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Adding RINEX support for GLONASS GNAV processing

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Adds RINEX v2 and v3 support for GLONASS satellites processing including
observation and navigation data records. Also adds conversion of
ephemeris records in GNSS-SDR format to RTKLib format
This commit is contained in:
Damian Miralles
2017-07-19 07:45:54 -07:00
committed by Damian Miralles
parent c445ac261b
commit 2d40780689
6 changed files with 1551 additions and 142 deletions
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59
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -51,6 +51,10 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
case 'E':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN;
break;
default:
rtklib_obs.sat = gnss_synchro.PRN;
}
@@ -60,6 +64,61 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
return rtklib_obs;
}
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
geph_t rtklib_sat = {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, 0.0}, 0.0, 0.0, 0.0};
int iode; /* IODE (0-6 bit of tb field) */
int frq; /* satellite frequency number */
int svh,sva,age; /* satellite health, accuracy, age of operation */
gtime_t toe; /* epoch of epherides (gpst) */
gtime_t tof; /* message frame time (gpst) */
double pos[3]; /* satellite position (ecef) (m) */
double vel[3]; /* satellite velocity (ecef) (m/s) */
double acc[3]; /* satellite acceleration (ecef) (m/s^2) */
double taun,gamn; /* SV clock bias (s)/relative freq bias */
double dtaun;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_PRN; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_sqrt_A;
rtklib_sat.frq = glonass_gnav_eph.;
rtklib_sat.svh = glonass_gnav_eph.;
rtklib_sat.sva = glonass_gnav_eph.
rtklib_sat.age = glonass_gnav_eph.
rtklib_sat.toe = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn;
rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn;
rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn;
rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn;
rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn;
rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn;
rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn;
rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn;
rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn;
rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
rtklib_sat.gann = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.gann = glonass_gnav_eph.d_gamma_n;
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,

7
src/algorithms/libs/rtklib/rtklib_conversions.h
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@@ -36,10 +36,17 @@
#include "galileo_ephemeris.h"
#include "gps_ephemeris.h"
#include "gps_cnav_ephemeris.h"
#include "glonass_gnav_ephemeris.h"
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
/*!
* \brief Transforms a Glonass_Gnav_Ephemeris to its RTKLIB counterpart
* \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
* \return Ephemeris structure for RTKLIB parsing
*/
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);