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https://github.com/gnss-sdr/gnss-sdr
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GLONASS L2 CA Signal Addition
Adds GLONASS L2 C/A signal processing to GNSS-SDR based on previous work developed for the L1 signal. All code have been added in a single commit with the idea to illustrate the process of signal addition for future work
This commit is contained in:
Damian Miralles
@@ -700,6 +700,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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* 26 | GPS L1 C/A + GLONASS L1 C/A
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* 27 | Galileo E1B + GLONASS L1 C/A
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* 28 | GPS L2C + GLONASS L1 C/A
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* 29 | GPS L1 C/A + GLONASS L2 C/A
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* 30 | Galileo E1B + GLONASS L2 C/A
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* 31 | GPS L2C + GLONASS L2 C/A
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*/
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// ####################### RINEX FILES #################
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@@ -901,6 +904,43 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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b_rinex_header_written = true; // do not write header anymore
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}
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}
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if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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{
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std::string glo_signal("2G");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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if (d_rinex_version == 3)
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rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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if (d_rinex_version == 2)
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{
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
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rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
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}
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b_rinex_header_written = true; // do not write header anymore
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}
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}
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if (type_of_rx == 30) // Galileo E1B + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
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{
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std::string glo_signal("2G");
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std::string gal_signal("1B");
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
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rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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}
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if (type_of_rx == 31) // GPS L2C + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
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{
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std::string glo_signal("2G");
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rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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}
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}
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if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
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{
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@@ -956,6 +996,24 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_cnav_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
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}
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if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A
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{
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if (d_rinex_version == 3)
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
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if (d_rinex_version == 2)
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{
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rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
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rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
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}
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}
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if (type_of_rx == 30) // Galileo E1B + GLONASS L2 C/A
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{
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
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}
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if (type_of_rx == 31) // GPS L2C + GLONASS L2 C/A
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{
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_cnav_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
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}
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}
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
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@@ -1173,6 +1231,45 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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b_rinex_header_updated = true; // do not write header anymore
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}
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}
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if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
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{
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rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
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rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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b_rinex_header_updated = true; // do not write header anymore
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}
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}
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if (type_of_rx == 30) // Galileo E1B + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()))
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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b_rinex_header_updated = true; // do not write header anymore
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}
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}
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if (type_of_rx == 31) // GPS L2C + GLONASS L2 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
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{
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rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
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rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
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b_rinex_header_updated = true; // do not write header anymore
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}
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}
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}
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}
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@@ -1452,6 +1549,136 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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}
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}
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if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A
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{
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if (flag_write_RTCM_1019_output == true)
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{
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for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_1020_output == true)
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if (gps_channel == 0)
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{
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if (system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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gps_channel = i;
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}
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}
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}
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if (glo_channel == 0)
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{
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if (system.compare("R") == 0)
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{
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glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
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{
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glo_channel = i;
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}
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}
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}
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i++;
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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if (type_of_rx == 30) // GLONASS L2 C/A + Galileo E1B
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{
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if (flag_write_RTCM_1020_output == true)
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if (flag_write_RTCM_1045_output == true)
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{
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for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if (gal_channel == 0)
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{
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if (system.compare("E") == 0)
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{
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// This is a channel with valid GPS signal
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
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{
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gal_channel = i;
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}
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}
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}
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if (glo_channel == 0)
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{
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if (system.compare("R") == 0)
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{
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glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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glo_channel = i;
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}
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}
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}
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i++;
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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}
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if (!b_rtcm_writing_started) // the first time
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@@ -1690,6 +1917,121 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A
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{
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if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
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{
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for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if (gps_channel == 0)
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{
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if (system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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gps_channel = i;
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}
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}
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}
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if (glo_channel == 0)
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{
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if (system.compare("R") == 0)
|
||||
{
|
||||
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
|
||||
{
|
||||
glo_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
if (type_of_rx == 30) // GLONASS L2 C/A + Galileo E1B
|
||||
{
|
||||
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
|
||||
}
|
||||
}
|
||||
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
std::string system(&gnss_observables_iter->second.System, 1);
|
||||
if (gal_channel == 0)
|
||||
{
|
||||
if (system.compare("E") == 0)
|
||||
{
|
||||
// This is a channel with valid GPS signal
|
||||
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
|
||||
{
|
||||
gal_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (glo_channel == 0)
|
||||
{
|
||||
if (system.compare("R") == 0)
|
||||
{
|
||||
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
|
||||
{
|
||||
glo_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user