Added hybrid TOW (expressed in GPS reference time) and time debug output in PVT block

src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc

@@ -49,6 +49,10 @@ extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
 extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
 extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
 
+extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
+extern concurrent_map<Gps_Iono> global_gps_iono_map;
+extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
+
 hybrid_pvt_cc_sptr
 hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
 {
@@ -83,13 +87,13 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_q
     d_averaging_depth = averaging_depth;
     d_flag_averaging = flag_averaging;
 
-    d_ls_pvt = new galileo_e1_ls_pvt(nchannels, dump_ls_pvt_filename, d_dump);
+    d_ls_pvt = new hybrid_ls_pvt(nchannels, dump_ls_pvt_filename, d_dump);
     d_ls_pvt->set_averaging_depth(d_averaging_depth);
 
     d_sample_counter = 0;
     d_last_sample_nav_output = 0;
     d_rx_time = 0.0;
-
+    d_TOW_at_curr_symbol_constellation = 0.0;
     b_rinex_header_writen = false;
     rp = new Rinex_Printer();
 
@@ -145,11 +149,15 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
             if (in[i][0].Flag_valid_pseudorange == true)
                 {
                     gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
-                    d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
+                    //d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
+                    d_TOW_at_curr_symbol_constellation=in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
+                    d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
+                    std::cout<<"Ch PVT = "<< i  << ", d_TOW = " << d_TOW_at_curr_symbol_constellation<<", rx_time_hybrid_PVT = " << d_rx_time << " same RX timestamp (common RX time pseudoranges)"<< std::endl;
+
                 }
         }
 
-    // ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
+    // ############ 1. READ GALILEO EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
 
     if (global_galileo_ephemeris_map.size() > 0)
         {
@@ -168,9 +176,30 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
             global_galileo_iono_map.read(0, d_ls_pvt->galileo_iono);
         }
 
-    // ############ 2 COMPUTE THE PVT ################################
-    if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
+    // ############ 1. READ GPS EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
+
+    if (global_gps_ephemeris_map.size() > 0)
         {
+            d_ls_pvt->gps_ephemeris_map = global_gps_ephemeris_map.get_map_copy();
+        }
+
+    if (global_gps_utc_model_map.size() > 0)
+        {
+            // UTC MODEL data is shared for all the Galileo satellites. Read always at ID=0
+            global_gps_utc_model_map.read(0, d_ls_pvt->gps_utc_model);
+        }
+
+    if (global_gps_iono_map.size() > 0)
+        {
+            // IONO data is shared for all the Galileo satellites. Read always at ID=0
+            global_gps_iono_map.read(0, d_ls_pvt->gps_iono);
+        }
+
+
+    // ############ 2 COMPUTE THE PVT ################################
+    if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
+        {
+    	std::cout << "Both GPS and Galileo ephemeris map have been filled " << std::endl;
             // compute on the fly PVT solution
             if ((d_sample_counter % d_output_rate_ms) == 0)
                 {
@@ -180,7 +209,7 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
 
                     if (pvt_result == true)
                         {
-                            d_kml_dump.print_position_galileo(d_ls_pvt, d_flag_averaging);
+                    	    //IMPLEMENT KML OUTPUT            d_kml_dump.print_position_galileo(d_ls_pvt, d_flag_averaging);
                             //ToDo: Implement Galileo RINEX and Galileo NMEA outputs
                             //                            d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
                             //

src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h

@@ -43,10 +43,14 @@
 #include "galileo_ephemeris.h"
 #include "galileo_utc_model.h"
 #include "galileo_iono.h"
+#include "gps_navigation_message.h"
+#include "gps_ephemeris.h"
+#include "gps_utc_model.h"
+#include "gps_iono.h"
 #include "nmea_printer.h"
 #include "kml_printer.h"
 #include "rinex_printer.h"
-#include "galileo_e1_ls_pvt.h"
+#include "hybrid_ls_pvt.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
 
@@ -109,7 +113,9 @@ private:
     Kml_Printer d_kml_dump;
     Nmea_Printer *d_nmea_printer;
     double d_rx_time;
-    galileo_e1_ls_pvt *d_ls_pvt;
+    double  d_TOW_at_curr_symbol_constellation;
+
+    hybrid_ls_pvt *d_ls_pvt;
     bool pseudoranges_pairCompare_min(std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b);
 
 public:

src/algorithms/PVT/libs/CMakeLists.txt

@@ -19,6 +19,7 @@
 set(PVT_LIB_SOURCES 
      gps_l1_ca_ls_pvt.cc
      galileo_e1_ls_pvt.cc
+     hybrid_ls_pvt.cc
      kml_printer.cc
      rinex_printer.cc
      nmea_printer.cc  

src/algorithms/PVT/libs/hybrid_ls_pvt.cc

@@ -0,0 +1,729 @@
+/*!
+ * \file galileo_e1_ls_pvt.cc
+ * \brief Implementation of a Least Squares Position, Velocity, and Time
+ * (PVT) solver, based on K.Borre's Matlab receiver.
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "hybrid_ls_pvt.h"
+#include <glog/logging.h>
+#include "Galileo_E1.h"
+
+
+using google::LogMessage;
+
+hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file)
+{
+    // init empty ephemeris for all the available GNSS channels
+    d_nchannels = nchannels;
+    d_ephemeris = new Galileo_Navigation_Message[nchannels];
+    d_dump_filename = dump_filename;
+    d_flag_dump_enabled = flag_dump_to_file;
+    d_averaging_depth = 0;
+    d_galileo_current_time = 0;
+    b_valid_position = false;
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_flag_dump_enabled == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
+                    }
+                    catch (std::ifstream::failure e)
+                    {
+                            LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
+                    }
+                }
+        }
+}
+
+
+void hybrid_ls_pvt::set_averaging_depth(int depth)
+{
+    d_averaging_depth = depth;
+}
+
+
+hybrid_ls_pvt::~hybrid_ls_pvt()
+{
+    d_dump_file.close();
+    delete[] d_ephemeris;
+}
+
+
+arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
+{
+    /*
+     *  Returns rotated satellite ECEF coordinates due to Earth
+     * rotation during signal travel time
+     *
+     *   Inputs:
+     *       travelTime  - signal travel time
+     *       X_sat       - satellite's ECEF coordinates
+     *
+     *   Returns:
+     *       X_sat_rot   - rotated satellite's coordinates (ECEF)
+     */
+
+    //--- Find rotation angle --------------------------------------------------
+    double omegatau;
+    omegatau = OMEGA_EARTH_DOT * traveltime;
+
+    //--- Build a rotation matrix ----------------------------------------------
+    arma::mat R3 = arma::zeros(3,3);
+    R3(0, 0) = cos(omegatau);
+    R3(0, 1) = sin(omegatau);
+    R3(0, 2) = 0.0;
+    R3(1, 0) = -sin(omegatau);
+    R3(1, 1) = cos(omegatau);
+    R3(1, 2) = 0.0;
+    R3(2, 0) = 0.0;
+    R3(2, 1) = 0.0;
+    R3(2, 2) = 1;
+
+    //--- Do the rotation ------------------------------------------------------
+    arma::vec X_sat_rot;
+    X_sat_rot = R3 * X_sat;
+    return X_sat_rot;
+}
+
+
+arma::vec hybrid_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w)
+{
+    /* Computes the Least Squares Solution.
+     *   Inputs:
+     *       satpos      - Satellites positions in ECEF system: [X; Y; Z;]
+     *       obs         - Observations - the pseudorange measurements to each satellite
+     *       w           - weigths vector
+     *
+     *   Returns:
+     *       pos         - receiver position and receiver clock error
+     *                   (in ECEF system: [X, Y, Z, dt])
+     */
+
+    //=== Initialization =======================================================
+    int nmbOfIterations = 10; // TODO: include in config
+    int nmbOfSatellites;
+    nmbOfSatellites = satpos.n_cols;	//Armadillo
+    arma::vec pos = "0.0 0.0 0.0 0.0";
+    arma::mat A;
+    arma::mat omc;
+    arma::mat az;
+    arma::mat el;
+    A = arma::zeros(nmbOfSatellites, 4);
+    omc = arma::zeros(nmbOfSatellites, 1);
+    az = arma::zeros(1, nmbOfSatellites);
+    el = arma::zeros(1, nmbOfSatellites);
+    arma::mat X = satpos;
+    arma::vec Rot_X;
+    double rho2;
+    double traveltime;
+    double trop;
+    arma::mat mat_tmp;
+    arma::vec x;
+
+    //=== Iteratively find receiver position ===================================
+    for (int iter = 0; iter < nmbOfIterations; iter++)
+        {
+            for (int i = 0; i < nmbOfSatellites; i++)
+                {
+                    if (iter == 0)
+                        {
+                            //--- Initialize variables at the first iteration --------------
+                            Rot_X = X.col(i); //Armadillo
+                            trop = 0.0;
+                        }
+                    else
+                        {
+                            //--- Update equations -----------------------------------------
+                            rho2 = (X(0, i) - pos(0)) *
+                                   (X(0, i) - pos(0)) + (X(1, i) - pos(1)) *
+                                   (X(1, i) - pos(1)) + (X(2, i) - pos(2)) *
+                                   (X(2, i) - pos(2));
+                            traveltime = sqrt(rho2) / GALILEO_C_m_s;
+
+                            //--- Correct satellite position (do to earth rotation) --------
+                            Rot_X = rotateSatellite(traveltime, X.col(i)); //armadillo
+
+                            //--- Find DOA and range of satellites
+                            topocent(&d_visible_satellites_Az[i],
+                                     &d_visible_satellites_El[i],
+                                     &d_visible_satellites_Distance[i],
+                                     pos.subvec(0,2),
+                                     Rot_X - pos.subvec(0, 2));
+                        }
+                    //--- Apply the corrections ----------------------------------------
+                    omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
+
+                    //--- Construct the A matrix ---------------------------------------
+                    //Armadillo
+                    A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i);
+                    A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i);
+                    A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
+                    A(i,3) = 1.0;
+                }
+                
+            //--- Find position update ---------------------------------------------
+            x = arma::solve(w*A, w*omc); // Armadillo
+
+            //--- Apply position update --------------------------------------------
+            pos = pos + x;
+            if (arma::norm(x,2) < 1e-4)
+            {
+            	break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
+            }
+        }
+
+    try
+    {
+            //-- compute the Dilution Of Precision values
+            d_Q = arma::inv(arma::htrans(A)*A);
+    }
+    catch(std::exception& e)
+    {
+            d_Q = arma::zeros(4,4);
+    }
+    return pos;
+}
+
+
+bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging)
+{
+    std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
+    std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
+    int valid_pseudoranges = gnss_pseudoranges_map.size();
+
+    arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
+    arma::vec obs = arma::zeros(valid_pseudoranges);                 // pseudoranges observation vector
+    arma::mat satpos = arma::zeros(3, valid_pseudoranges);           //satellite positions matrix
+
+    int Galileo_week_number = 0;
+    double utc = 0;
+    double SV_clock_drift_s = 0;
+    double SV_relativistic_clock_corr_s = 0;
+    double TX_time_corrected_s;
+    double SV_clock_bias_s = 0;
+
+    d_flag_averaging = flag_averaging;
+
+    // ********************************************************************************
+    // ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
+    // ********************************************************************************
+    int valid_obs = 0; //valid observations counter
+    int obs_counter = 0;
+    for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
+            gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
+            gnss_pseudoranges_iter++)
+        {
+            // 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
+            galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
+            if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
+                {
+                    /*!
+                     * \todo Place here the satellite CN0 (power level, or weight factor)
+                     */
+                    W(obs_counter, obs_counter) = 1;
+
+                    // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
+                    // first estimate of transmit time
+                    //Galileo_week_number = galileo_ephemeris_iter->second.WN_5;//for GST
+                    //double sec_in_day = 86400;
+                    //double day_in_week = 7;
+                    //   t = WN*sec_in_day*day_in_week + TOW; // t is Galileo System Time to use to compute satellite positions
+
+                    //JAVIER VERSION:
+                    double Rx_time = galileo_current_time;
+
+                    //to compute satellite position we need GST = WN+TOW (everything expressed in seconds)
+                    //double Rx_time = galileo_current_time + Galileo_week_number*sec_in_day*day_in_week;
+
+                    double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GALILEO_C_m_s;
+
+                    // 2- compute the clock drift using the clock model (broadcast) for this SV
+                    SV_clock_drift_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
+
+                    // 3- compute the relativistic clock drift using the clock model (broadcast) for this SV
+                    SV_relativistic_clock_corr_s = galileo_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time);
+
+                    // 4- compute the current ECEF position for this SV using corrected TX time
+                    SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s;
+                    TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+                    galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+                    satpos(0,obs_counter) = galileo_ephemeris_iter->second.d_satpos_X;
+                    satpos(1,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Y;
+                    satpos(2,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Z;
+
+                    // 5- fill the observations vector with the corrected pseudoranges
+                    obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s*GALILEO_C_m_s;
+                    d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
+                    d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
+                    valid_obs++;
+
+                    Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
+
+                    //debug
+                    double GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, galileo_current_time);
+                    utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+                    // get time string gregorian calendar
+                    boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+                    // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+                    boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+                    d_position_UTC_time = p_time;
+                    LOG(INFO) << "Galileo RX time at " << boost::posix_time::to_simple_string(p_time);
+                    //end debug
+
+                    // SV ECEF DEBUG OUTPUT
+                    LOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
+                               << " X=" << galileo_ephemeris_iter->second.d_satpos_X
+                               << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
+                               << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
+                               << " [m] PR_obs=" << obs(obs_counter) << " [m]";
+                }
+            else // the ephemeris are not available for this SV
+                {
+                    // no valid pseudorange for the current SV
+                    W(obs_counter, obs_counter) = 0; // SV de-activated
+                    obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
+                    DLOG(INFO) << "No ephemeris data for SV "<< gnss_pseudoranges_iter->first;
+                }
+            obs_counter++;
+        }
+    // ********************************************************************************
+    // ****** SOLVE LEAST SQUARES******************************************************
+    // ********************************************************************************
+    d_valid_observations = valid_obs;
+    LOG(INFO) << "Galileo PVT: valid observations=" << valid_obs;
+
+    if (valid_obs >= 4)
+        {
+            arma::vec mypos;
+            DLOG(INFO) << "satpos=" << satpos;
+            DLOG(INFO) << "obs="<< obs;
+            DLOG(INFO) << "W=" << W;
+            mypos = leastSquarePos(satpos, obs, W);
+
+            // Compute GST and Gregorian time
+            double GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, galileo_current_time);
+            utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+            // get time string Gregorian calendar
+            boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+            // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+            boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+            d_position_UTC_time = p_time;
+            LOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos;
+
+            cart2geo((double)mypos(0), (double)mypos(1), (double)mypos(2), 4);
+            //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
+            if (d_height_m > 50000)
+                {
+                    b_valid_position = false;
+                    return false;
+                }
+            LOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
+                      << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+                      << " [deg], Height= " << d_height_m << " [m]";
+
+            std::cout << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
+                      << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+                      << " [deg], Height= " << d_height_m << " [m]" << std::endl;
+
+            // ###### Compute DOPs ########
+            // 1- Rotation matrix from ECEF coordinates to ENU coordinates
+            // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates
+            arma::mat F = arma::zeros(3,3);
+            F(0,0) = -sin(GPS_TWO_PI*(d_longitude_d/360.0));
+            F(0,1) = -sin(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0));
+            F(0,2) = cos(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0));
+
+            F(1,0) = cos((GPS_TWO_PI*d_longitude_d)/360.0);
+            F(1,1) = -sin((GPS_TWO_PI*d_latitude_d)/360.0)*sin((GPS_TWO_PI*d_longitude_d)/360.0);
+            F(1,2) = cos((GPS_TWO_PI*d_latitude_d/360.0))*sin((GPS_TWO_PI*d_longitude_d)/360.0);
+
+            F(2,0) = 0;
+            F(2,1) = cos((GPS_TWO_PI*d_latitude_d)/360.0);
+            F(2,2) = sin((GPS_TWO_PI*d_latitude_d/360.0));
+
+            // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
+            arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2);
+            arma::mat DOP_ENU = arma::zeros(3, 3);
+
+            try
+            {
+                    DOP_ENU = arma::htrans(F)*Q_ECEF*F;
+                    d_GDOP  = sqrt(arma::trace(DOP_ENU));                       // Geometric DOP
+                    d_PDOP  = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1) + DOP_ENU(2,2)); // PDOP
+                    d_HDOP  = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1));                // HDOP
+                    d_VDOP  = sqrt(DOP_ENU(2,2));                               // VDOP
+                    d_TDOP  = sqrt(d_Q(3,3));                                   // TDOP
+            }
+            catch(std::exception& ex)
+            {
+                    d_GDOP = -1;   // Geometric DOP
+                    d_PDOP = -1;   // PDOP
+                    d_HDOP = -1;   // HDOP
+                    d_VDOP = -1;   // VDOP
+                    d_TDOP = -1;   // TDOP
+            }
+
+            // ######## LOG FILE #########
+            if(d_flag_dump_enabled == true)
+                {
+                    // MULTIPLEXED FILE RECORDING - Record results to file
+                    try
+                    {
+                            double tmp_double;
+                            //  PVT GPS time
+                            tmp_double = galileo_current_time;
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // ECEF User Position East [m]
+                            tmp_double = mypos(0);
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // ECEF User Position North [m]
+                            tmp_double = mypos(1);
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // ECEF User Position Up [m]
+                            tmp_double = mypos(2);
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // User clock offset [s]
+                            tmp_double = mypos(3);
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // GEO user position Latitude [deg]
+                            tmp_double = d_latitude_d;
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // GEO user position Longitude [deg]
+                            tmp_double = d_longitude_d;
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                            // GEO user position Height [m]
+                            tmp_double = d_height_m;
+                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+                    }
+                    catch (const std::ifstream::failure& e)
+                    {
+                            LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
+                    }
+                }
+
+            // MOVING AVERAGE PVT
+            if (flag_averaging == true)
+                {
+                    if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth)
+                        {
+                            // Pop oldest value
+                            d_hist_longitude_d.pop_back();
+                            d_hist_latitude_d.pop_back();
+                            d_hist_height_m.pop_back();
+                            // Push new values
+                            d_hist_longitude_d.push_front(d_longitude_d);
+                            d_hist_latitude_d.push_front(d_latitude_d);
+                            d_hist_height_m.push_front(d_height_m);
+
+                            d_avg_latitude_d = 0;
+                            d_avg_longitude_d = 0;
+                            d_avg_height_m = 0;
+                            for (unsigned int i = 0; i < d_hist_longitude_d.size(); i++)
+                                {
+                                    d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
+                                    d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
+                                    d_avg_height_m  = d_avg_height_m + d_hist_height_m.at(i);
+                                }
+                            d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth;
+                            d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth;
+                            d_avg_height_m = d_avg_height_m / (double)d_averaging_depth;
+                            b_valid_position = true;
+                            return true; //indicates that the returned position is valid
+                        }
+                    else
+                        {
+                            // int current_depth=d_hist_longitude_d.size();
+                            // Push new values
+                            d_hist_longitude_d.push_front(d_longitude_d);
+                            d_hist_latitude_d.push_front(d_latitude_d);
+                            d_hist_height_m.push_front(d_height_m);
+
+                            d_avg_latitude_d = d_latitude_d;
+                            d_avg_longitude_d = d_longitude_d;
+                            d_avg_height_m = d_height_m;
+                            b_valid_position = false;
+                            return false; //indicates that the returned position is not valid yet
+                        }
+                }
+            else
+                {
+                    b_valid_position = true;
+                    return true; //indicates that the returned position is valid
+                }
+        }
+    else
+        {
+            b_valid_position = false;
+            return false;
+        }
+    return false;
+}
+
+
+void hybrid_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selection)
+{
+    /* Conversion of Cartesian coordinates (X,Y,Z) to geographical
+     coordinates (latitude, longitude, h) on a selected reference ellipsoid.
+
+       Choices of Reference Ellipsoid for Geographical Coordinates
+                 0. International Ellipsoid 1924
+                 1. International Ellipsoid 1967
+                 2. World Geodetic System 1972
+                 3. Geodetic Reference System 1980
+                 4. World Geodetic System 1984
+     */
+
+    const double a[5] = {6378388, 6378160, 6378135, 6378137, 6378137};
+    const double f[5] = {1/297, 1/298.247, 1/298.26, 1/298.257222101, 1/298.257223563};
+
+    double lambda  = atan2(Y, X);
+    double ex2 = (2 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1 - f[elipsoid_selection])*(1 - f[elipsoid_selection]));
+    double c = a[elipsoid_selection] * sqrt(1+ex2);
+    double phi = atan(Z / ((sqrt(X*X + Y*Y)*(1 - (2 - f[elipsoid_selection])) * f[elipsoid_selection])));
+
+    double h = 0.1;
+    double oldh = 0;
+    double N;
+    int iterations = 0;
+    do
+        {
+            oldh = h;
+            N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
+            phi = atan(Z / ((sqrt(X*X + Y*Y) * (1 - (2 - f[elipsoid_selection]) * f[elipsoid_selection] *N / (N + h) ))));
+            h = sqrt(X*X + Y*Y) / cos(phi) - N;
+            iterations = iterations + 1;
+            if (iterations > 100)
+                {
+                    LOG(WARNING) << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
+                    break;
+                }
+        }
+    while (abs(h - oldh) > 1.0e-12);
+    d_latitude_d = phi * 180.0 / GPS_PI;
+    d_longitude_d = lambda * 180 / GPS_PI;
+    d_height_m = h;
+}
+
+
+void hybrid_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
+{
+    /* Subroutine to calculate geodetic coordinates latitude, longitude,
+	height given Cartesian coordinates X,Y,Z, and reference ellipsoid
+	values semi-major axis (a) and the inverse of flattening (finv).
+
+	 The output units of angular quantities will be in decimal degrees
+	  (15.5 degrees not 15 deg 30 min). The output units of h will be the
+	  same as the units of X,Y,Z,a.
+
+	   Inputs:
+	       a           - semi-major axis of the reference ellipsoid
+	       finv        - inverse of flattening of the reference ellipsoid
+	       X,Y,Z       - Cartesian coordinates
+
+	   Outputs:
+	       dphi        - latitude
+	       dlambda     - longitude
+	       h           - height above reference ellipsoid
+
+	       Based in a Matlab function by Kai Borre
+     */
+
+    *h = 0;
+    double tolsq = 1.e-10;  // tolerance to accept convergence
+    int maxit = 10;         // max number of iterations
+    double rtd = 180/GPS_PI;
+
+    // compute square of eccentricity
+    double esq;
+    if (finv < 1.0E-20)
+        {
+            esq = 0;
+        }
+    else
+        {
+            esq = (2 - 1/finv) / finv;
+        }
+
+    // first guess
+    double P = sqrt(X*X + Y*Y); // P is distance from spin axis
+
+    //direct calculation of longitude
+    if (P > 1.0E-20)
+        {
+            *dlambda = atan2(Y, X) * rtd;
+        }
+    else
+        {
+            *dlambda = 0;
+        }
+
+    // correct longitude bound
+    if (*dlambda < 0)
+        {
+            *dlambda = *dlambda + 360.0;
+        }
+
+    double r = sqrt(P*P + Z*Z); // r is distance from origin (0,0,0)
+
+    double sinphi;
+    if (r > 1.0E-20)
+        {
+            sinphi = Z/r;
+        }
+    else
+        {
+            sinphi = 0;
+        }
+    *dphi = asin(sinphi);
+
+    // initial value of height  =  distance from origin minus
+    // approximate distance from origin to surface of ellipsoid
+    if (r < 1.0E-20)
+        {
+            *h = 0;
+            return;
+        }
+
+    *h = r - a*(1 - sinphi*sinphi/finv);
+
+    // iterate
+    double cosphi;
+    double N_phi;
+    double dP;
+    double dZ;
+    double oneesq = 1 - esq;
+
+    for (int i = 0; i < maxit; i++)
+        {
+            sinphi = sin(*dphi);
+            cosphi = cos(*dphi);
+
+            // compute radius of curvature in prime vertical direction
+            N_phi = a / sqrt(1 - esq*sinphi*sinphi);
+
+            //    compute residuals in P and Z
+            dP = P - (N_phi + (*h)) * cosphi;
+            dZ = Z - (N_phi*oneesq + (*h)) * sinphi;
+
+            //    update height and latitude
+            *h = *h + (sinphi*dZ + cosphi*dP);
+            *dphi = *dphi + (cosphi*dZ - sinphi*dP)/(N_phi + (*h));
+
+            //     test for convergence
+            if ((dP*dP + dZ*dZ) < tolsq)
+                {
+                    break;
+                }
+            if (i == (maxit - 1))
+                {
+                    LOG(WARNING) << "The computation of geodetic coordinates did not converge";
+                }
+        }
+    *dphi = (*dphi) * rtd;
+}
+
+
+void hybrid_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx)
+{
+    /*  Transformation of vector dx into topocentric coordinate
+	system with origin at x
+	   Inputs:
+	      x           - vector origin coordinates (in ECEF system [X; Y; Z;])
+	      dx          - vector ([dX; dY; dZ;]).
+
+	   Outputs:
+	      D           - vector length. Units like the input
+	      Az          - azimuth from north positive clockwise, degrees
+	      El          - elevation angle, degrees
+
+	      Based on a Matlab function by Kai Borre
+     */
+    double lambda;
+    double phi;
+    double h;
+    double dtr = GPS_PI/180.0;
+    double a = 6378137.0;        // semi-major axis of the reference ellipsoid WGS-84
+    double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
+
+    // Transform x into geodetic coordinates
+    togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
+
+    double cl = cos(lambda * dtr);
+    double sl = sin(lambda * dtr);
+    double cb = cos(phi * dtr);
+    double sb = sin(phi * dtr);
+
+    arma::mat F = arma::zeros(3,3);
+
+    F(0,0) = -sl;
+    F(0,1) = -sb*cl;
+    F(0,2) = cb*cl;
+
+    F(1,0) = cl;
+    F(1,1) = -sb*sl;
+    F(1,2) = cb*sl;
+
+    F(2,0) = 0;
+    F(2,1) = cb;
+    F(2,2) = sb;
+
+    arma::vec local_vector;
+
+    local_vector = arma::htrans(F) * dx;
+
+    double E = local_vector(0);
+    double N = local_vector(1);
+    double U = local_vector(2);
+
+    double hor_dis;
+    hor_dis = sqrt(E*E + N*N);
+
+    if (hor_dis < 1.0E-20)
+        {
+            *Az = 0;
+            *El = 90;
+        }
+    else
+        {
+            *Az = atan2(E, N)/dtr;
+            *El = atan2(U, hor_dis)/dtr;
+        }
+
+    if (*Az < 0)
+        {
+            *Az = *Az + 360.0;
+        }
+
+    *D = sqrt(dx(0)*dx(0) + dx(1)*dx(1) + dx(2)*dx(2));
+}

src/algorithms/PVT/libs/hybrid_ls_pvt.h

@@ -0,0 +1,150 @@
+/*!
+ * \file galileo_e1_ls_pvt.h
+ * \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
+ * solver, based on K.Borre's Matlab receiver.
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_HYBRID_LS_PVT_H_
+#define GNSS_SDR_HYBRID_LS_PVT_H_
+
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
+#include <cstdio>
+#include <deque>
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <sstream>
+#include <string>
+#include <armadillo>
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include "GPS_L1_CA.h"
+#include "galileo_navigation_message.h"
+#include "gps_navigation_message.h"
+#include "gnss_synchro.h"
+#include "galileo_ephemeris.h"
+#include "galileo_utc_model.h"
+#include "gps_ephemeris.h"
+#include "gps_utc_model.h"
+
+#define PVT_MAX_CHANNELS 24
+
+/*!
+ * \brief This class implements a simple PVT Least Squares solution
+ */
+class hybrid_ls_pvt
+{
+private:
+    arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
+    arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
+    void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
+    void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
+public:
+    int d_nchannels;                                        //!< Number of available channels for positioning
+    int d_valid_observations;                               //!< Number of valid pseudorange observations (valid satellites)
+    int d_visible_satellites_IDs[PVT_MAX_CHANNELS];         //!< Array with the IDs of the valid satellites
+    double d_visible_satellites_El[PVT_MAX_CHANNELS];       //!< Array with the LOS Elevation of the valid satellites
+    double d_visible_satellites_Az[PVT_MAX_CHANNELS];       //!< Array with the LOS Azimuth of the valid satellites
+    double d_visible_satellites_Distance[PVT_MAX_CHANNELS]; //!< Array with the LOS Distance of the valid satellites
+    double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS];   //!< Array with the IDs of the valid satellites
+
+    Galileo_Navigation_Message* d_ephemeris;
+    //Gps_Navigation_Message* d_ephemeris;
+
+    std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
+    std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new Galileo_Ephemeris
+    Galileo_Utc_Model galileo_utc_model;
+    Galileo_Iono galileo_iono;
+
+    Gps_Utc_Model gps_utc_model;
+    Gps_Iono gps_iono;
+
+    double d_galileo_current_time;
+    boost::posix_time::ptime d_position_UTC_time;
+
+    bool b_valid_position;
+
+    double d_latitude_d;  //!< Latitude in degrees
+    double d_longitude_d; //!< Longitude in degrees
+    double d_height_m;    //!< Height [m]
+
+    //averaging
+    std::deque<double> d_hist_latitude_d;
+    std::deque<double> d_hist_longitude_d;
+    std::deque<double> d_hist_height_m;
+    int d_averaging_depth;    //!< Length of averaging window
+    double d_avg_latitude_d;  //!< Averaged latitude in degrees
+    double d_avg_longitude_d; //!< Averaged longitude in degrees
+    double d_avg_height_m;    //!< Averaged height [m]
+
+    double d_x_m;
+    double d_y_m;
+    double d_z_m;
+
+    // DOP estimations
+    arma::mat d_Q;
+    double d_GDOP;
+    double d_PDOP;
+    double d_HDOP;
+    double d_VDOP;
+    double d_TDOP;
+
+    bool d_flag_dump_enabled;
+    bool d_flag_averaging;
+
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+
+    void set_averaging_depth(int depth);
+
+    hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);
+
+    ~hybrid_ls_pvt();
+
+    bool get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging);
+
+    /*!
+     * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
+     * coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
+     *
+     * \param[in] X [m] Cartesian coordinate
+     * \param[in] Y [m] Cartesian coordinate
+     * \param[in] Z [m] Cartesian coordinate
+     * \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
+     * 0 - International Ellipsoid 1924.
+     * 1 - International Ellipsoid 1967.
+     * 2 - World Geodetic System 1972.
+     * 3 - Geodetic Reference System 1980.
+     * 4 - World Geodetic System 1984.
+     *
+     */
+    void cart2geo(double X, double Y, double Z, int elipsoid_selection);
+};
+
+#endif

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc

@@ -278,7 +278,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
     	std::cout<<"d_TOW_at_current_symbol="<<d_TOW_at_current_symbol<<std::endl;
     	std::cout<<"d_nav.WN_0="<<d_nav.WN_0<<std::endl;
 
-    	//double delta_t; declared out of this function to be used in the observable block
+
     	delta_t=almanac.A_0G_10+almanac.A_1G_10*(d_TOW_at_current_symbol-almanac.t_0G_10+604800*(fmod((d_nav.WN_0-almanac.WN_0G_10),64)));
 
     	std::cout<<"delta_t="<<delta_t<<"[s]"<<std::endl;
@@ -481,7 +481,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
     current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
     current_synchro_data.d_TOW_hybrid_at_current_symbol= current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps  ---->  t_gps = t_gal -delta_t
     std::cout<< "delta_t = " << delta_t << std::endl;
-    current_synchro_data.Flag_preamble = d_flag_preamble;
+      current_synchro_data.Flag_preamble = d_flag_preamble;
     current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
     current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
 

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h

@@ -136,6 +136,7 @@ private:
 
     double d_TOW_at_Preamble;
     double d_TOW_at_current_symbol;
+
     double Prn_timestamp_at_preamble_ms;
     bool flag_TOW_set;
     double delta_t; //GPS-GALILEO time offset