mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-10-31 23:26:22 +00:00
Minor documentation fixes, changes of #defines by const
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@106 64b25241-fba3-4117-9849-534c7e92360d
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3ceef64d27
@ -1,7 +1,7 @@
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/*!
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* \file gps_l1_ca_pvt.cc
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* \brief Implementation of an adapter of a GPS L1 C/A PVT solver block to a
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* PVTInterface
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* PvtInterface
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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*
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@ -1,7 +1,7 @@
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/*!
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* \file gps_l1_ca_pvt.h
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* \brief Interface of an adapter of a GPS L1 C/A PVT solver block to a
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* PVTInterface
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* PvtInterface
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* Position Velocity and Time
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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@ -55,6 +55,8 @@ rinex_printer::rinex_printer()
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}
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rinex_printer::~rinex_printer()
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{
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// close RINEX files
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@ -614,9 +616,6 @@ int rinex_printer::signalStrength(double snr)
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/*
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enum RINEX_enumObservationType
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{
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RINEX_OBS_TYPE_PSEUDORANGE = 'C', //!< 'C' Pseudorange observation
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@ -45,8 +45,7 @@ private:
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std::ofstream navFile ;
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std::ofstream obsFile ;
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/*!
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* \brief Creates RINEX file names according to the naming convention
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/* Creates RINEX file names according to the naming convention
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*
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* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
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* Section 4, page 6
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@ -64,18 +63,18 @@ private:
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*/
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std::string createFilename(std::string type);
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/*!
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* \brief Generates the data for the PGM / RUN BY / DATE line
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/*
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* Generates the data for the PGM / RUN BY / DATE line
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*/
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std::string getLocalTime();
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/*!
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* \brief Checks that the line is 80 characters length
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/*
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* Checks that the line is 80 characters length
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*/
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void lengthCheck(std::string line);
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/*!
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* \brief If the string is bigger than length, truncate it from the right.
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/*
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* If the string is bigger than length, truncate it from the right.
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* otherwise, add pad characters to its right.
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*
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* Left-justifies the input in a string of the specified
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@ -91,8 +90,8 @@ private:
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const std::string::size_type length,
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const char pad = ' ');
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/*!
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* \brief If the string is bigger than length, truncate it from the right.
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/*
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* If the string is bigger than length, truncate it from the right.
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* otherwise, add pad characters to its right.
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*
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* Left-justifies the receiver in a string of the specified
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@ -111,18 +110,18 @@ private:
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/*!
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* \brief Generates the Navigation Data header
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/*
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* Generates the Navigation Data header
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*/
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void Rinex2NavHeader(std::ofstream& out);
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/*!
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* \brief Generates the Observation data header
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/*
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* Generates the Observation data header
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*/
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void Rinex2ObsHeader(std::ofstream& out);
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/*!
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* \brief Generation of RINEX signal strength indicators
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/*
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* Generation of RINEX signal strength indicators
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*/
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int signalStrength(double snr);
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@ -1,6 +1,36 @@
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/*!
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* \file gps_l1_ca_subframe_fsm.cc
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* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_subframe_fsm.h"
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//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
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struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
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@ -15,6 +45,10 @@ public:
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//std::cout<<"Enter S0 "<<std::endl;
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}
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};
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struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -25,6 +59,9 @@ public:
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}
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};
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struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -35,6 +72,10 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
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}
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};
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struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -45,6 +86,10 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
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}
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};
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struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -55,6 +100,10 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
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}
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};
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struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -65,6 +114,11 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
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}
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};
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struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -75,6 +129,9 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
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}
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};
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struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -85,6 +142,9 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
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}
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};
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struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -95,6 +155,10 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
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}
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};
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struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -105,6 +169,9 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
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}
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};
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struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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@ -115,6 +182,9 @@ public:
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
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}
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};
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struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm > {
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public:
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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@ -128,18 +198,28 @@ public:
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}
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};
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GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
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{
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d_nav.reset();
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initiate(); //start the FSM
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}
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void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
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{
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// insert the word in the correct position of the subframe
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std::memcpy(&d_subframe[position*GPS_WORD_LENGTH],&d_GPS_frame_4bytes,sizeof(char)*GPS_WORD_LENGTH);
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}
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void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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{
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int subframe_ID;
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@ -165,16 +245,24 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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}
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void GpsL1CaSubframeFsm::Event_gps_word_valid()
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{
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this->process_event(Ev_gps_word_valid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_invalid()
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{
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this->process_event(Ev_gps_word_invalid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_preamble()
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{
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this->process_event(Ev_gps_word_preamble());
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@ -1,13 +1,36 @@
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/**
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* Copyright notice
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/*!
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* \file gps_l1_ca_subframe_fsm.h
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* \brief Interface of a GPS NAV message word-to-subframe decoder state machine
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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/**
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* Author: Javier Arribas, 2011. jarribas(at)cttc.es
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*/
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//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
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#ifndef GPS_L1_CA_SUBFRAME_FSM_H
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#define GPS_L1_CA_SUBFRAME_FSM_H
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#ifndef GNSS_SDR_GPS_L1_CA_SUBFRAME_FSM_H_
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#define GNSS_SDR_GPS_L1_CA_SUBFRAME_FSM_H_
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#include <boost/statechart/state_machine.hpp>
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#include <boost/statechart/simple_state.hpp>
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@ -15,15 +38,12 @@
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#include <boost/statechart/transition.hpp>
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#include <boost/statechart/custom_reaction.hpp>
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#include <boost/mpl/list.hpp>
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#include <queue>
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#include <boost/thread/mutex.hpp>
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#include <boost/thread/thread.hpp>
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#include "concurrent_queue.h"
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#include <iostream>
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#include <cstring>
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#include "GPS_L1_CA.h"
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#include "gps_telemetry.h"
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#include "gps_navigation_message.h"
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@ -1,11 +1,11 @@
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/*!
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* \file GPS_L1_CA.h
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* \brief Defines system parameters for GPS L1 C/A signal
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* \brief Defines system parameters for GPS L1 C/A signal and NAV data
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -32,38 +32,20 @@
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#ifndef GNSS_SDR_GPS_L1_CA_H_
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#define GNSS_SDR_GPS_L1_CA_H_
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#define NAVIGATION_SOLUTION_RATE_MS 1000
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// Physical constants
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const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
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const float GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
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const float GPS_STARTOFFSET_ms= 68.802; //[ms] Initial sign. travel time
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const double GPS_PI = 3.1415926535898; //!< Pi used in the GPS coordinate system
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const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
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const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
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const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
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const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
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// carrier and code frequencies
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const float GPS_L1_FREQ_HZ = 1.57542e9;
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const float GPS_L2_FREQ_HZ = 1.22760e9;
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const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6;
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const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0;
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const float GPS_L1_FREQ_HZ = 1.57542e9; //!< L1 [Hz]
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const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
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const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
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//-- Constants for satellite position calculation -------------------------
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const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
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const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
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const double F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1/2)]
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// NAVIGATION MESSAGE DEMODULATION AND DECODING
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#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
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#define GPS_CA_PREAMBLE_LENGTH_BITS 8
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#define GPS_CA_TELEMETRY_RATE_BITS_SECOND 50
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#define GPS_WORD_LENGTH 4 // CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
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#define GPS_SUBFRAME_LENGTH 40 // GPS_WORD_LENGTH x 10 = 40 bytes
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#define GPS_SUBFRAME_BITS 300
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#define GPS_WORD_BITS 30
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/*!
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* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
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*
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@ -74,6 +56,26 @@ const double F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1
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*/
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const double MAX_TOA_DELAY_MS=20;
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#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
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const float GPS_STARTOFFSET_ms= 68.802; //[ms] Initial sign. travel time (this cannot go here)
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// NAVIGATION MESSAGE DEMODULATION AND DECODING
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#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
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#define GPS_CA_PREAMBLE_LENGTH_BITS 8
|
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#define GPS_CA_TELEMETRY_RATE_BITS_SECOND 50 //!< NAV message bit rate [bits/s]
|
||||
#define GPS_WORD_LENGTH 4 // CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
|
||||
#define GPS_SUBFRAME_LENGTH 40 // GPS_WORD_LENGTH x 10 = 40 bytes
|
||||
const int GPS_SUBFRAME_BITS=300; //!< Number of bits per subframe in the NAV message [bits]
|
||||
const int GPS_WORD_BITS=30; //!< Number of bits per word in the NAV message [bits]
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#define num_of_slices(x) sizeof(x)/sizeof(bits_slice)
|
||||
|
||||
/*!
|
||||
|
@ -7,7 +7,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
@ -5,7 +5,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@ -47,7 +47,7 @@
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class represents a GPS NAV Data as described in IS-GPS-200E
|
||||
* \brief This class decodes a GPS NAV Data message as described in IS-GPS-200E
|
||||
*
|
||||
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
|
||||
*/
|
||||
@ -59,7 +59,7 @@ private:
|
||||
signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
|
||||
bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices);
|
||||
|
||||
/*!
|
||||
/*
|
||||
* Accounts for the beginning or end of week crossover
|
||||
*
|
||||
* See paragraph 20.3.3.3.3.1 (IS-GPS-200E)
|
||||
@ -127,7 +127,7 @@ public:
|
||||
bool b_integrity_status_flag;
|
||||
|
||||
bool 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.
|
||||
bool b_antispoofing_flag; //<! If true, the AntiSpoofing mode is ON in that SV
|
||||
bool b_antispoofing_flag; //!< If true, the AntiSpoofing mode is ON in that SV
|
||||
|
||||
|
||||
// clock terms
|
||||
@ -136,9 +136,9 @@ public:
|
||||
double d_dtr; // relativistic clock correction term
|
||||
|
||||
// satellite positions
|
||||
double d_satpos_X; //<! Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
|
||||
double d_satpos_Y; //<! Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
||||
double d_satpos_Z; //<! Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
|
||||
double d_satpos_X; //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
|
||||
double d_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
||||
double d_satpos_Z; //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
|
||||
|
||||
// satellite identification info
|
||||
|
||||
@ -194,6 +194,10 @@ public:
|
||||
void satpos();
|
||||
void relativistic_clock_correction(double transmitTime);
|
||||
bool satellite_validation();
|
||||
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
gps_navigation_message();
|
||||
};
|
||||
|
||||
|
@ -8,7 +8,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
Loading…
Reference in New Issue
Block a user