannels = 8;
+    std::string dump_filename = ".rtklib_solver_dump.dat";
+    bool flag_dump_to_file = false;
+    rtk_t rtk = configure_rtklib_options();
+
+    std::unique_ptr<rtklib_solver> d_ls_pvt(new rtklib_solver(nchannels, dump_filename, flag_dump_to_file, rtk));
+    d_ls_pvt->set_averaging_depth(1);
+
+    // load ephemeris
+    std::string eph_xml_filename = path + "data/rtklib_test/eph_GPS_L1CA_test1.xml";
+    gnss_sdr_supl_client supl_client_ephemeris_;
+
+    std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
+    if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
+        {
+            std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
+            for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin();
+                 gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
+                 gps_eph_iter++)
+                {
+                    std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
+                    std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_ls_pvt->gps_ephemeris_map[gps_eph_iter->first] = *tmp_obj;
+                }
+        }
+    else
+        {
+            std::cout << "ERROR: SUPL client error reading XML" << std::endl;
+        }
+
+    // insert observables epoch
+    std::map<int, Gnss_Synchro> gnss_synchro_map;
+    //    Gnss_Synchro tmp_obs;
+    //    tmp_obs.System = 'G';
+    //    std::string signal = "1C";
+    //    const char* str = signal.c_str();                         // get a C style null terminated string
+    //    std::memcpy(static_cast<void*>(tmp_obs.Signal), str, 3);  // copy string into synchro char array: 2 char + null
+    //
+    //    gnss_synchro_map[0] = tmp_obs;
+    //    gnss_synchro_map[0].PRN = 1;
+
+    //load from xml (boost serialize)
+    std::string file_name = path + "data/rtklib_test/obs_test1.xml";
+
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gnss_synchro_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_synchro_map);
+            std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+        }
+    catch (std::exception& e)
+        {
+            std::cout << e.what() << "File: " << file_name;
+        }
+    ifs.close();
+
+    // solve
+    bool pvt_valid = false;
+    if (d_ls_pvt->get_PVT(gnss_synchro_map, false))
+        {
+            // DEBUG MESSAGE: Display position in console output
+            if (d_ls_pvt->is_valid_position())
+                {
+                    std::streamsize ss = std::cout.precision();  // save current precision
+                    std::cout.setf(std::ios::fixed, std::ios::floatfield);
+
+                    auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
+                    std::cout.imbue(std::locale(std::cout.getloc(), facet));
+
+                    std::cout << "Position at " << d_ls_pvt->get_position_UTC_time()
+                              << " UTC using " << d_ls_pvt->get_num_valid_observations()
+                              << std::fixed << std::setprecision(9)
+                              << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
+                              << std::fixed << std::setprecision(3)
+                              << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl;
+                    std::cout << std::setprecision(ss);
+                    std::cout << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << std::endl;
+
+                    // boost::posix_time::ptime p_time;
+                    // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
+                    // p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
+                    // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
+                    // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
+
+                    std::cout << "RTKLIB Position at RX TOW = " << gnss_synchro_map.begin()->second.RX_time
+                              << " in ECEF (X,Y,Z,t[meters]) = " << std::fixed << std::setprecision(16)
+                              << d_ls_pvt->pvt_sol.rr[0] << ","
+                              << d_ls_pvt->pvt_sol.rr[1] << ","
+                              << d_ls_pvt->pvt_sol.rr[2] << std::endl;
+                    /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
+                             << " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
+                             << d_ls_pvt->get_vdop()
+                             << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
+
+                    //todo: check here the positioning error against the reference position generated with gnss-sim
+                    //reference position on in WGS84: Lat (deg), Long (deg) , H (m): 30.286502,120.032669,100
+                    arma::vec LLH = {30.286502, 120.032669, 100};  //ref position for this scenario
+
+                    double error_LLH_m = great_circle_distance(LLH(0), LLH(1), d_ls_pvt->get_latitude(), d_ls_pvt->get_longitude());
+                    std::cout << "Lat, Long, H error: " << d_ls_pvt->get_latitude() - LLH(0)
+                              << "," << d_ls_pvt->get_longitude() - LLH(1)
+                              << "," << d_ls_pvt->get_height() - LLH(2) << " [deg,deg,meters]" << std::endl;
+
+                    std::cout << "Haversine Great Circle error LLH distance: " << error_LLH_m << " [meters]" << std::endl;
+
+                    arma::vec v_eb_n = {0.0, 0.0, 0.0};
+                    arma::vec true_r_eb_e;
+                    arma::vec true_v_eb_e;
+                    pv_Geo_to_ECEF(degtorad(LLH(0)), degtorad(LLH(1)), LLH(2), v_eb_n, true_r_eb_e, true_v_eb_e);
+
+                    arma::vec measured_r_eb_e = {d_ls_pvt->pvt_sol.rr[0], d_ls_pvt->pvt_sol.rr[1], d_ls_pvt->pvt_sol.rr[2]};
+
+                    arma::vec error_r_eb_e = measured_r_eb_e - true_r_eb_e;
+
+                    std::cout << "ECEF position error vector: " << error_r_eb_e << " [meters]" << std::endl;
+
+                    double error_3d_m = arma::norm(error_r_eb_e, 2);
+
+                    std::cout << "3D positioning error: " << error_3d_m << " [meters]" << std::endl;
+
+                    //check results against the test tolerance
+                    ASSERT_LT(error_3d_m, 0.2);
+                    pvt_valid = true;
+                }
+        }
+
+    EXPECT_EQ(true, pvt_valid);
+}

src/utils/CMakeLists.txt

@@ -17,3 +17,7 @@
 #
 
 add_subdirectory(front-end-cal)
+
+if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
+    add_subdirectory(rinex2assist)
+endif(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)

src/utils/front-end-cal/CMakeLists.txt

@@ -22,6 +22,8 @@ if(OPENSSL_FOUND)
 endif(OPENSSL_FOUND)
 
 set(FRONT_END_CAL_SOURCES front_end_cal.cc)
+set(FRONT_END_CAL_HEADERS front_end_cal.h)
+
 
 include_directories(
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -44,8 +46,6 @@ include_directories(
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB FRONT_END_CAL_HEADERS "*.h")
-list(SORT FRONT_END_CAL_HEADERS)
 add_library(front_end_cal_lib ${FRONT_END_CAL_SOURCES} ${FRONT_END_CAL_HEADERS})
 source_group(Headers FILES ${FRONT_END_CAL_HEADERS})
 
@@ -114,5 +114,3 @@ if(NOT GZIP_NOTFOUND)
 
     install(FILES ${CMAKE_BINARY_DIR}/front-end-cal.1.gz DESTINATION share/man/man1)
 endif(NOT GZIP_NOTFOUND)
-
-

src/utils/matlab/libs/dll_pll_veml_read_tracking_dump.m

@@ -33,7 +33,7 @@ function [GNSS_tracking] = dll_pll_veml_read_tracking_dump (filename, count)
 
 m = nargchk (1,2,nargin);
 
-num_float_vars = 17;
+num_float_vars = 19;
 num_unsigned_long_int_vars = 1;
 num_double_vars = 1;
 num_unsigned_int_vars = 1;
@@ -114,17 +114,23 @@ else
     fseek(f,bytes_shift,'bof'); % move to next float
     v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
     bytes_shift = bytes_shift + float_size_bytes;
-    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    fseek(f,bytes_shift,'bof'); % move to next float
     v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
     bytes_shift = bytes_shift + float_size_bytes;
     fseek(f,bytes_shift,'bof'); % move to next float
     v18 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
     bytes_shift = bytes_shift + float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v19 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
+    bytes_shift = bytes_shift + float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next float
+    v20 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
+    bytes_shift = bytes_shift + float_size_bytes;
     fseek(f,bytes_shift,'bof'); % move to next double
-    v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
+    v21 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
     bytes_shift = bytes_shift + double_size_bytes;
     fseek(f,bytes_shift,'bof'); % move to next unsigned int
-    v20 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
+    v22 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
     fclose (f);
     
     GNSS_tracking.VE = v1;
@@ -137,15 +143,17 @@ else
     GNSS_tracking.PRN_start_sample = v8;
     GNSS_tracking.acc_carrier_phase_rad = v9;
     GNSS_tracking.carrier_doppler_hz = v10;
-    GNSS_tracking.code_freq_hz = v11;
+    GNSS_tracking.carrier_doppler_rate_hz_s = v11;
-    GNSS_tracking.carr_error = v12;
+    GNSS_tracking.code_freq_hz = v12;
-    GNSS_tracking.carr_nco = v13;
+    GNSS_tracking.code_freq_rate_hz_s = v13;
-    GNSS_tracking.code_error = v14;
+    GNSS_tracking.carr_error = v14;
-    GNSS_tracking.code_nco = v15;
+    GNSS_tracking.carr_nco = v15;
-    GNSS_tracking.CN0_SNV_dB_Hz = v16;
+    GNSS_tracking.code_error = v16;
-    GNSS_tracking.carrier_lock_test = v17;
+    GNSS_tracking.code_nco = v17;
-    GNSS_tracking.var1 = v18;
+    GNSS_tracking.CN0_SNV_dB_Hz = v18;
-    GNSS_tracking.var2 = v19;
+    GNSS_tracking.carrier_lock_test = v19;
-    GNSS_tracking.PRN = v20;
+    GNSS_tracking.var1 = v20;
+    GNSS_tracking.var2 = v21;
+    GNSS_tracking.PRN = v22;
 end
 

src/utils/rinex2assist/CMakeLists.txt

@@ -0,0 +1,57 @@
+# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+#
+# 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 <https://www.gnu.org/licenses/>.
+#
+
+find_package(GPSTK QUIET)
+if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
+    set(GPSTK_LIBRARY ${CMAKE_CURRENT_SOURCE_DIR}/../../../thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_SHARED_LIBRARY_SUFFIX} )
+    set(GPSTK_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../../thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/include )
+endif(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
+
+set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} ${GPSTK_INCLUDE_DIR}/gpstk)
+
+include_directories(
+    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
+    ${GFlags_INCLUDE_DIRS}
+    ${Boost_INCLUDE_DIRS}
+    ${GPSTK_INCLUDE_DIR}/gpstk
+    ${GPSTK_INCLUDE_DIR}
+)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated")
+
+add_executable(rinex2assist ${CMAKE_CURRENT_SOURCE_DIR}/main.cc)
+
+target_link_libraries(rinex2assist
+    ${Boost_LIBRARIES}
+    ${GPSTK_LIBRARY}
+    ${GFlags_LIBS}
+    gnss_sp_libs
+    gnss_rx)
+
+if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
+    add_dependencies(rinex2assist gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION})
+endif(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
+
+add_custom_command(TARGET rinex2assist POST_BUILD
+                   COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:rinex2assist>
+                   ${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:rinex2assist>)
+
+install(TARGETS rinex2assist
+                RUNTIME DESTINATION bin
+                COMPONENT "rinex2assist"
+)

src/utils/rinex2assist/main.cc

@@ -0,0 +1,359 @@
+/*!
+ * \file main.cc
+ * \brief converts navigation RINEX files into XML files for Assisted GNSS.
+ * \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "gps_ephemeris.h"
+#include "galileo_ephemeris.h"
+#include "gps_utc_model.h"
+#include "gps_iono.h"
+#include "galileo_utc_model.h"
+#include "galileo_iono.h"
+#include <gflags/gflags.h>
+#include <gpstk/Rinex3NavHeader.hpp>
+#include <gpstk/Rinex3NavData.hpp>
+#include <gpstk/Rinex3NavStream.hpp>
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/serialization/map.hpp>
+#include <iostream>
+
+
+int main(int argc, char** argv)
+{
+    const std::string intro_help(
+        std::string("\n rinex2assist converts navigation RINEX files into XML files for Assisted GNSS\n") +
+        "Copyright (C) 2018 (see AUTHORS file for a list of contributors)\n" +
+        "This program comes with ABSOLUTELY NO WARRANTY;\n" +
+        "See COPYING file to see a copy of the General Public License.\n \n" +
+        "Usage: \n" +
+        "   rinex2assist <RINEX Nav file input>");
+
+    google::SetUsageMessage(intro_help);
+    google::SetVersionString("1.0");
+    google::ParseCommandLineFlags(&argc, &argv, true);
+
+    if ((argc != 2))
+        {
+            std::cerr << "Usage:" << std::endl;
+            std::cerr << "   " << argv[0]
+                      << " <RINEX Nav file input>"
+                      << std::endl;
+            google::ShutDownCommandLineFlags();
+            return 1;
+        }
+    std::string xml_filename;
+
+    std::map<int, Gps_Ephemeris> eph_map;
+    std::map<int, Galileo_Ephemeris> eph_gal_map;
+
+    Gps_Utc_Model gps_utc_model;
+    Gps_Iono gps_iono;
+    Galileo_Utc_Model gal_utc_model;
+    Galileo_Iono gal_iono;
+
+    int i = 0;
+    int j = 0;
+    try
+        {
+            // Read nav file
+            gpstk::Rinex3NavStream rnffs(argv[1]);  // Open navigation data file
+            gpstk::Rinex3NavData rne;
+            gpstk::Rinex3NavHeader hdr;
+
+            // Read header
+            rnffs >> hdr;
+
+            // Check that it really is a RINEX navigation file
+            if (hdr.fileType.substr(0, 1).compare("N") != 0)
+                {
+                    std::cerr << "This is not a valid RINEX navigation file, or file not found." << std::endl;
+                    std::cerr << "No XML file will be created." << std::endl;
+                    return 1;
+                }
+
+            // Collect UTC parameters from RINEX header
+            if (hdr.fileSys.compare("G: (GPS)") == 0 || hdr.fileSys.compare("MIXED") == 0)
+                {
+                    gps_utc_model.valid = (hdr.valid > 2147483648) ? true : false;
+                    gps_utc_model.d_A1 = hdr.mapTimeCorr["GPUT"].A0;
+                    gps_utc_model.d_A0 = hdr.mapTimeCorr["GPUT"].A1;
+                    gps_utc_model.d_t_OT = hdr.mapTimeCorr["GPUT"].refSOW;
+                    gps_utc_model.i_WN_T = hdr.mapTimeCorr["GPUT"].refWeek;
+                    gps_utc_model.d_DeltaT_LS = hdr.leapSeconds;
+                    gps_utc_model.i_WN_LSF = hdr.leapWeek;
+                    gps_utc_model.i_DN = hdr.leapDay;
+                    gps_utc_model.d_DeltaT_LSF = hdr.leapDelta;
+
+                    // Collect iono parameters from RINEX header
+                    gps_iono.valid = (hdr.mapIonoCorr["GPSA"].param[0] == 0) ? false : true;
+                    gps_iono.d_alpha0 = hdr.mapIonoCorr["GPSA"].param[0];
+                    gps_iono.d_alpha1 = hdr.mapIonoCorr["GPSA"].param[1];
+                    gps_iono.d_alpha2 = hdr.mapIonoCorr["GPSA"].param[2];
+                    gps_iono.d_alpha3 = hdr.mapIonoCorr["GPSA"].param[3];
+                    gps_iono.d_beta0 = hdr.mapIonoCorr["GPSB"].param[0];
+                    gps_iono.d_beta1 = hdr.mapIonoCorr["GPSB"].param[1];
+                    gps_iono.d_beta2 = hdr.mapIonoCorr["GPSB"].param[2];
+                    gps_iono.d_beta3 = hdr.mapIonoCorr["GPSB"].param[3];
+                }
+            if (hdr.fileSys.compare("E: (GAL)") == 0 || hdr.fileSys.compare("MIXED") == 0)
+                {
+                    gal_utc_model.A0_6 = hdr.mapTimeCorr["GAUT"].A0;
+                    gal_utc_model.A1_6 = hdr.mapTimeCorr["GAUT"].A1;
+                    gal_utc_model.Delta_tLS_6 = hdr.leapSeconds;
+                    gal_utc_model.t0t_6 = hdr.mapTimeCorr["GAUT"].refSOW;
+                    gal_utc_model.WNot_6 = hdr.mapTimeCorr["GAUT"].refWeek;
+                    gal_utc_model.WN_LSF_6 = hdr.leapWeek;
+                    gal_utc_model.DN_6 = hdr.leapDay;
+                    gal_utc_model.Delta_tLSF_6 = hdr.leapDelta;
+                    gal_utc_model.flag_utc_model = (hdr.mapTimeCorr["GAUT"].A0 == 0.0);
+                    gal_iono.ai0_5 = hdr.mapIonoCorr["GAL"].param[0];
+                    gal_iono.ai1_5 = hdr.mapIonoCorr["GAL"].param[1];
+                    gal_iono.ai2_5 = hdr.mapIonoCorr["GAL"].param[2];
+                    gal_iono.Region1_flag_5 = false;
+                    gal_iono.Region2_flag_5 = false;
+                    gal_iono.Region3_flag_5 = false;
+                    gal_iono.Region4_flag_5 = false;
+                    gal_iono.Region5_flag_5 = false;
+                    gal_iono.TOW_5 = 0.0;
+                    gal_iono.WN_5 = 0.0;
+                }
+
+            // Read navigation data
+            while (rnffs >> rne)
+                {
+                    if (rne.satSys.compare("G") == 0 or rne.satSys.empty())
+                        {
+                            // Fill GPS ephemeris object
+                            Gps_Ephemeris eph;
+                            eph.i_satellite_PRN = rne.PRNID;
+                            eph.d_TOW = rne.xmitTime;
+                            eph.d_IODE_SF2 = rne.IODE;
+                            eph.d_IODE_SF3 = rne.IODE;
+                            eph.d_Crs = rne.Crs;
+                            eph.d_Delta_n = rne.dn;
+                            eph.d_M_0 = rne.M0;
+                            eph.d_Cuc = rne.Cuc;
+                            eph.d_e_eccentricity = rne.ecc;
+                            eph.d_Cus = rne.Cus;
+                            eph.d_sqrt_A = rne.Ahalf;
+                            eph.d_Toe = rne.Toe;
+                            eph.d_Toc = rne.Toc;
+                            eph.d_Cic = rne.Cic;
+                            eph.d_OMEGA0 = rne.OMEGA0;
+                            eph.d_Cis = rne.Cis;
+                            eph.d_i_0 = rne.i0;
+                            eph.d_Crc = rne.Crc;
+                            eph.d_OMEGA = rne.w;
+                            eph.d_OMEGA_DOT = rne.OMEGAdot;
+                            eph.d_IDOT = rne.idot;
+                            eph.i_code_on_L2 = rne.codeflgs;  //
+                            eph.i_GPS_week = rne.weeknum;
+                            eph.b_L2_P_data_flag = rne.L2Pdata;
+                            eph.i_SV_accuracy = rne.accuracy;
+                            eph.i_SV_health = rne.health;
+                            eph.d_TGD = rne.Tgd;
+                            eph.d_IODC = rne.IODC;
+                            eph.i_AODO = 0;  //
+                            eph.b_fit_interval_flag = (rne.fitint > 4) ? 1 : 0;
+                            eph.d_spare1 = 0.0;
+                            eph.d_spare2 = 0.0;
+                            eph.d_A_f0 = rne.af0;
+                            eph.d_A_f1 = rne.af1;
+                            eph.d_A_f2 = rne.af2;
+                            eph.b_integrity_status_flag = 0;  //
+                            eph.b_alert_flag = 0;             //
+                            eph.b_antispoofing_flag = 0;      //
+                            eph_map[i] = eph;
+                            i++;
+                        }
+                    if (rne.satSys.compare("E") == 0)
+                        {
+                            // Fill Galileo ephemeris object
+                            Galileo_Ephemeris eph;
+                            eph.i_satellite_PRN = rne.PRNID;
+                            eph.M0_1 = rne.M0;
+                            eph.e_1 = rne.ecc;
+                            eph.A_1 = rne.Ahalf;
+                            eph.OMEGA_0_2 = rne.OMEGA0;
+                            eph.i_0_2 = rne.i0;
+                            eph.omega_2 = rne.w;
+                            eph.OMEGA_dot_3 = rne.OMEGAdot;
+                            eph.iDot_2 = rne.idot;
+                            eph.C_uc_3 = rne.Cuc;
+                            eph.C_us_3 = rne.Cus;
+                            eph.C_rc_3 = rne.Crc;
+                            eph.C_rs_3 = rne.Crs;
+                            eph.C_ic_4 = rne.Cic;
+                            eph.C_is_4 = rne.Cis;
+                            eph.t0e_1 = rne.Toe;
+                            eph.t0c_4 = rne.Toc;
+                            eph.af0_4 = rne.af0;
+                            eph.af1_4 = rne.af1;
+                            eph.af2_4 = rne.af2;
+                            eph_gal_map[j] = eph;
+                            j++;
+                        }
+                }
+        }
+    catch (std::exception& e)
+        {
+            std::cerr << "Error reading the RINEX file: " << e.what() << std::endl;
+            std::cerr << "No XML file will be created." << std::endl;
+            google::ShutDownCommandLineFlags();
+            return 1;
+        }
+
+    if (i == 0 and j == 0)
+        {
+            std::cerr << "No navigation data found in the RINEX file. No XML file will be created." << std::endl;
+            google::ShutDownCommandLineFlags();
+            return 1;
+        }
+
+    // Write XML ephemeris
+    if (i != 0)
+        {
+            std::ofstream ofs;
+            if (xml_filename.empty())
+                {
+                    xml_filename = "gps_ephemeris.xml";
+                }
+            try
+                {
+                    ofs.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+    if (j != 0)
+        {
+            std::ofstream ofs2;
+            xml_filename = "gal_ephemeris.xml";
+            try
+                {
+                    ofs2.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs2);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", eph_gal_map);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+
+    // Write XML UTC
+    if (gps_utc_model.valid)
+        {
+            std::ofstream ofs3;
+            xml_filename = "gps_utc_model.xml";
+            try
+                {
+                    ofs3.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs3);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", gps_utc_model);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+
+    // Write XML iono
+    if (gps_iono.valid)
+        {
+            std::ofstream ofs4;
+            xml_filename = "gps_iono.xml";
+            try
+                {
+                    ofs4.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs4);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", gps_iono);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+
+    if (gal_utc_model.A0_6 != 0)
+        {
+            std::ofstream ofs5;
+            xml_filename = "gal_utc_model.xml";
+            try
+                {
+                    ofs5.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs5);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", gal_utc_model);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+    if (gal_iono.ai0_5 != 0)
+        {
+            std::ofstream ofs7;
+            xml_filename = "gal_iono.xml";
+            try
+                {
+                    ofs7.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs7);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", gal_iono);
+                }
+            catch (std::exception& e)
+                {
+                    std::cerr << "Problem creating the XML file " << xml_filename << ": " << e.what() << std::endl;
+                    google::ShutDownCommandLineFlags();
+                    return 1;
+                }
+            std::cout << "Generated file: " << xml_filename << std::endl;
+        }
+    google::ShutDownCommandLineFlags();
+    return 0;
+}