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

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This commit is contained in:
Carles Fernandez
2026-02-09 19:44:42 +01:00
parent 2226d7ca2d 5f7a27cd44
commit 2799e6afde
13 changed files with 249 additions and 119 deletions
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docs/CHANGELOG.md
+1
View File
@@ -27,6 +27,7 @@ All notable changes to GNSS-SDR will be documented in this file.
- Added a cycle-slip detector, with events reported in internal logging and
RINEX observation files. This introduces a new field in `Gnss_Synchro` and in
the corresponding `.proto` definition.
- Improved tracking of GPS L2C(M) signals.
### Improvements in Maintainability:
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+1 -2
View File
@@ -342,7 +342,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
const std::string rtcm_dump_filename = d_dump_filename;
if (conf_.flag_rtcm_server || conf_.flag_rtcm_tty_port || conf_.rtcm_output_file_enabled)
{
d_rtcm_printer = std::make_unique<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path);
d_rtcm_printer = std::make_unique<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, d_signal_enabled_flags, true, conf_.rtcm_output_file_path);
std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
{
@@ -2431,7 +2431,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
d_rtcm_printer->Print_Rtcm_Messages(d_user_pvt_solver.get(),
d_gnss_observables_map,
d_rx_time,
d_signal_enabled_flags,
rtcm_MSM_enabled,
rtcm_MT1019_enabled,
rtcm_MT1020_enabled,
src/algorithms/PVT/libs/rinex_printer.cc
+64 -79
View File
@@ -35,7 +35,6 @@
#include "gps_navigation_message.h"
#include "gps_utc_model.h"
#include "rtklib_solver.h"
#include "signal_enabled_flags.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>
#include <boost/date_time/time_zone_base.hpp>
@@ -458,33 +457,23 @@ std::string getFilePath(const std::string& type, const std::string& base_name, c
}
std::string getNavFilePath(uint32_t signal_enabled_flags, int version, const std::string& base_name, const std::string& base_rinex_path)
std::string getNavFilePath(const Signal_Enabled_Flags& flags, int version, const std::string& base_name, const std::string& base_rinex_path)
{
std::string type;
const Signal_Enabled_Flags flags(signal_enabled_flags);
const auto has_gps = flags.check_any_enabled(GPS_1C, GPS_2S, GPS_L5);
const auto has_galileo = flags.check_any_enabled(GAL_1B, GAL_E5a, GAL_E5b, GAL_E6);
const auto has_glonass = flags.check_any_enabled(GLO_1G, GLO_2G);
const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3);
const auto only_gps = has_gps && !(has_galileo || has_glonass || has_beidou);
const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou);
const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou);
const auto only_beidou = has_beidou && !(has_gps || has_galileo || has_glonass);
if (only_gps)
if (flags.only_gps)
{
type = "RINEX_FILE_TYPE_GPS_NAV";
}
else if (only_galileo)
else if (flags.only_galileo)
{
type = "RINEX_FILE_TYPE_GAL_NAV";
}
else if (only_glonass)
else if (flags.only_glonass)
{
type = "RINEX_FILE_TYPE_GLO_NAV";
}
else if (only_beidou)
else if (flags.only_beidou)
{
type = "RINEX_FILE_TYPE_BDS_NAV";
}
@@ -1413,6 +1402,7 @@ std::string get_obs_epoch_record_lines(const boost::posix_time::ptime& system_ti
return line;
}
void add_obs_sat_record_line(const Gnss_Synchro& synchro, std::string& line, bool padding = true)
{
const int32_t ssi = signal_strength(synchro.CN0_dB_hz);
@@ -1442,6 +1432,7 @@ void add_obs_sat_record_line(const Gnss_Synchro& synchro, std::string& line, boo
}
}
void add_constellation_obs_sat_record_lines(std::fstream& out, const std::string& system, const Constellation_Observables_Map& observables, int version)
{
const auto system_char = satelliteSystem.at(system);
@@ -1475,6 +1466,7 @@ void add_constellation_obs_sat_record_lines(std::fstream& out, const std::string
}
}
void add_constellation_obs_sat_record_lines(std::fstream& out, const std::vector<std::string>& systems, const Constellation_Observables_Map& observables, int version)
{
for (const auto& system : systems)
@@ -1483,6 +1475,7 @@ void add_constellation_obs_sat_record_lines(std::fstream& out, const std::vector
}
}
std::string get_nav_sv_epoch_svclk_line(const boost::posix_time::ptime& p_utc_time, char sys_char, uint32_t prn, double value0, double value1, double value2)
{
std::string line;
@@ -1799,6 +1792,7 @@ void add_obs_glonass_code_phase_bias(std::fstream& out,
out << line << '\n';
}
void add_obs_epoch_record(std::fstream& out, const boost::posix_time::ptime& system_time, double seconds, int version, const Constellation_Observables_Map& constel_observables)
{
std::string line = get_obs_epoch_record_lines(system_time, seconds, version);
@@ -1836,6 +1830,7 @@ void add_obs_epoch_record(std::fstream& out, const boost::posix_time::ptime& sys
out << line << '\n';
}
struct NavHeaderInfo
{
std::string prefix;
@@ -1843,6 +1838,7 @@ struct NavHeaderInfo
std::string new_line;
};
void update_nav_header_from_info(std::fstream& out, const std::string& filename, const std::vector<NavHeaderInfo>& infos)
{
std::vector<std::string> data;
@@ -1893,12 +1889,10 @@ void update_nav_header_from_info(std::fstream& out, const std::string& filename,
}
int get_version(uint32_t signal_enabled_flags, int version)
int get_version(const Signal_Enabled_Flags& flags, int version)
{
if (version == 2)
{
const Signal_Enabled_Flags flags(signal_enabled_flags);
if (flags.check_only_enabled(GPS_1C) ||
flags.check_only_enabled(GLO_1G) ||
flags.check_only_enabled(GPS_1C, GLO_1G))
@@ -1930,14 +1924,14 @@ Rinex_Printer::Rinex_Printer(uint32_t signal_enabled_flags,
int version,
bool pre_2009_file) : observationType(getObservationTypes()),
observationCode(getObservationCodes()),
d_version(get_version(signal_enabled_flags, version)),
d_flags(signal_enabled_flags),
d_version(get_version(d_flags, version)),
d_stringVersion(d_version == 2 ? "2.11" : "3.02"), // Only version 2.11 and 3.02
d_fake_cnav_iode(1),
d_rinex_header_updated(false),
d_rinex_header_written(false),
d_pre_2009_file(pre_2009_file),
d_signal_enabled_flags(signal_enabled_flags),
navfilename(getNavFilePath(signal_enabled_flags, d_version, base_name, base_rinex_path)),
navfilename(getNavFilePath(d_flags, d_version, base_name, base_rinex_path)),
obsfilename(getFilePath("RINEX_FILE_TYPE_OBS", base_name, base_rinex_path)),
navGlofilename(getFilePath("RINEX_FILE_TYPE_GLO_NAV", base_name, base_rinex_path)),
output_navfilename({navfilename})
@@ -2023,16 +2017,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
const auto glonass_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin();
const auto beidou_dnav_ephemeris_iter = pvt_solver->beidou_dnav_ephemeris_map.cbegin();
const Signal_Enabled_Flags flags(d_signal_enabled_flags);
const auto signal = enabled_signal_flags_to_string(flags);
const auto has_gps = flags.check_any_enabled(GPS_1C, GPS_2S, GPS_L5);
const auto has_galileo = flags.check_any_enabled(GAL_1B, GAL_E5a, GAL_E5b, GAL_E6);
const auto has_glonass = flags.check_any_enabled(GLO_1G, GLO_2G);
const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3);
const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou);
const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou);
const auto only_beidou = has_beidou && !(has_gps || has_galileo || has_glonass);
const auto signal = enabled_signal_flags_to_string(d_flags);
const bool has_gps_lnav_eph = !pvt_solver->gps_ephemeris_map.empty();
const bool has_gps_cnav_eph = !pvt_solver->gps_cnav_ephemeris_map.empty();
const bool has_galileo_eph = !pvt_solver->galileo_ephemeris_map.empty();
@@ -2043,52 +2028,52 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
{
bool rinex_header_written = true;
if (flags.check_only_enabled(GPS_1C) && has_gps_lnav_eph)
if (d_flags.check_only_enabled(GPS_1C) && has_gps_lnav_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, rx_time);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
}
else if ((flags.check_only_enabled(GPS_2S) || flags.check_only_enabled(GPS_L5)) && has_gps_cnav_eph)
else if ((d_flags.check_only_enabled(GPS_2S) || d_flags.check_only_enabled(GPS_L5)) && has_gps_cnav_eph)
{
rinex_obs_header(obsFile, gps_cnav_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->gps_cnav_iono, pvt_solver->gps_cnav_utc_model);
}
else if (only_galileo && has_galileo_eph)
else if (d_flags.only_galileo && has_galileo_eph)
{
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
}
else if (only_glonass && has_glonass_eph)
else if (d_flags.only_glonass && has_glonass_eph)
{
rinex_obs_header(obsFile, glonass_gnav_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
}
else if (only_beidou && has_beidou_dnav_eph)
else if (d_flags.only_beidou && has_beidou_dnav_eph)
{
rinex_obs_header(obsFile, beidou_dnav_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->beidou_dnav_iono, pvt_solver->beidou_dnav_utc_model);
}
else if ((flags.check_only_enabled(GPS_1C, GPS_2S) ||
flags.check_only_enabled(GPS_1C, GPS_L5) ||
flags.check_only_enabled(GPS_1C, GPS_2S, GPS_L5)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GPS_2S) ||
d_flags.check_only_enabled(GPS_1C, GPS_L5) ||
d_flags.check_only_enabled(GPS_1C, GPS_2S, GPS_L5)) &&
has_gps_lnav_eph && has_gps_cnav_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
}
else if ((flags.check_only_enabled(GPS_1C, GAL_1B) || flags.check_only_enabled(GPS_1C, GAL_E5a) || flags.check_only_enabled(GPS_1C, GAL_E5b)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GAL_1B) || d_flags.check_only_enabled(GPS_1C, GAL_E5a) || d_flags.check_only_enabled(GPS_1C, GAL_E5b)) &&
has_gps_lnav_eph && has_galileo_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
}
else if (flags.check_only_enabled(GPS_L5, GAL_E5a) &&
else if (d_flags.check_only_enabled(GPS_L5, GAL_E5a) &&
has_gps_cnav_eph && has_galileo_eph)
{
rinex_obs_header(obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, signal, signal);
rinex_nav_header(navFile, pvt_solver->gps_cnav_iono, pvt_solver->gps_cnav_utc_model, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
}
else if ((flags.check_only_enabled(GPS_1C, GLO_1G) || flags.check_only_enabled(GPS_1C, GLO_2G) || flags.check_only_enabled(GPS_1C, GLO_1G, GLO_2G)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GLO_1G) || d_flags.check_only_enabled(GPS_1C, GLO_2G) || d_flags.check_only_enabled(GPS_1C, GLO_1G, GLO_2G)) &&
has_gps_lnav_eph && has_glonass_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, rx_time, signal);
@@ -2103,32 +2088,32 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
output_navfilename.push_back(navGlofilename);
}
}
else if ((flags.check_only_enabled(GLO_1G, GPS_2S) || flags.check_only_enabled(GLO_2G, GPS_2S)) &&
else if ((d_flags.check_only_enabled(GLO_1G, GPS_2S) || d_flags.check_only_enabled(GLO_2G, GPS_2S)) &&
has_gps_cnav_eph && has_glonass_eph)
{
rinex_obs_header(obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->gps_cnav_iono, pvt_solver->gps_cnav_utc_model, pvt_solver->glonass_gnav_utc_model);
}
else if ((flags.check_only_enabled(GAL_1B, GLO_1G) || flags.check_only_enabled(GAL_1B, GLO_2G)) &&
else if ((d_flags.check_only_enabled(GAL_1B, GLO_1G) || d_flags.check_only_enabled(GAL_1B, GLO_2G)) &&
has_galileo_eph && has_glonass_eph)
{
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, rx_time, signal, signal);
rinex_nav_header(navFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model, pvt_solver->glonass_gnav_utc_model);
}
else if ((flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a) ||
flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a, GAL_E6) ||
flags.check_only_enabled(GPS_1C, GAL_1B, GPS_2S, GPS_L5, GAL_E5a)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a) ||
d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a, GAL_E6) ||
d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_2S, GPS_L5, GAL_E5a)) &&
has_gps_lnav_eph && has_gps_cnav_eph && has_galileo_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, signal, signal);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
}
else if ((flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5a) || flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5b)) && has_gps_lnav_eph && has_galileo_eph)
else if ((d_flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5a) || d_flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5b)) && has_gps_lnav_eph && has_galileo_eph)
{
rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
}
else if (flags.check_only_enabled(GPS_1C, GAL_E6) && has_gps_lnav_eph)
else if (d_flags.check_only_enabled(GPS_1C, GAL_E6) && has_gps_lnav_eph)
{
if (has_galileo_eph)
{
@@ -2143,7 +2128,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
rinex_nav_header(navFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
}
}
else if (has_beidou && has_beidou_dnav_eph)
else if (d_flags.has_beidou && has_beidou_dnav_eph)
{
rinex_obs_header(obsFile, beidou_dnav_ephemeris_iter->second, rx_time, signal);
// Not implemented for beidou
@@ -2155,7 +2140,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
if (rinex_header_written)
{
if (has_gps_lnav_eph && !flags.check_any_enabled(GPS_L5)) // That's how it used to be, not sure why
if (has_gps_lnav_eph && !d_flags.check_any_enabled(GPS_L5)) // That's how it used to be, not sure why
{
log_rinex_nav(navFile, pvt_solver->gps_ephemeris_map);
}
@@ -2190,14 +2175,14 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
if (d_rinex_header_written && flag_write_RINEX_obs_output) // The header is already written, we can now log the navigation message data
{
const auto constel_signal_flags = get_constel_signal_flags(flags);
const auto constel_signal_flags = get_constel_signal_flags(d_flags);
const auto constel_observables = get_constellation_observables_map(constel_signal_flags, gnss_observables_map);
double seconds;
boost::posix_time::ptime system_time;
// Order is important
if (flags.check_any_enabled(GPS_1C))
if (d_flags.check_any_enabled(GPS_1C))
{
if (has_gps_lnav_eph)
{
@@ -2205,7 +2190,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
seconds = fmod(rx_time, 60);
}
}
else if (has_gps)
else if (d_flags.has_gps)
{
if (has_gps_cnav_eph)
{
@@ -2213,7 +2198,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
seconds = fmod(rx_time, 60);
}
}
else if (has_galileo)
else if (d_flags.has_galileo)
{
if (has_galileo_eph)
{
@@ -2221,7 +2206,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
seconds = fmod(rx_time, 60);
}
}
else if (has_glonass)
else if (d_flags.has_glonass)
{
if (has_glonass_eph)
{
@@ -2230,7 +2215,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
seconds = modf(rx_time, &int_sec) + system_time.time_of_day().seconds();
}
}
else if (has_beidou)
else if (d_flags.has_beidou)
{
if (has_beidou_dnav_eph)
{
@@ -2246,19 +2231,19 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
std::vector<std::string> constellations;
if (has_gps)
if (d_flags.has_gps)
{
constellations.emplace_back("GPS");
}
if (has_galileo)
if (d_flags.has_galileo)
{
constellations.emplace_back("Galileo");
}
if (has_glonass)
if (d_flags.has_glonass)
{
constellations.emplace_back("GLONASS");
}
if (has_beidou)
if (d_flags.has_beidou)
{
constellations.emplace_back("Beidou");
}
@@ -2266,7 +2251,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
add_obs_epoch_record(obsFile, system_time, seconds, d_version, constel_observables);
add_constellation_obs_sat_record_lines(obsFile, constellations, constel_observables, d_version);
if (flags.check_only_enabled(GPS_1C) && has_gps_lnav_eph)
if (d_flags.check_only_enabled(GPS_1C) && has_gps_lnav_eph)
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
{
@@ -2275,7 +2260,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (flags.check_only_enabled(GPS_1C, GPS_2S) && has_gps_lnav_eph && has_gps_cnav_eph)
else if (d_flags.check_only_enabled(GPS_1C, GPS_2S) && has_gps_lnav_eph && has_gps_cnav_eph)
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
{
@@ -2284,7 +2269,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (flags.check_only_enabled(GPS_1C, GPS_L5) && has_gps_lnav_eph && has_gps_cnav_eph)
else if (d_flags.check_only_enabled(GPS_1C, GPS_L5) && has_gps_lnav_eph && has_gps_cnav_eph)
{
if (!d_rinex_header_updated && ((pvt_solver->gps_cnav_utc_model.A0 != 0) || (pvt_solver->gps_utc_model.A0 != 0)))
{
@@ -2301,7 +2286,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (flags.check_only_enabled(GPS_2S) || flags.check_only_enabled(GPS_L5) || flags.check_only_enabled(GPS_2S, GPS_L5))
else if (d_flags.check_only_enabled(GPS_2S) || d_flags.check_only_enabled(GPS_L5) || d_flags.check_only_enabled(GPS_2S, GPS_L5))
{
if (!d_rinex_header_updated && (pvt_solver->gps_cnav_utc_model.A0 != 0))
{
@@ -2310,7 +2295,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (flags.check_only_enabled(GPS_1C, GPS_2S, GPS_L5))
else if (d_flags.check_only_enabled(GPS_1C, GPS_2S, GPS_L5))
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0) && (has_gps_lnav_eph))
{
@@ -2319,7 +2304,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (only_galileo)
else if (d_flags.only_galileo)
{
if (!d_rinex_header_updated && (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -2328,7 +2313,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (only_glonass)
else if (d_flags.only_glonass)
{
if (!d_rinex_header_updated && (pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
{
@@ -2336,7 +2321,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (only_beidou)
else if (d_flags.only_beidou)
{
if (!d_rinex_header_updated && (pvt_solver->beidou_dnav_utc_model.A0_UTC != 0))
{
@@ -2345,7 +2330,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if ((flags.check_only_enabled(GPS_1C, GAL_1B) || flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E6)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GAL_1B) || d_flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E6)) &&
has_gps_lnav_eph && has_galileo_eph)
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
@@ -2355,7 +2340,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if ((flags.check_only_enabled(GPS_1C, GLO_1G) || flags.check_only_enabled(GPS_1C, GLO_2G) || flags.check_only_enabled(GPS_1C, GLO_1G, GLO_2G)) &&
else if ((d_flags.check_only_enabled(GPS_1C, GLO_1G) || d_flags.check_only_enabled(GPS_1C, GLO_2G) || d_flags.check_only_enabled(GPS_1C, GLO_1G, GLO_2G)) &&
has_gps_lnav_eph && has_glonass_eph)
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
@@ -2365,7 +2350,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true; // do not write header anymore
}
}
else if (flags.check_only_enabled(GPS_L5, GAL_E5a))
else if (d_flags.check_only_enabled(GPS_L5, GAL_E5a))
{
if (!d_rinex_header_updated && (pvt_solver->gps_cnav_utc_model.A0 != 0) && (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -2374,7 +2359,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true; // do not write header anymore
}
}
else if (flags.check_only_enabled(GAL_1B, GLO_1G) || flags.check_only_enabled(GAL_1B, GLO_2G))
else if (d_flags.check_only_enabled(GAL_1B, GLO_1G) || d_flags.check_only_enabled(GAL_1B, GLO_2G))
{
if (!d_rinex_header_updated && (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -2383,7 +2368,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true; // do not write header anymore
}
}
else if (flags.check_only_enabled(GPS_2S, GLO_1G) || flags.check_only_enabled(GPS_2S, GLO_2G))
else if (d_flags.check_only_enabled(GPS_2S, GLO_1G) || d_flags.check_only_enabled(GPS_2S, GLO_2G))
{
if (!d_rinex_header_updated && (pvt_solver->gps_cnav_utc_model.A0 != 0))
{
@@ -2392,7 +2377,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true; // do not write header anymore
}
}
else if (flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a))
else if (d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a))
{
if (has_gps_lnav_eph && has_gps_cnav_eph && has_galileo_eph)
{
@@ -2412,7 +2397,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
}
}
}
else if (flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5a))
else if (d_flags.check_only_enabled(GPS_1C, GAL_1B, GAL_E5a))
{
if (has_gps_lnav_eph && has_galileo_eph)
{
@@ -2424,7 +2409,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
}
}
}
else if (flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a, GAL_E6) || flags.check_only_enabled(GPS_1C, GAL_1B, GPS_2S, GPS_L5, GAL_E5a))
else if (d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_L5, GAL_E5a, GAL_E6) || d_flags.check_only_enabled(GPS_1C, GAL_1B, GPS_2S, GPS_L5, GAL_E5a))
{
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0) && (pvt_solver->galileo_utc_model.A0 != 0) && (has_gps_lnav_eph))
{
@@ -2433,7 +2418,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true;
}
}
else if (flags.check_only_enabled(GPS_1C, GAL_E6) && has_gps_lnav_eph)
else if (d_flags.check_only_enabled(GPS_1C, GAL_E6) && has_gps_lnav_eph)
{
if (has_galileo_eph)
{
src/algorithms/PVT/libs/rinex_printer.h
+3 -1
View File
@@ -38,6 +38,7 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H
#define GNSS_SDR_RINEX_PRINTER_H
#include "signal_enabled_flags.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint> // for int32_t
#include <cstdlib> // for strtol, strtod
@@ -544,6 +545,8 @@ private:
const std::map<std::string, std::string> observationType; // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
const std::map<std::string, std::string> observationCode; // GNSS observation descriptors
const Signal_Enabled_Flags d_flags;
const int d_version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
const std::string d_stringVersion; // RINEX version (2.10/2.11 or 3.01/3.02)
@@ -551,7 +554,6 @@ private:
bool d_rinex_header_updated;
bool d_rinex_header_written;
const bool d_pre_2009_file;
const uint32_t d_signal_enabled_flags;
const std::string navfilename; // Name of RINEX navigation file
const std::string obsfilename; // Name of RINEX observation file
src/algorithms/PVT/libs/rtcm_printer.cc
+14 -21
View File
@@ -29,7 +29,6 @@
#include "gps_ephemeris.h"
#include "rtcm.h"
#include "rtklib_solver.h"
#include "signal_enabled_flags.h"
#include <boost/exception/diagnostic_information.hpp>
#include <ctime> // for tm
#include <exception> // for exception
@@ -52,13 +51,15 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
const std::string& rtcm_dump_devname,
uint32_t signal_enabled_flags,
bool time_tag_name,
const std::string& base_path) : rtcm_base_path(base_path),
rtcm_devname(rtcm_dump_devname),
port(rtcm_tcp_port),
station_id(rtcm_station_id),
d_rtcm_has_written_once(false),
d_rtcm_file_dump(flag_rtcm_file_dump)
d_rtcm_file_dump(flag_rtcm_file_dump),
d_flags(signal_enabled_flags)
{
const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
const tm timeinfo = boost::posix_time::to_tm(pt);
@@ -226,7 +227,6 @@ Rtcm_Printer::~Rtcm_Printer()
void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
uint32_t signal_enabled_flags,
bool rtcm_MSM_enabled,
bool rtcm_MT1019_enabled,
bool rtcm_MT1020_enabled,
@@ -242,33 +242,26 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
{
try
{
const Signal_Enabled_Flags flags(signal_enabled_flags);
const auto has_gps = flags.check_any_enabled(GPS_1C, GPS_2S, GPS_L5);
const auto has_galileo = flags.check_any_enabled(GAL_1B, GAL_E5a, GAL_E5b, GAL_E6);
const auto has_glonass = flags.check_any_enabled(GLO_1G, GLO_2G);
const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3);
const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou);
const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou);
const auto print_MT1019 = (!d_rtcm_has_written_once && rtcm_MT1019_enabled) || flag_write_RTCM_1019_output;
const auto print_MT1020 = (!d_rtcm_has_written_once && rtcm_MT1020_enabled) || flag_write_RTCM_1020_output;
const auto print_MT1045 = (!d_rtcm_has_written_once && rtcm_MT1045_enabled) || flag_write_RTCM_1045_output;
const auto print_MSM = (!d_rtcm_has_written_once && rtcm_MSM_enabled) || flag_write_RTCM_MSM_output;
if (print_MT1019 && flags.check_any_enabled(GPS_1C))
if (print_MT1019 && d_flags.check_any_enabled(GPS_1C))
{
for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map)
{
Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (print_MT1020 && has_glonass)
if (print_MT1020 && d_flags.has_glonass)
{
for (const auto& glonass_gnav_eph_iter : pvt_solver->glonass_gnav_ephemeris_map)
{
Print_Rtcm_MT1020(glonass_gnav_eph_iter.second, pvt_solver->glonass_gnav_utc_model);
}
}
if (print_MT1045 && has_galileo)
if (print_MT1045 && d_flags.has_galileo)
{
for (const auto& gal_eph_iter : pvt_solver->galileo_ephemeris_map)
{
@@ -277,7 +270,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
if (print_MSM)
{
if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C) || flags.check_only_enabled(GPS_1C, GAL_E6)))
if (rtcm_MT1077_enabled && (d_flags.check_only_enabled(GPS_1C) || d_flags.check_only_enabled(GPS_1C, GAL_E6)))
{
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
@@ -285,7 +278,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C, GPS_2S) || flags.check_only_enabled(GPS_1C, GPS_L5)))
else if (rtcm_MT1077_enabled && (d_flags.check_only_enabled(GPS_1C, GPS_2S) || d_flags.check_only_enabled(GPS_1C, GPS_L5)))
{
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = pvt_solver->gps_cnav_ephemeris_map.cbegin();
@@ -294,7 +287,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (rtcm_MT1097_enabled && only_galileo)
else if (rtcm_MT1097_enabled && d_flags.only_galileo)
{
const auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
@@ -302,7 +295,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (rtcm_MT1087_enabled && only_glonass)
else if (rtcm_MT1087_enabled && d_flags.only_glonass)
{
const auto glo_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != pvt_solver->glonass_gnav_ephemeris_map.cend())
@@ -317,10 +310,10 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cend();
auto glonass_gnav_eph_iter = pvt_solver->glonass_gnav_ephemeris_map.cend();
bool search_gps_nav = flags.check_any_enabled(GPS_1C);
bool search_gps_cnav = !search_gps_nav && flags.check_any_enabled(GPS_2S, GPS_L5);
bool search_gal = has_galileo;
bool search_glo = has_glonass;
bool search_gps_nav = d_flags.check_any_enabled(GPS_1C);
bool search_gps_cnav = !search_gps_nav && d_flags.check_any_enabled(GPS_2S, GPS_L5);
bool search_gal = d_flags.has_galileo;
bool search_glo = d_flags.has_glonass;
for (const auto& gnss_observables_iter : gnss_observables_map)
{
src/algorithms/PVT/libs/rtcm_printer.h
+3 -1
View File
@@ -20,6 +20,7 @@
#ifndef GNSS_SDR_RTCM_PRINTER_H
#define GNSS_SDR_RTCM_PRINTER_H
#include "signal_enabled_flags.h"
#include <cstdint> // for int32_t
#include <fstream> // for std::ofstream
#include <map> // for std::map
@@ -58,6 +59,7 @@ public:
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
const std::string& rtcm_dump_devname,
uint32_t signal_enabled_flags,
bool time_tag_name = true,
const std::string& base_path = ".");
@@ -72,7 +74,6 @@ public:
void Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
uint32_t signal_enabled_flags,
bool rtcm_MSM_enabled,
bool rtcm_MT1019_enabled,
bool rtcm_MT1020_enabled,
@@ -201,6 +202,7 @@ private:
uint16_t station_id;
bool d_rtcm_has_written_once;
bool d_rtcm_file_dump;
const Signal_Enabled_Flags d_flags;
};
src/algorithms/PVT/libs/signal_enabled_flags.cc
+10 -2
View File
@@ -54,11 +54,19 @@ uint32_t flags_from_config(const ConfigurationInterface* configuration)
} // namespace
Signal_Enabled_Flags::Signal_Enabled_Flags(const ConfigurationInterface* configuration) : flags(flags_from_config(configuration))
Signal_Enabled_Flags::Signal_Enabled_Flags(const ConfigurationInterface* configuration) : Signal_Enabled_Flags(flags_from_config(configuration))
{
}
Signal_Enabled_Flags::Signal_Enabled_Flags(uint32_t flags_) : flags(flags_)
Signal_Enabled_Flags::Signal_Enabled_Flags(uint32_t flags_) : flags(flags_),
has_gps(check_any_enabled(GPS_1C, GPS_2S, GPS_L5)),
has_galileo(check_any_enabled(GAL_1B, GAL_E5a, GAL_E5b, GAL_E6)),
has_glonass(check_any_enabled(GLO_1G, GLO_2G)),
has_beidou(check_any_enabled(BDS_B1, BDS_B3)),
only_gps(has_gps && !(has_galileo || has_glonass || has_beidou)),
only_galileo(has_galileo && !(has_gps || has_glonass || has_beidou)),
only_glonass(has_glonass && !(has_gps || has_galileo || has_beidou)),
only_beidou(has_beidou && !(has_gps || has_galileo || has_glonass))
{
}
src/algorithms/PVT/libs/signal_enabled_flags.h
+10
View File
@@ -67,6 +67,16 @@ public:
}
const uint32_t flags;
const bool has_gps;
const bool has_galileo;
const bool has_glonass;
const bool has_beidou;
const bool only_gps;
const bool only_galileo;
const bool only_glonass;
const bool only_beidou;
};
#endif // GNSS_SDR_SIGNAL_ENABLED_FLAGS_H
src/algorithms/libs/gps_l2c_signal_replica.cc
+121
View File
@@ -53,6 +53,127 @@ void gps_l2c_m_code_gen_complex(own::span<std::complex<float>> dest, uint32_t pr
}
}
void gps_l2c_m_code_gen_float_cl_zeroed(own::span<float> dest, uint32_t prn)
{
// dest must be at least GPS_L2_M_CODE_LENGTH_CHIPS_L_ZEROED
// Layout: [ CM0, 0, CM1, 0, ..., CM10229, 0 ] -> 20460 "chips"
std::array<int32_t, GPS_L2_M_CODE_LENGTH_CHIPS> code_aux{};
if (prn > 0U && prn < 51U)
{
gps_l2c_m_code(code_aux, prn);
}
else
{
// out of range -> output zeros
const int32_t n = std::min<int32_t>(static_cast<int32_t>(dest.size()),
GPS_L2_M_CODE_LENGTH_CHIPS_L_ZEROED);
for (int32_t i = 0; i < n; i++)
{
dest[i] = 0.0F;
}
return;
}
const int32_t n = std::min<int32_t>(static_cast<int32_t>(dest.size()),
GPS_L2_M_CODE_LENGTH_CHIPS_L_ZEROED);
for (int32_t i = 0; i < n; i++)
{
const bool is_cm_slot = ((i & 1) == 0); // even indices: CM, odd: CL (zeroed)
if (is_cm_slot)
{
const int32_t cm_idx = (i >> 1); // i/2 in [0..10229]
dest[i] = 1.0F - 2.0F * static_cast<float>(code_aux[cm_idx]);
}
else
{
dest[i] = 0.0F; // CL slot zeroed
}
}
}
void gps_l2c_m_code_gen_complex_sampled(
own::span<std::complex<float>> dest,
uint32_t prn,
int32_t sampling_freq,
bool cl_zeroed)
{
constexpr int32_t codeLength = GPS_L2_M_CODE_LENGTH_CHIPS; // 10230
constexpr float tc_cm = 1.0F / static_cast<float>(GPS_L2_M_CODE_RATE_CPS); // 511.5 kcps
constexpr float tc_l2c = tc_cm * 0.5F; // 1.023 Mcps (half-chip)
const float ts = 1.0F / static_cast<float>(sampling_freq);
// --- Load CM (M-code) ---
std::array<int32_t, GPS_L2_M_CODE_LENGTH_CHIPS> code_aux{};
if (prn > 0U && prn < 51U)
{
gps_l2c_m_code(code_aux, prn);
}
else
{
for (auto &v : dest)
{
v = std::complex<float>(0.0F, 0.0F);
}
return;
}
// --- Effective chip configuration ---
const int32_t chips_per_epoch = cl_zeroed ? (2 * codeLength) : codeLength;
const float tc_used = cl_zeroed ? tc_l2c : tc_cm;
const auto samplesPerCode = static_cast<int32_t>(
static_cast<double>(sampling_freq) /
(static_cast<double>(1.0F / tc_used) / static_cast<double>(chips_per_epoch)));
const int32_t nSamples =
std::min<int32_t>(static_cast<int32_t>(dest.size()), samplesPerCode);
for (int32_t i = 0; i < nSamples; i++)
{
auto slotIndex =
static_cast<int32_t>(std::floor(ts * static_cast<float>(i) / tc_used));
// Avoid rounding overflow at last sample
if (i == nSamples - 1)
{
slotIndex = chips_per_epoch - 1;
}
if (!cl_zeroed)
{
// --- Classic CM-only (511.5 kcps) ---
const int32_t cm_idx = std::min<int32_t>(slotIndex, codeLength - 1);
dest[i] = std::complex<float>(0.0F,
1.0F - 2.0F * code_aux[cm_idx]);
}
else
{
// --- L2C effective 1.023 Mcps, CL zeroed ---
const bool is_cm_slot = ((slotIndex & 1) == 0);
if (is_cm_slot)
{
const int32_t cm_idx =
std::min<int32_t>(slotIndex >> 1, codeLength - 1);
dest[i] = std::complex<float>(0.0F,
1.0F - 2.0F * code_aux[cm_idx]);
}
else
{
// CL slot → zeroed
dest[i] = std::complex<float>(0.0F, 0.0F);
}
}
}
}
void gps_l2c_m_code_gen_float(own::span<float> dest, uint32_t prn)
{
src/algorithms/libs/gps_l2c_signal_replica.h
+6
View File
@@ -40,9 +40,15 @@ void gps_l2c_m_code_gen_complex(own::span<std::complex<float>> dest, uint32_t pr
//! Generates float GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_float(own::span<float> dest, uint32_t prn);
//! Generates float GPS L2C M code with double chip rate and L component zeroed for the desired SV ID
void gps_l2c_m_code_gen_float_cl_zeroed(own::span<float> dest, uint32_t prn);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l2c_m_code_gen_complex_sampled(own::span<std::complex<float>> dest, uint32_t prn, int32_t sampling_freq);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency, optionally zeroing CL slots
void gps_l2c_m_code_gen_complex_sampled(own::span<std::complex<float>> dest, uint32_t prn, int32_t sampling_freq, bool cl_zeroed);
/** \} */
/** \} */
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
+2 -2
View File
@@ -214,7 +214,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
// GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 20;
d_code_samples_per_chip = 1;
d_code_samples_per_chip = 2; // for CM code with CL slots zeroed
// GPS L2 does not have pilot component nor secondary code
d_secondary = false;
d_trk_parameters.track_pilot = false;
@@ -738,7 +738,7 @@ void dll_pll_veml_tracking::start_tracking()
}
else if (d_systemName == "GPS" && d_signal_type == "2S")
{
gps_l2c_m_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
gps_l2c_m_code_gen_float_cl_zeroed(d_tracking_code, d_acquisition_gnss_synchro->PRN);
}
else if (d_systemName == "GPS" && d_signal_type == "L5")
{
src/core/system_parameters/GPS_L2C.h
+11 -9
View File
@@ -32,15 +32,17 @@
// carrier and code frequencies
constexpr double GPS_L2_FREQ_HZ = FREQ2; //!< L2 [Hz]
constexpr double GPS_L2_L_PERIOD_S = 1.5; //!< GPS L2 L code period [seconds]
constexpr double GPS_L2_M_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 M code rate [chips/s]
constexpr double GPS_L2_M_PERIOD_S = 0.02; //!< GPS L2 M code period [seconds]
constexpr double GPS_L2_L_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 L code rate [chips/s]
constexpr uint32_t GPS_L2_M_CODE_PERIOD_MS = 20; //!< GPS L2 L code period [ms]
constexpr int32_t GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]
constexpr int32_t GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chips]
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
constexpr double GPS_L2_FREQ_HZ = FREQ2; //!< L2 [Hz]
constexpr double GPS_L2_L_PERIOD_S = 1.5; //!< GPS L2 L code period [seconds]
constexpr double GPS_L2_M_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 M code rate [chips/s]
constexpr double GPS_L2_M_CODE_RATE_L_ZEROED_CPS = 1.023e6; //!< GPS L2 M code rate with L2 M Zeroed [chips/s]
constexpr double GPS_L2_M_PERIOD_S = 0.02; //!< GPS L2 M code period [seconds]
constexpr double GPS_L2_L_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 L code rate [chips/s]
constexpr uint32_t GPS_L2_M_CODE_PERIOD_MS = 20; //!< GPS L2 L code period [ms]
constexpr int32_t GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]
constexpr int32_t GPS_L2_M_CODE_LENGTH_CHIPS_L_ZEROED = 2 * GPS_L2_M_CODE_LENGTH_CHIPS; //!< GPS L2 M code length with L2 CL zeroed [chips]
constexpr int32_t GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chips]
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
constexpr int32_t GPS_L2_SYMBOLS_PER_BIT = 2;
constexpr int32_t GPS_L2_SAMPLES_PER_SYMBOL = 1;
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_SYMBOLS = 600;
tests/unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc
+3 -2
View File
@@ -17,6 +17,7 @@
#include "gnss_sdr_make_unique.h"
#include "rtcm_printer.h"
#include "signal_enabled_flags.h"
#include <string>
@@ -29,7 +30,7 @@ TEST(RtcmPrinterTest, Instantiate)
bool rtcm_file_output_enabled = false;
unsigned short rtcm_tcp_port = 2101;
unsigned short rtcm_station_id = 1234;
auto RTCM_printer = std::make_unique<Rtcm_Printer>(filename, rtcm_file_output_enabled, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
auto RTCM_printer = std::make_unique<Rtcm_Printer>(filename, rtcm_file_output_enabled, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname, GPS_1C);
}
@@ -43,7 +44,7 @@ TEST(RtcmPrinterTest, Run)
unsigned short rtcm_tcp_port = 2101;
unsigned short rtcm_station_id = 1234;
auto RTCM_printer = std::make_unique<Rtcm_Printer>(filename, rtcm_file_output_enabled, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
auto RTCM_printer = std::make_unique<Rtcm_Printer>(filename, rtcm_file_output_enabled, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname, GPS_1C);
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";