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Partial bug correction in RINEX generation. Fotmat issues and UTC computation.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@286 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2012-12-11 18:29:20 +00:00
parent 2a2a6f174d
commit 22254b05fd
4 changed files with 78 additions and 35 deletions
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13
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -85,7 +85,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
d_ephemeris_clock_s = 0.0; d_ephemeris_clock_s = 0.0;
d_sample_counter = 0; d_sample_counter = 0;
d_last_sample_nav_output=0;
d_tx_time=0.0; d_tx_time=0.0;
b_rinex_header_writen = false; b_rinex_header_writen = false;
@ -222,8 +222,15 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
} }
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s) if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
{ {
rp->log_rinex_nav(rp->navFile, nav_data_map); // Limit the RINEX navigation output rate to 1/6 seg
rp->log_rinex_obs(rp->obsFile, d_last_nav_msg, pseudoranges); // Notice that d_sample_counter period is 1ms (for GPS correlators)
if ((d_sample_counter-d_last_sample_nav_output)>=6000)
{
rp->log_rinex_nav(rp->navFile, nav_data_map);
d_last_sample_nav_output=d_sample_counter;
}
rp->log_rinex_obs(rp->obsFile, d_last_nav_msg, d_tx_time, pseudoranges);
} }
} }
} }

1
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
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@ -72,6 +72,7 @@ private:
int d_output_rate_ms; int d_output_rate_ms;
int d_display_rate_ms; int d_display_rate_ms;
long unsigned int d_sample_counter; long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
Kml_Printer d_kml_dump; Kml_Printer d_kml_dump;
Nmea_Printer *d_nmea_printer; Nmea_Printer *d_nmea_printer;
concurrent_queue<Gps_Navigation_Message> *d_nav_queue; // Navigation ephemeris queue concurrent_queue<Gps_Navigation_Message> *d_nav_queue; // Navigation ephemeris queue

89
src/algorithms/PVT/libs/rinex_printer.cc
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@ -516,7 +516,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Navigatio
for (int i=0; i < (int)nav_msg.size(); i++) for (int i=0; i < (int)nav_msg.size(); i++)
{ {
// -------- SV / EPOCH / SV CLK // -------- SV / EPOCH / SV CLK
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg[i]); boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GPS_time(nav_msg[i],nav_msg[i].d_TOW);
std::string timestring = boost::posix_time::to_iso_string(p_utc_time); std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
@ -549,9 +549,9 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Navigatio
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f1, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f2, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
} }
if (version == 3) if (version == 3)
@ -575,9 +575,9 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Navigatio
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f1, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2); line += Rinex_Printer::doub2for(nav_msg[i].d_A_f2, 18, 2);
} }
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -711,10 +711,10 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Navigatio
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2); line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2);
line += std::string(1, ' ');
double GPS_week_continuous_number = (double)(nav_msg[i].i_GPS_week + 1024); // valid until April 7, 2019 (check http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm) double GPS_week_continuous_number = (double)(nav_msg[i].i_GPS_week + 1024); // valid until April 7, 2019 (check http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm)
line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2); line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2);
if (version == 2) if (version == 2)
{ {
line += std::string(1, ' '); line += std::string(1, ' ');
@ -861,12 +861,12 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
line.clear(); //line.clear();
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property //line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
line += std::string(40, ' '); //line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("MARKER TYPE", 20); //line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
Rinex_Printer::lengthCheck(line); //Rinex_Printer::lengthCheck(line);
out << line << std::endl; //out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -897,7 +897,18 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
out << line << std::endl; out << line << std::endl;
// -------- APPROX POSITION (optional for moving platforms) // -------- APPROX POSITION (optional for moving platforms)
// put here real data!
double antena_x = 0.0;
double antena_y = 0.0;
double antena_z = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- ANTENNA: DELTA H/E/N // -------- ANTENNA: DELTA H/E/N
// put here real data! // put here real data!
@ -913,7 +924,6 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- SYS / OBS TYPES // -------- SYS / OBS TYPES
// one line per available system // one line per available system
@ -947,15 +957,15 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
// -------- TIME OF FIRST OBS // -------- TIME OF FIRST OBS
line.clear(); line.clear();
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg); boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(nav_msg,nav_msg.d_TOW);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time); std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
std::string year (timestring, 0, 4); std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2); std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2); std::string minutes (timestring, 11, 2);
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW)); double gps_t =nav_msg.d_TOW;
double seconds = fmod(utc_t, 60); double seconds = fmod(gps_t, 60);
line += Rinex_Printer::rightJustify(year, 6); line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6); line += Rinex_Printer::rightJustify(month, 6);
line += Rinex_Printer::rightJustify(day, 6); line += Rinex_Printer::rightJustify(day, 6);
@ -981,14 +991,17 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,double> pseudoranges) void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, double obs_time, std::map<int,double> pseudoranges)
{ {
// RINEX observations timestamps are GPS timestamps.
std::string line; std::string line;
// Should look at the pseudoranges timestamp gnss_pseudorange.timestamp_ms!!! boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(nav_msg,obs_time);
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg); std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time); //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW)); double gps_t=nav_msg.sv_clock_correction(obs_time);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2); std::string hour (timestring, 9, 2);
@ -1025,7 +1038,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
line += std::string(1, ' '); line += std::string(1, ' ');
line += minutes; line += minutes;
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::asString(fmod(utc_t, 60), 7); line += Rinex_Printer::asString(fmod(gps_t, 60), 7);
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
@ -1105,7 +1118,13 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav
line += minutes; line += minutes;
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::asString(fmod(utc_t, 60), 7); double seconds=fmod(gps_t, 60);
// Add extra 0 if seconds are < 10
if (seconds<10)
{
line +=std::string(1, '0');
}
line += Rinex_Printer::asString(seconds, 7);
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
@ -1177,9 +1196,7 @@ int Rinex_Printer::signalStrength(double snr)
} }
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(Gps_Navigation_Message nav_msg)
boost::posix_time::ptime Rinex_Printer::compute_time(Gps_Navigation_Message nav_msg)
{ {
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time // if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm //: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
@ -1189,6 +1206,19 @@ boost::posix_time::ptime Rinex_Printer::compute_time(Gps_Navigation_Message nav_
return p_time; return p_time;
} }
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(Gps_Navigation_Message nav_msg, double obs_time)
{
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
double gps_t = nav_msg.sv_clock_correction(obs_time);
//double gps_t=obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800*(double)(nav_msg.i_GPS_week%1024))*1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
/* /*
enum RINEX_enumMarkerType { enum RINEX_enumMarkerType {
@ -1209,4 +1239,3 @@ enum RINEX_enumMarkerType {
*/ */

10
src/algorithms/PVT/libs/rinex_printer.h
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@ -93,7 +93,13 @@ public:
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_time(Gps_Navigation_Message nav_msg); boost::posix_time::ptime compute_UTC_time(Gps_Navigation_Message nav_msg);
/*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_GPS_time(Gps_Navigation_Message nav_msg, double obs_time);
/*! /*!
* \brief Writes data from the navigation message into the RINEX file * \brief Writes data from the navigation message into the RINEX file
@ -103,7 +109,7 @@ public:
/*! /*!
* \brief Writes observables into the RINEX file * \brief Writes observables into the RINEX file
*/ */
void log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,double> pseudoranges); void log_rinex_obs(std::ofstream& out,Gps_Navigation_Message nav_msg, double obs_time, std::map<int,double> pseudoranges);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors