mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-13 11:40:33 +00:00
Added hybrid TOW (expressed in GPS reference time) and time debug output in PVT block
This commit is contained in:
marabra
parent
6a507d9ce2
commit
25934c477e
@ -49,6 +49,10 @@ extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
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extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
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extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
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extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
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extern concurrent_map<Gps_Iono> global_gps_iono_map;
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extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
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hybrid_pvt_cc_sptr
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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)
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{
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@ -83,13 +87,13 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_q
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d_averaging_depth = averaging_depth;
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d_flag_averaging = flag_averaging;
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d_ls_pvt = new galileo_e1_ls_pvt(nchannels, dump_ls_pvt_filename, d_dump);
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d_ls_pvt = new hybrid_ls_pvt(nchannels, dump_ls_pvt_filename, d_dump);
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d_ls_pvt->set_averaging_depth(d_averaging_depth);
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d_sample_counter = 0;
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d_last_sample_nav_output = 0;
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d_rx_time = 0.0;
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d_TOW_at_curr_symbol_constellation = 0.0;
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b_rinex_header_writen = false;
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rp = new Rinex_Printer();
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@ -145,11 +149,15 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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if (in[i][0].Flag_valid_pseudorange == true)
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{
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gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
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d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
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//d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
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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)
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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)
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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;
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}
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}
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// ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
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// ############ 1. READ GALILEO EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
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if (global_galileo_ephemeris_map.size() > 0)
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{
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@ -168,9 +176,30 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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global_galileo_iono_map.read(0, d_ls_pvt->galileo_iono);
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}
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// ############ 2 COMPUTE THE PVT ################################
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if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
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// ############ 1. READ GPS EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
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if (global_gps_ephemeris_map.size() > 0)
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{
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d_ls_pvt->gps_ephemeris_map = global_gps_ephemeris_map.get_map_copy();
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}
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if (global_gps_utc_model_map.size() > 0)
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{
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// UTC MODEL data is shared for all the Galileo satellites. Read always at ID=0
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global_gps_utc_model_map.read(0, d_ls_pvt->gps_utc_model);
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}
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if (global_gps_iono_map.size() > 0)
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{
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// IONO data is shared for all the Galileo satellites. Read always at ID=0
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global_gps_iono_map.read(0, d_ls_pvt->gps_iono);
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}
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// ############ 2 COMPUTE THE PVT ################################
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if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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std::cout << "Both GPS and Galileo ephemeris map have been filled " << std::endl;
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// compute on the fly PVT solution
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if ((d_sample_counter % d_output_rate_ms) == 0)
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{
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@ -180,7 +209,7 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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if (pvt_result == true)
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{
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d_kml_dump.print_position_galileo(d_ls_pvt, d_flag_averaging);
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//IMPLEMENT KML OUTPUT d_kml_dump.print_position_galileo(d_ls_pvt, d_flag_averaging);
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//ToDo: Implement Galileo RINEX and Galileo NMEA outputs
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// d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
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//
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@ -43,10 +43,14 @@
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#include "galileo_ephemeris.h"
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#include "galileo_utc_model.h"
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#include "galileo_iono.h"
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#include "gps_navigation_message.h"
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#include "gps_ephemeris.h"
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#include "gps_utc_model.h"
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#include "gps_iono.h"
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#include "nmea_printer.h"
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#include "kml_printer.h"
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#include "rinex_printer.h"
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#include "galileo_e1_ls_pvt.h"
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#include "hybrid_ls_pvt.h"
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#include "GPS_L1_CA.h"
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#include "Galileo_E1.h"
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@ -109,7 +113,9 @@ private:
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Kml_Printer d_kml_dump;
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Nmea_Printer *d_nmea_printer;
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double d_rx_time;
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galileo_e1_ls_pvt *d_ls_pvt;
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double d_TOW_at_curr_symbol_constellation;
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hybrid_ls_pvt *d_ls_pvt;
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bool pseudoranges_pairCompare_min(std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b);
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public:
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@ -19,6 +19,7 @@
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set(PVT_LIB_SOURCES
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gps_l1_ca_ls_pvt.cc
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galileo_e1_ls_pvt.cc
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hybrid_ls_pvt.cc
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kml_printer.cc
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rinex_printer.cc
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nmea_printer.cc
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729
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
Normal file
729
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
Normal file
@ -0,0 +1,729 @@
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/*!
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* \file galileo_e1_ls_pvt.cc
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* \brief Implementation of a Least Squares Position, Velocity, and Time
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* (PVT) solver, based on K.Borre's Matlab receiver.
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "hybrid_ls_pvt.h"
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#include <glog/logging.h>
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#include "Galileo_E1.h"
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using google::LogMessage;
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hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file)
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{
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// init empty ephemeris for all the available GNSS channels
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d_nchannels = nchannels;
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d_ephemeris = new Galileo_Navigation_Message[nchannels];
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d_dump_filename = dump_filename;
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d_flag_dump_enabled = flag_dump_to_file;
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d_averaging_depth = 0;
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d_galileo_current_time = 0;
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b_valid_position = false;
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// ############# ENABLE DATA FILE LOG #################
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if (d_flag_dump_enabled == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (std::ifstream::failure e)
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{
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LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
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}
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}
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}
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}
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void hybrid_ls_pvt::set_averaging_depth(int depth)
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{
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d_averaging_depth = depth;
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}
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hybrid_ls_pvt::~hybrid_ls_pvt()
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{
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d_dump_file.close();
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delete[] d_ephemeris;
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}
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arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
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{
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/*
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* Returns rotated satellite ECEF coordinates due to Earth
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* rotation during signal travel time
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*
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* Inputs:
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* travelTime - signal travel time
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* X_sat - satellite's ECEF coordinates
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*
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* Returns:
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* X_sat_rot - rotated satellite's coordinates (ECEF)
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*/
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//--- Find rotation angle --------------------------------------------------
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double omegatau;
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omegatau = OMEGA_EARTH_DOT * traveltime;
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//--- Build a rotation matrix ----------------------------------------------
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arma::mat R3 = arma::zeros(3,3);
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R3(0, 0) = cos(omegatau);
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R3(0, 1) = sin(omegatau);
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R3(0, 2) = 0.0;
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R3(1, 0) = -sin(omegatau);
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R3(1, 1) = cos(omegatau);
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R3(1, 2) = 0.0;
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R3(2, 0) = 0.0;
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R3(2, 1) = 0.0;
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R3(2, 2) = 1;
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//--- Do the rotation ------------------------------------------------------
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arma::vec X_sat_rot;
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X_sat_rot = R3 * X_sat;
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return X_sat_rot;
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}
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arma::vec hybrid_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w)
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{
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/* Computes the Least Squares Solution.
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* Inputs:
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* satpos - Satellites positions in ECEF system: [X; Y; Z;]
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* obs - Observations - the pseudorange measurements to each satellite
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* w - weigths vector
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*
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* Returns:
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* pos - receiver position and receiver clock error
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* (in ECEF system: [X, Y, Z, dt])
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*/
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//=== Initialization =======================================================
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int nmbOfIterations = 10; // TODO: include in config
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int nmbOfSatellites;
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nmbOfSatellites = satpos.n_cols; //Armadillo
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arma::vec pos = "0.0 0.0 0.0 0.0";
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arma::mat A;
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arma::mat omc;
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arma::mat az;
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arma::mat el;
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A = arma::zeros(nmbOfSatellites, 4);
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omc = arma::zeros(nmbOfSatellites, 1);
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az = arma::zeros(1, nmbOfSatellites);
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el = arma::zeros(1, nmbOfSatellites);
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arma::mat X = satpos;
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arma::vec Rot_X;
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double rho2;
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double traveltime;
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double trop;
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arma::mat mat_tmp;
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arma::vec x;
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//=== Iteratively find receiver position ===================================
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for (int iter = 0; iter < nmbOfIterations; iter++)
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{
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for (int i = 0; i < nmbOfSatellites; i++)
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{
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if (iter == 0)
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{
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//--- Initialize variables at the first iteration --------------
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Rot_X = X.col(i); //Armadillo
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trop = 0.0;
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}
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else
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{
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//--- Update equations -----------------------------------------
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rho2 = (X(0, i) - pos(0)) *
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(X(0, i) - pos(0)) + (X(1, i) - pos(1)) *
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(X(1, i) - pos(1)) + (X(2, i) - pos(2)) *
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(X(2, i) - pos(2));
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traveltime = sqrt(rho2) / GALILEO_C_m_s;
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//--- Correct satellite position (do to earth rotation) --------
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Rot_X = rotateSatellite(traveltime, X.col(i)); //armadillo
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//--- Find DOA and range of satellites
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topocent(&d_visible_satellites_Az[i],
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&d_visible_satellites_El[i],
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&d_visible_satellites_Distance[i],
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pos.subvec(0,2),
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Rot_X - pos.subvec(0, 2));
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}
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//--- Apply the corrections ----------------------------------------
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omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
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//--- Construct the A matrix ---------------------------------------
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//Armadillo
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A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i);
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A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i);
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A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
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A(i,3) = 1.0;
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}
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//--- Find position update ---------------------------------------------
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x = arma::solve(w*A, w*omc); // Armadillo
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//--- Apply position update --------------------------------------------
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pos = pos + x;
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if (arma::norm(x,2) < 1e-4)
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{
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break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
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}
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}
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try
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{
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//-- compute the Dilution Of Precision values
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d_Q = arma::inv(arma::htrans(A)*A);
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}
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catch(std::exception& e)
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{
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d_Q = arma::zeros(4,4);
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}
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return pos;
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}
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bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
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std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
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int valid_pseudoranges = gnss_pseudoranges_map.size();
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arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
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arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
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arma::mat satpos = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
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int Galileo_week_number = 0;
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double utc = 0;
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double SV_clock_drift_s = 0;
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double SV_relativistic_clock_corr_s = 0;
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double TX_time_corrected_s;
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double SV_clock_bias_s = 0;
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d_flag_averaging = flag_averaging;
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// ********************************************************************************
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// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
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// ********************************************************************************
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int valid_obs = 0; //valid observations counter
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int obs_counter = 0;
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for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
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gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
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gnss_pseudoranges_iter++)
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{
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// 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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{
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/*!
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* \todo Place here the satellite CN0 (power level, or weight factor)
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*/
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W(obs_counter, obs_counter) = 1;
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// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
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// first estimate of transmit time
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//Galileo_week_number = galileo_ephemeris_iter->second.WN_5;//for GST
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//double sec_in_day = 86400;
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//double day_in_week = 7;
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// t = WN*sec_in_day*day_in_week + TOW; // t is Galileo System Time to use to compute satellite positions
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//JAVIER VERSION:
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double Rx_time = galileo_current_time;
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//to compute satellite position we need GST = WN+TOW (everything expressed in seconds)
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//double Rx_time = galileo_current_time + Galileo_week_number*sec_in_day*day_in_week;
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double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GALILEO_C_m_s;
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// 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));
|
||||
}
|
||||
150
src/algorithms/PVT/libs/hybrid_ls_pvt.h
Normal file
150
src/algorithms/PVT/libs/hybrid_ls_pvt.h
Normal file
@ -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
|
||||
@ -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;
|
||||
|
||||
@ -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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user