mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Code cleaning
This commit is contained in:
Carles Fernandez
parent
bb9346441c
commit
25bb7ae54d
@ -47,7 +47,9 @@
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* -----------------------------------------------------------------------*/
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#include "rtklib_solver.h"
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#include <glog/logging.h>
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@ -68,26 +70,25 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
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d_flag_averaging = false;
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rtk_ = rtk;
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pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0},
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'0', '0', '0', 0, 0, 0 };
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pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
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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 (const 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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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 (const 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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}
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@ -96,6 +97,7 @@ rtklib_solver::~rtklib_solver()
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d_dump_file.close();
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}
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bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
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@ -116,190 +118,194 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
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for(gnss_observables_iter = gnss_observables_map.begin();
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gnss_observables_iter != gnss_observables_map.end();
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gnss_observables_iter++)
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{
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switch(gnss_observables_iter->second.System)
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{
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case 'E':
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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switch(gnss_observables_iter->second.System)
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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case 'E':
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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break;
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}
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case 'G':
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{
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// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
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std::string sig_(gnss_observables_iter->second.Signal);
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if(sig_.compare("1C") == 0)
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{
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.end())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_ephemeris_iter->second.i_GPS_week,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
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}
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}
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if(sig_.compare("2S") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
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{
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// 1. Find the same satellite in GPS L1 band
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.end())
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{
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// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
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// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
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{
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eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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obs_data[valid_obs] = insert_obs_to_rtklib(obs_data[valid_obs],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1);//Band 2 (L2)
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break;
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}
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}
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}
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else
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{
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// 3. If not found, insert the GPS L2 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1);//Band 2 (L2)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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default :
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DLOG(INFO) << "Hybrid observables: Unknown GNSS";
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break;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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break;
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}
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case 'G':
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{
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// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
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std::string sig_(gnss_observables_iter->second.Signal);
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if(sig_.compare("1C") == 0)
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{
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.end())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs]=eph_to_rtklib(gps_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs]=insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_ephemeris_iter->second.i_GPS_week,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
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}
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}
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if(sig_.compare("2S") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
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{
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// 1. Find the same satellite in GPS L1 band
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.end())
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{
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// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
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// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
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for (int i=0;i<valid_obs;i++)
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{
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if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
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{
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eph_data[i]=eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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obs_data[valid_obs]=insert_obs_to_rtklib(obs_data[valid_obs],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1);//Band 2 (L2)
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break;
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}
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}
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}else{
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// 3. If not found, insert the GPS L2 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1);//Band 2 (L2)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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default :
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DLOG(INFO) << "Hybrid observables: Unknown GNSS";
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break;
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}
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}
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// **********************************************************************
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// ****** SOLVE PVT******************************************************
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// **********************************************************************
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b_valid_position = false;
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if (valid_obs>0)
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{
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int result=0;
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nav_t nav_data;
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nav_data.eph=eph_data;
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nav_data.n=valid_obs;
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for (int i=0; i< MAXSAT;i++)
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if (valid_obs > 0)
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{
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nav_data.lam[i][0]=SPEED_OF_LIGHT/FREQ1; /* L1/E1 */
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nav_data.lam[i][1]=SPEED_OF_LIGHT/FREQ2; /* L2 */
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nav_data.lam[i][2]=SPEED_OF_LIGHT/FREQ5; /* L2 */
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}
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result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
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if(result==0)
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{
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LOG(INFO)<<"RTKLIB rtkpos error message: "<<rtk_.errbuf;
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d_rx_dt_s = 0; //reset rx time estimation
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d_valid_observations = 0;
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}else{
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d_valid_observations=rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
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pvt_sol=rtk_.sol;
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b_valid_position=true;
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arma::vec rx_position_and_time(4);
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rx_position_and_time(0)=pvt_sol.rr[0];
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rx_position_and_time(1)=pvt_sol.rr[1];
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rx_position_and_time(2)=pvt_sol.rr[2];
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rx_position_and_time(3)=pvt_sol.dtr[0];
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d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
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d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
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DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
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boost::posix_time::ptime p_time;
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gtime_t rtklib_utc_time=gpst2utc(pvt_sol.time);
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p_time=boost::posix_time::from_time_t(rtklib_utc_time.time);
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p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec*1e6));
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d_position_UTC_time = p_time;
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cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
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DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
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<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
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<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
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// ######## LOG FILE #########
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if(d_flag_dump_enabled == true)
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{
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// MULTIPLEXED FILE RECORDING - Record results to file
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try
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int result = 0;
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nav_t nav_data;
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nav_data.eph = eph_data;
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nav_data.n = valid_obs;
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for (int i = 0; i < MAXSAT; i++)
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{
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double tmp_double;
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// PVT GPS time
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tmp_double = Rx_time;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position East [m]
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tmp_double = rx_position_and_time(0);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position North [m]
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tmp_double = rx_position_and_time(1);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position Up [m]
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tmp_double = rx_position_and_time(2);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// User clock offset [s]
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tmp_double = rx_position_and_time(3);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Latitude [deg]
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tmp_double = d_latitude_d;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Longitude [deg]
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tmp_double = d_longitude_d;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Height [m]
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tmp_double = d_height_m;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
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nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
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nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L2 */
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}
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catch (const std::ifstream::failure& e)
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result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
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if(result == 0)
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{
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LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
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LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
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d_rx_dt_s = 0; //reset rx time estimation
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d_valid_observations = 0;
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}
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else
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{
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d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
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pvt_sol = rtk_.sol;
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b_valid_position = true;
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arma::vec rx_position_and_time(4);
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rx_position_and_time(0) = pvt_sol.rr[0];
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rx_position_and_time(1) = pvt_sol.rr[1];
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rx_position_and_time(2) = pvt_sol.rr[2];
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rx_position_and_time(3) = pvt_sol.dtr[0];
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d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
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d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
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DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
|
||||
boost::posix_time::ptime p_time;
|
||||
gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
|
||||
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
d_position_UTC_time = p_time;
|
||||
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
|
||||
|
||||
DLOG(INFO) << "RTKLIB 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]" << " RX time offset= " << d_rx_dt_s << " [s]";
|
||||
|
||||
// ######## LOG FILE #########
|
||||
if(d_flag_dump_enabled == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
// PVT GPS time
|
||||
tmp_double = Rx_time;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position East [m]
|
||||
tmp_double = rx_position_and_time(0);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position North [m]
|
||||
tmp_double = rx_position_and_time(1);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position Up [m]
|
||||
tmp_double = rx_position_and_time(2);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// User clock offset [s]
|
||||
tmp_double = rx_position_and_time(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();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return b_valid_position;
|
||||
}
|
||||
|
||||
@ -47,7 +47,10 @@
|
||||
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
* -------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef GNSS_SDR_RTKLIB_SOLVER_H_
|
||||
#define GNSS_SDR_RTKLIB_SOLVER_H_
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user