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Completing UDP GPS and Galileo ephemeris server

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This commit is contained in:
Javier Arribas
2021-02-15 15:58:38 +01:00
parent 1721431010
commit 39031b24ac
10 changed files with 72 additions and 47 deletions
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2
docs/protobuf/monitor_galileo_ephemeris.proto
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@@ -50,4 +50,6 @@ message MonitorGalileoEphemeris {
double BGD_E1E5a_5=34; //!< E1-E5a Broadcast Group Delay [s]
double BGD_E1E5b_5=35; //!< E1-E5b Broadcast Group Delay [s]
int32 i_satellite_PRN=36; //!< SV PRN NUMBER
}

5
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -804,6 +804,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.protobuf_enabled = true;
}
// Read EPHEMERIS MONITOR Configuration
pvt_output_parameters.monitor_ephemeris_enabled = configuration->property(role + ".enable_monitor_ephemeris", false);
pvt_output_parameters.udp_eph_addresses = configuration->property(role + ".monitor_ephemeris_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_eph_port = configuration->property(role + ".monitor_ephemeris_udp_port", 1234);
// Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);

17
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -1099,11 +1099,12 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
std::map<int32_t, Gps_Ephemeris> new_eph;
new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
d_rp->log_rinex_nav_gps_nav(d_type_of_rx, new_eph);
//send the new eph to the eph monitor (if enabled)
if (d_flag_monitor_ephemeris_enabled)
{
d_eph_udp_sink_ptr->write_gps_ephemeris(gps_eph);
}
}
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
if (d_flag_monitor_ephemeris_enabled)
{
d_eph_udp_sink_ptr->write_gps_ephemeris(gps_eph);
}
}
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
@@ -1233,6 +1234,12 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
d_rp->log_rinex_nav_gal_nav(d_type_of_rx, new_gal_eph);
}
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
if (d_flag_monitor_ephemeris_enabled)
{
d_eph_udp_sink_ptr->write_galileo_ephemeris(galileo_eph);
}
}
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
if (d_enable_rx_clock_correction == true)

2
src/algorithms/PVT/libs/CMakeLists.txt
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@@ -61,7 +61,7 @@ if(USE_CMAKE_TARGET_SOURCES)
)
else()
source_group(Headers FILES ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
add_library(pvt_libs ${PVT_LIB_SOURCES} ${PROTO_SRCS} ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
add_library(pvt_libs ${PVT_LIB_SOURCES} ${PROTO_SRCS} ${PROTO_SRCS2} ${PROTO_SRCS3} ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
endif()
target_link_libraries(pvt_libs

2
src/algorithms/PVT/libs/monitor_ephemeris_udp_sink.cc
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@@ -38,7 +38,7 @@ Monitor_Ephemeris_Udp_Sink::Monitor_Ephemeris_Udp_Sink(const std::vector<std::st
}
bool Monitor_Ephemeris_Udp_Sink::write_galileo_ephemeris(const Galileo_Ephemeris* const monitor_gal_eph)
bool Monitor_Ephemeris_Udp_Sink::write_galileo_ephemeris(const std::shared_ptr<Galileo_Ephemeris> monitor_gal_eph)
{
std::string outbound_data;
if (use_protobuf == false)

2
src/algorithms/PVT/libs/monitor_ephemeris_udp_sink.h
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@@ -44,7 +44,7 @@ class Monitor_Ephemeris_Udp_Sink
public:
Monitor_Ephemeris_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled);
bool write_gps_ephemeris(const std::shared_ptr<Gps_Ephemeris> monitor_gps_eph);
bool write_galileo_ephemeris(const Galileo_Ephemeris* const monitor_gal_eph);
bool write_galileo_ephemeris(const std::shared_ptr<Galileo_Ephemeris> monitor_gal_eph);
private:

2
src/algorithms/PVT/libs/pvt_conf.cc
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@@ -61,8 +61,10 @@ Pvt_Conf::Pvt_Conf()
enable_rx_clock_correction = true;
monitor_enabled = false;
monitor_ephemeris_enabled = false;
protobuf_enabled = true;
udp_port = 0;
udp_eph_port = 0;
pre_2009_file = false;
show_local_time_zone = false;
}

4
src/algorithms/PVT/libs/serdes_galileo_eph.h
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@@ -74,12 +74,13 @@ public:
return *this;
}
inline std::string createProtobuffer(const Galileo_Ephemeris* const monitor) //!< Serialization into a string
inline std::string createProtobuffer(const std::shared_ptr<Galileo_Ephemeris> monitor) //!< Serialization into a string
{
monitor_.Clear();
std::string data;
monitor_.set_i_satellite_prn(monitor->i_satellite_PRN);
monitor_.set_iod_ephemeris(monitor->IOD_ephemeris);
monitor_.set_iod_nav_1(monitor->IOD_nav_1);
monitor_.set_m0_1(monitor->M0_1); //!< Mean anomaly at reference time [semi-circles]
@@ -132,6 +133,7 @@ public:
{
Galileo_Ephemeris monitor;
monitor.i_satellite_PRN = mon.i_satellite_prn();
monitor.IOD_ephemeris = mon.iod_ephemeris();
monitor.IOD_nav_1 = mon.iod_nav_1();

76
src/algorithms/PVT/libs/serdes_gps_eph.h
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@@ -128,47 +128,47 @@ public:
{
Gps_Ephemeris monitor;
monitor.i_satellite_PRN = monitor_.i_satellite_prn(); // SV PRN NUMBER
monitor.d_TOW = monitor_.d_tow(); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor.d_Crs = monitor_.d_crs(); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor.d_Delta_n = monitor_.d_delta_n(); //!< mean motion difference from computed value [semi-circles/s]
monitor.d_M_0 = monitor_.d_m_0(); //!< mean anomaly at reference time [semi-circles]
monitor.d_Cuc = monitor_.d_cuc(); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor.d_e_eccentricity = monitor_.d_e_eccentricity(); //!< eccentricity [dimensionless]
monitor.d_Cus = monitor_.d_cus(); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor.d_sqrt_A = monitor_.d_sqrt_a(); //!< square root of the semi-major axis [sqrt(m)]
monitor.d_Toe = monitor_.d_toe(); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor.d_Toc = monitor_.d_toc(); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor.d_Cic = monitor_.d_cic(); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor.d_OMEGA0 = monitor_.d_omega0(); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor.d_Cis = monitor_.d_cis(); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor.d_i_0 = monitor_.d_i_0(); //!< inclination angle at reference time [semi-circles]
monitor.d_Crc = monitor_.d_crc(); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor.d_OMEGA = monitor_.d_omega(); //!< argument of perigee [semi-cicles]
monitor.d_OMEGA_DOT = monitor_.d_omega_dot(); //!< rate of right ascension [semi-circles/s]
monitor.d_IDOT = monitor_.d_idot(); //!< rate of inclination angle [semi-circles/s]
monitor.i_code_on_L2 = monitor_.i_code_on_l2(); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor.i_GPS_week = monitor_.i_gps_week(); //!< gps week number, aka wn [week]
monitor.b_L2_P_data_flag = monitor_.b_l2_p_data_flag(); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor.i_SV_accuracy = monitor_.i_sv_accuracy(); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor.i_SV_health = monitor_.i_sv_health();
monitor.d_TGD = monitor_.d_tgd(); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor.d_IODC = monitor_.d_iodc(); //!< issue of data, clock
monitor.d_IODE_SF2 = monitor_.d_iode_sf2(); //!< issue of data, ephemeris (iode), subframe 2
monitor.d_IODE_SF3 = monitor_.d_iode_sf3(); //!< issue of data, ephemeris(iode), subframe 3
monitor.i_AODO = monitor_.i_aodo(); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor.i_satellite_PRN = mon.i_satellite_prn(); // SV PRN NUMBER
monitor.d_TOW = mon.d_tow(); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor.d_Crs = mon.d_crs(); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor.d_Delta_n = mon.d_delta_n(); //!< mean motion difference from computed value [semi-circles/s]
monitor.d_M_0 = mon.d_m_0(); //!< mean anomaly at reference time [semi-circles]
monitor.d_Cuc = mon.d_cuc(); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor.d_e_eccentricity = mon.d_e_eccentricity(); //!< eccentricity [dimensionless]
monitor.d_Cus = mon.d_cus(); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor.d_sqrt_A = mon.d_sqrt_a(); //!< square root of the semi-major axis [sqrt(m)]
monitor.d_Toe = mon.d_toe(); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor.d_Toc = mon.d_toc(); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor.d_Cic = mon.d_cic(); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor.d_OMEGA0 = mon.d_omega0(); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor.d_Cis = mon.d_cis(); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor.d_i_0 = mon.d_i_0(); //!< inclination angle at reference time [semi-circles]
monitor.d_Crc = mon.d_crc(); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor.d_OMEGA = mon.d_omega(); //!< argument of perigee [semi-cicles]
monitor.d_OMEGA_DOT = mon.d_omega_dot(); //!< rate of right ascension [semi-circles/s]
monitor.d_IDOT = mon.d_idot(); //!< rate of inclination angle [semi-circles/s]
monitor.i_code_on_L2 = mon.i_code_on_l2(); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor.i_GPS_week = mon.i_gps_week(); //!< gps week number, aka wn [week]
monitor.b_L2_P_data_flag = mon.b_l2_p_data_flag(); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor.i_SV_accuracy = mon.i_sv_accuracy(); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor.i_SV_health = mon.i_sv_health();
monitor.d_TGD = mon.d_tgd(); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor.d_IODC = mon.d_iodc(); //!< issue of data, clock
monitor.d_IODE_SF2 = mon.d_iode_sf2(); //!< issue of data, ephemeris (iode), subframe 2
monitor.d_IODE_SF3 = mon.d_iode_sf3(); //!< issue of data, ephemeris(iode), subframe 3
monitor.i_AODO = mon.i_aodo(); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor.b_fit_interval_flag = monitor_.b_fit_interval_flag(); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor.d_spare1 = monitor_.d_spare1();
monitor.d_spare2 = monitor_.d_spare2();
monitor.b_fit_interval_flag = mon.b_fit_interval_flag(); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor.d_spare1 = mon.d_spare1();
monitor.d_spare2 = mon.d_spare2();
monitor.d_A_f0 = monitor_.d_a_f0(); //!< coefficient 0 of code phase offset model [s]
monitor.d_A_f1 = monitor_.d_a_f1(); //!< coefficient 1 of code phase offset model [s/s]
monitor.d_A_f2 = monitor_.d_a_f2(); //!< coefficient 2 of code phase offset model [s/s^2]
monitor.d_A_f0 = mon.d_a_f0(); //!< coefficient 0 of code phase offset model [s]
monitor.d_A_f1 = mon.d_a_f1(); //!< coefficient 1 of code phase offset model [s/s]
monitor.d_A_f2 = mon.d_a_f2(); //!< coefficient 2 of code phase offset model [s/s^2]
monitor.b_integrity_status_flag = monitor_.b_integrity_status_flag();
monitor.b_alert_flag = monitor_.b_alert_flag(); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor.b_antispoofing_flag = monitor_.b_antispoofing_flag(); //!< if true, the antispoofing mode is on in that sv
monitor.b_integrity_status_flag = mon.b_integrity_status_flag();
monitor.b_alert_flag = mon.b_alert_flag(); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor.b_antispoofing_flag = mon.b_antispoofing_flag(); //!< if true, the antispoofing mode is on in that sv
return monitor;
}

7
src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc
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@@ -14,6 +14,7 @@
* -----------------------------------------------------------------------------
*/
#include "serdes_galileo_eph.h"
#include "serdes_monitor_pvt.h"
#include <memory>
@@ -29,6 +30,12 @@ TEST(Serdes_Monitor_Pvt_Test, Simpletest)
gnss_sdr::MonitorPvt mon;
mon.ParseFromString(serialized_data);
serdes.readProtobuffer(mon);
gnss_sdr::MonitorGalileoEphemeris ephgal;
Serdes_Galileo_Eph gal_serdes = Serdes_Galileo_Eph();
gal_serdes.readProtobuffer(ephgal);
double read_latitude = mon.latitude();
EXPECT_NEAR(true_latitude, read_latitude, 0.000001);
}