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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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141
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -365,7 +365,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_L2CM.xml";
std::string file_name="eph_GPS_L2CM.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{
@ -377,7 +377,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
ofs.close();
LOG(INFO) << "Saved GPS L2CM Ephemeris map data";
}
catch (const std::exception & e)
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
@ -520,7 +520,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
@ -680,12 +680,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
* 23 | GLONASS L1 C/A
* 24 | GLONASS L2 C/A
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GLONASS L1 C/A + GPS L1 C/A
* 27 | GLONASS L1 C/A + GPS L2C
* 28 | GLONASS L1 C/A + GPS L5
* 29 | GLONASS L1 C/A + Galileo E1B
* 30 | GLONASS L1 C/A + Galileo E5a
* 31 | GLONASS L1 C/A + Galileo E5b
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
*/
// ####################### RINEX FILES #################
@ -842,53 +838,23 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
}
}
if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{
std::string gps_signal("1C 1C");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 27) // GLONASS L1 C/A + GPS L2C
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{
std::string gps_signal("1C 1C");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
std::string glo_signal("1C");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
if(type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 1B");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 30) // GLONASS L1 C/A + Galileo E5a
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 5X");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 31) // GLONASS L1 C/A + Galileo E5b
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 7X");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
std::string glo_signal("1C");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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);
b_rinex_header_written = true; // do not write header anymore
}
}
@ -925,17 +891,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
}
if((type_of_rx == 26)) // GLONASS L1 C/A + GPS L1 C/A
if((type_of_rx == 26)) // GPS L1 C/A + GLONASS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_ephemeris_map);
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
}
if((type_of_rx == 27)) // GLONASS L1 C/A + GPS L2C
if((type_of_rx == 27)) // Galileo E1B + GLONASS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_cnav_ephemeris_map);
}
if((type_of_rx == 29) || (type_of_rx == 30) || (type_of_rx == 31)) // GLONASS L1 C/A + Galileo
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
}
}
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
@ -1102,78 +1064,33 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
b_rinex_header_updated = true;
}
}
if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
std::string gps_signal("1C 1C");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
std::string glo_signal("1C");
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
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);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 27) // GLONASS L1 C/A + GPS L1 C/A
{
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()) )
{
std::string gps_signal("1C 2S");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gps_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
if(type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 1B");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
std::string glo_signal("1C");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 30) // GLONASS L1 C/A + Galileo E5a
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 5X");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 31) // GLONASS L1 C/A + Galileo E5b
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 7X");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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);
b_rinex_header_updated = true; // do not write header anymore
}
}

1445
src/algorithms/PVT/libs/rinex_printer.cc
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File diff suppressed because it is too large Load Diff

39
src/algorithms/PVT/libs/rinex_printer.h
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@ -119,19 +119,14 @@ public:
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
/*!
* \brief Generates the Mixed (GLONASS/Galileo) Navigation Data header
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
*/
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac);
void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
/*!
* \brief Generates the Mixed (GLONASS L1, L2/GPS L1 C/A) Navigation Data header
*/
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model);
/*!
* \brief Generates the Mixed (GLONASS L1, L2/GPS L2C ) Navigation Data header
*/
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Iono & gps_CNAV_iono, const Gps_CNAV_Utc_Model & gps_CNAV_utc_model);
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
/*!
* \brief Generates the GPS Observation data header
@ -166,17 +161,12 @@ public:
/*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
/*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_CNAV_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C");
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
/*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "1B");
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
/*!
* \brief Generates the SBAS raw data header
@ -259,19 +249,14 @@ public:
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C");
/*!
* \brief Writes Mixed GLONASS / GPS L1 C/A observables into the RINEX file
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_Ephemeris & gps_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Writes Mixed GLONASS / GPS L2C observables into the RINEX file
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Gps_CNAV_Ephemeris & gps_CNAV_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Writes Mixed GLONASS / Galileo observables into the RINEX file
*/
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@ -293,11 +278,9 @@ public:
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Gps_CNAV_Utc_Model & gps_CNAV_utc, const Gps_CNAV_Iono & gps_CNAV_iono);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);

59
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -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
View File

@ -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);

2
src/core/system_parameters/glonass_gnav_ephemeris.h
View File

@ -68,7 +68,7 @@ private:
double d_Jz_sun; //!< Sun gravitational perturbation
public:
unsigned int i_satellite_freq_channel; // SV Frequency Channel Number
int i_satellite_freq_channel; // SV Frequency Channel Number
double d_m; //!< String number within frame [dimensionless]
double d_t_k; //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
double d_t_b; //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]