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bugfix: Fix compile errors, code style and documentation

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Fixes compilation errors after the RTCM package addition in the PVT
block. It also adds a series of class members documentation in the code
using the Doxygen standard while fixing code style errors
This commit is contained in:
Damian Miralles 2017-08-16 21:40:05 -07:00 committed by Damian Miralles
parent bc8d0bbe64
commit 3f87223f35
15 changed files with 311 additions and 73 deletions
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7
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -84,17 +84,24 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234); unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms // RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms); int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms); int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms); int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms; std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM for (int k = 1071; k < 1078; k++) // All GPS MSM
{ {
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms; rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
} }
for (int k = 1081; k < 1088; k++) // All GLONASS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM for (int k = 1091; k < 1098; k++) // All Galileo MSM
{ {
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms; rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;

186
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -180,6 +180,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
d_ls_pvt->galileo_almanac = *galileo_almanac; d_ls_pvt->galileo_almanac = *galileo_almanac;
DLOG(INFO) << "New Galileo Almanac has arrived "; DLOG(INFO) << "New Galileo Almanac has arrived ";
} }
//**************** GLONASS GNAV Telemetry ************************** //**************** GLONASS GNAV Telemetry **************************
else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) ) else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) )
{ {
@ -207,7 +208,6 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
// ### GLONASS GNAV Almanac ### // ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac; std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg)); glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac; d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "; DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
} }
@ -279,6 +279,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
{ {
d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
} }
if(rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
}
else
{
d_rtcm_MT1020_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end()) if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{ {
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045]; d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
@ -295,6 +303,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
{ {
d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
} }
if(rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
{
d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
}
else
{
d_rtcm_MT1087_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097 if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{ {
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097]; d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
@ -316,8 +332,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
d_rx_time = 0.0; d_rx_time = 0.0;
last_pvt_display_T_rx_s = 0.0; last_pvt_display_T_rx_s = 0.0;
last_RTCM_1019_output_time = 0.0; last_RTCM_1019_output_time = 0.0;
last_RTCM_1020_output_time = 0.0;
last_RTCM_1045_output_time = 0.0; last_RTCM_1045_output_time = 0.0;
last_RTCM_1077_output_time = 0.0; last_RTCM_1077_output_time = 0.0;
last_RTCM_1087_output_time = 0.0;
last_RTCM_1097_output_time = 0.0; last_RTCM_1097_output_time = 0.0;
last_RTCM_MSM_output_time = 0.0; last_RTCM_MSM_output_time = 0.0;
last_RINEX_obs_output_time = 0.0; last_RINEX_obs_output_time = 0.0;
@ -499,8 +517,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
bool flag_display_pvt = false; bool flag_display_pvt = false;
bool flag_compute_pvt_output = false; bool flag_compute_pvt_output = false;
bool flag_write_RTCM_1019_output = false; bool flag_write_RTCM_1019_output = false;
bool flag_write_RTCM_1020_output = false;
bool flag_write_RTCM_1045_output = false; bool flag_write_RTCM_1045_output = false;
bool flag_write_RTCM_1077_output = false; bool flag_write_RTCM_1077_output = false;
bool flag_write_RTCM_1087_output = false;
bool flag_write_RTCM_1097_output = false; bool flag_write_RTCM_1097_output = false;
bool flag_write_RTCM_MSM_output = false; bool flag_write_RTCM_MSM_output = false;
bool flag_write_RINEX_obs_output = false; bool flag_write_RINEX_obs_output = false;
@ -593,7 +613,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
flag_write_RTCM_1019_output = true; flag_write_RTCM_1019_output = true;
last_RTCM_1019_output_time = current_RX_time; last_RTCM_1019_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) && (d_rtcm_MT1020_rate_ms != 0) ) // allows deactivating messages by setting rate = 0
{
flag_write_RTCM_1020_output = true;
last_RTCM_1020_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0) ) if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0) )
{ {
flag_write_RTCM_1045_output = true; flag_write_RTCM_1045_output = true;
@ -605,7 +629,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
flag_write_RTCM_1077_output = true; flag_write_RTCM_1077_output = true;
last_RTCM_1077_output_time = current_RX_time; last_RTCM_1077_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0) )
{
flag_write_RTCM_1087_output = true;
last_RTCM_1087_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0) ) if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0) )
{ {
flag_write_RTCM_1097_output = true; flag_write_RTCM_1097_output = true;
@ -1097,7 +1125,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
// ####################### RTCM MESSAGES ################# // ####################### RTCM MESSAGES #################
//TODO Add RTCM logic for GLONASS satellites
if(b_rtcm_writing_started) if(b_rtcm_writing_started)
{ {
if(type_of_rx == 1) // GPS L1 C/A if(type_of_rx == 1) // GPS L1 C/A
@ -1226,6 +1253,157 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
} }
} }
if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
{
if(flag_write_RTCM_1020_output == true)
{
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if(flag_write_RTCM_1019_output == true)
{
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(flag_write_RTCM_1020_output == true)
{
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
if(flag_write_RTCM_MSM_output == true)
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_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(flag_write_RTCM_MSM_output == true)
{
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);
}
}
if(flag_write_RTCM_MSM_output == true)
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
}
if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
{
if(flag_write_RTCM_1020_output == true)
{
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
if(flag_write_RTCM_1045_output == true)
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
}
}
if(flag_write_RTCM_MSM_output == true)
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_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(flag_write_RTCM_MSM_output == true)
{
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(flag_write_RTCM_MSM_output == true)
{
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);
}
}
}
}
} }
if(!b_rtcm_writing_started) // the first time if(!b_rtcm_writing_started) // the first time

4
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -99,8 +99,8 @@ public:
Gps_CNAV_Iono gps_cnav_iono; Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model; Gps_CNAV_Utc_Model gps_cnav_utc_model;
Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< GLONASS GNAV UTC Model Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model
Glonass_Gnav_Almanac glonass_gnav_almanac; //!< GLONASS GNAV Almanac Model Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
int count_valid_position; int count_valid_position;

2
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -74,7 +74,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */ rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_t_b; /* IODE (0-6 bit of tb field) */ rtklib_sat.iode = glonass_gnav_eph.d_t_b; /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */ rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/ rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/ rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/
rtklib_sat.age = glonass_gnav_eph.d_E_n; /* satellite age*/ rtklib_sat.age = glonass_gnav_eph.d_E_n; /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */ rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */

16
src/core/system_parameters/glonass_gnav_almanac.cc
View File

@ -1,8 +1,9 @@
/*! /*!
* \file glonass_gnav_almanac.cc * \file glonass_gnav_almanac.cc
* \brief Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1) * \brief Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1)
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf * \note Code added as part of GSoC 2017 program
* \author Damian Miralles , 2017. dmiralles2009(at)gmail.com * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -36,10 +37,9 @@
Glonass_Gnav_Almanac::Glonass_Gnav_Almanac() Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
{ {
i_satellite_freq_channel = 0; i_satellite_freq_channel = 0;
d_tau_c = 0.0; i_satellite_PRN = 0;
d_tau_gps = 0.0; i_satellite_slot_number = 0;
d_N_4 = 0.0;
d_N_A = 0.0;
d_n_A = 0.0; d_n_A = 0.0;
d_H_n_A = 0.0; d_H_n_A = 0.0;
d_lambda_n_A = 0.0; d_lambda_n_A = 0.0;
@ -56,7 +56,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
d_l_n = 0.0; d_l_n = 0.0;
} }
void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i) void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i)
{ {
double T_nom = 43200; // [seconds] double T_nom = 43200; // [seconds]
double i_nom = D2R*63.0; // [rad] double i_nom = D2R*63.0; // [rad]
@ -85,7 +85,7 @@ void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
double e2_y = 0.0; double e2_y = 0.0;
double e2_z = 0.0; double e2_z = 0.0;
// Compute time difference to reference time // Compute time difference to reference time
Delta_t = (N_i - d_N_A) * 86400 + (t_i + d_t_lambda_n_A); Delta_t = (N_i - N_A) * 86400 + (t_i + d_t_lambda_n_A);
// Compute the actual inclination // Compute the actual inclination
i = i_nom + d_Delta_i_n_A; i = i_nom + d_Delta_i_n_A;

24
src/core/system_parameters/glonass_gnav_almanac.h
View File

@ -39,19 +39,14 @@
/*! /*!
* \brief This class is a storage for the GLONASS SV ALMANAC data as described GLONASS ICD (Edition 5.1) * \brief This class is a storage for the GLONASS SV ALMANAC data as described GLONASS ICD (Edition 5.1)
* * \note Code added as part of GSoC 2017 program
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*/ */
class Glonass_Gnav_Almanac class Glonass_Gnav_Almanac
{ {
public: public:
int i_satellite_freq_channel; //!< SV Frequency Channel NUMBER
double d_tau_c; //!< GLONASS time scale correction to UTC(SU) time. [s]
double d_tau_gps; //!< Correction to GPS time to GLONASS time [day]
double d_N_4; //!< Four year interval number starting from 1996 [4 year interval]
double d_N_A; //!< Calendar day number within the four-year period beginning since the leap year [days]
double d_n_A; //!< Conventional number of satellite within GLONASS space segment [dimensionless] double d_n_A; //!< Conventional number of satellite within GLONASS space segment [dimensionless]
double d_H_n_A; //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite [dimensionless] double d_H_n_A; //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless]
double d_lambda_n_A; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [semi-circles] double d_lambda_n_A; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [semi-circles]
double d_t_lambda_n_A; //!< Time of first ascending node passage [s] double d_t_lambda_n_A; //!< Time of first ascending node passage [s]
double d_Delta_i_n_A; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles] double d_Delta_i_n_A; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles]
@ -65,6 +60,11 @@ public:
double d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless] double d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
double d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless] double d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Satellite Identification Information
int i_satellite_freq_channel; //!< SV Frequency Channel Number
unsigned int i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
unsigned int i_satellite_slot_number; //!< SV Slot Number
// satellite positions // satellite positions
double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km]. double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
double d_satpos_Yo; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km] double d_satpos_Yo; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
@ -93,10 +93,8 @@ public:
if(version){}; if(version){};
archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);
archive & make_nvp("d_tau_c", d_tau_c); archive & make_nvp("i_satellite_PRN", i_satellite_PRN);
archive & make_nvp("d_tau_gps", d_tau_gps); archive & make_nvp("i_satellite_slot_number", i_satellite_slot_number);
archive & make_nvp("d_N_4", d_N_4);
archive & make_nvp("d_N_A", d_N_A);
archive & make_nvp("d_n_A", d_n_A); archive & make_nvp("d_n_A", d_n_A);
archive & make_nvp("d_H_n_A", d_H_n_A); archive & make_nvp("d_H_n_A", d_H_n_A);
archive & make_nvp("d_lambda_n_A", d_lambda_n_A); archive & make_nvp("d_lambda_n_A", d_lambda_n_A);
@ -113,7 +111,7 @@ public:
archive & make_nvp("d_l_n", d_l_n); archive & make_nvp("d_l_n", d_l_n);
} }
void satellite_position(double N_i, double t_i); void satellite_position(double N_A, double N_i, double t_i);
/*! /*!
* Default constructor * Default constructor
*/ */

6
src/core/system_parameters/glonass_gnav_ephemeris.cc
View File

@ -1,11 +1,9 @@
/*! /*!
* \file glonass_gnav_ephemeris.cc * \file glonass_gnav_ephemeris.cc
* \brief Interface of a GLONASS GNAV EPHEMERIS storage and orbital model functions * \brief Interface of a GLONASS GNAV EPHEMERIS storage and orbital model functions
* * \note Code added as part of GSoC 2017 program
* See Russian Institute of Space Device Engineering,
“Global Navigation Satellite System GLONASS Interface Control Document,
Navigational radiosignal in bands L1, L2,” Moscow, Edition 5.1, 2008.
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *

13
src/core/system_parameters/glonass_gnav_ephemeris.h
View File

@ -43,8 +43,8 @@
/*! /*!
* \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD (Edition 5.1) * \brief This class is a storage and orbital model functions for the GLONASS SV ephemeris data as described in GLONASS ICD (Edition 5.1)
* * \note Code added as part of GSoC 2017 program
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*/ */
class Glonass_Gnav_Ephemeris class Glonass_Gnav_Ephemeris
{ {
@ -100,9 +100,10 @@ public:
// Inmediate deliverables of ephemeris information // Inmediate deliverables of ephemeris information
//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0 //TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
unsigned int i_satellite_freq_channel; //!< SV Frequency Channel Number // Satellite Identification Information
unsigned int i_satellite_PRN; //!< SV PRN NUMBER int i_satellite_freq_channel; //!< SV Frequency Channel Number
unsigned int i_satellite_slot_number; //!< SV PRN NUMBER unsigned int i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
unsigned int i_satellite_slot_number; //!< SV Slot Number
double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s] double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s]
double d_D4Y; //!< Day of Year after latest leap year (4 year interval) double d_D4Y; //!< Day of Year after latest leap year (4 year interval)
double d_yr; //!< Current year double d_yr; //!< Current year
@ -139,6 +140,8 @@ public:
if(version){}; if(version){};
archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); //!< SV PRN frequency channel number archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel); //!< SV PRN frequency channel number
archive & make_nvp("i_satellite_PRN", i_satellite_PRN);
archive & make_nvp("i_satellite_slot_number", i_satellite_slot_number);
archive & make_nvp("d_m", d_m); //!< String number within frame [dimensionless] archive & make_nvp("d_m", d_m); //!< String number within frame [dimensionless]
archive & make_nvp("d_t_k", d_t_k); //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds] archive & make_nvp("d_t_k", d_t_k); //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
archive & make_nvp("d_t_b", d_t_b); //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes] archive & make_nvp("d_t_b", d_t_b); //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]

50
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -1,8 +1,9 @@
/*! /*!
m * \file glonass_gnav_navigation_message.cc * \file glonass_gnav_navigation_message.cc
* \brief Implementation of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1) * \brief Implementation of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf * \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -416,6 +417,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// Fill in ephemeris deliverables in the code // Fill in ephemeris deliverables in the code
gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n; gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n;
gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n;
gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T; gnav_ephemeris.d_D4Y = gnav_ephemeris.d_N_T;
flag_ephemeris_str_4 = true; flag_ephemeris_str_4 = true;
@ -480,12 +482,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0; gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
{
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
}
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number) if(i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
{ {
gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A; gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel;
} }
flag_almanac_str_7 = true; flag_almanac_str_7 = true;
} }
@ -521,6 +531,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0; gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) -32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
{
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
}
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
flag_almanac_str_9 = true; flag_almanac_str_9 = true;
} }
case 10: case 10:
@ -551,6 +569,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0; gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
{
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
}
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
flag_almanac_str_11 = true; flag_almanac_str_11 = true;
} }
break; break;
@ -582,6 +608,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0; gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
{
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
}
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
flag_almanac_str_13 = true; flag_almanac_str_13 = true;
} }
case 14: case 14:
@ -621,6 +655,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0; gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes
if(gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24)
{
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0;
}
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A;
flag_almanac_str_15 = true; flag_almanac_str_15 = true;
} }
default: default:

5
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -48,9 +48,8 @@
/*! /*!
* \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1) * \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
* * \note Code added as part of GSoC 2017 program
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdfdescribed in IS-GPS-200E * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
*/ */
class Glonass_Gnav_Navigation_Message class Glonass_Gnav_Navigation_Message
{ {

4
src/core/system_parameters/glonass_gnav_utc_model.cc
View File

@ -1,7 +1,9 @@
/* /*
* \file glonass_gnav_utc_model.h * \file glonass_gnav_utc_model.h
* \brief Interface of a GLONASS GNAV UTC MODEL storage * \brief Interface of a GLONASS GNAV UTC MODEL storage
* \author Damian Miralles, 2017. dmiralles2009(at).gmail.com * \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *

6
src/core/system_parameters/glonass_gnav_utc_model.h
View File

@ -38,13 +38,14 @@
/*! /*!
* \brief This class is a storage for the GLONASS GNAV UTC MODEL data as described in GLONASS ICD (Edition 5.1) * \brief This class is a storage for the GLONASS GNAV UTC MODEL data as described in GLONASS ICD (Edition 5.1)
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf * \note Code added as part of GSoC 2017 program
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*/ */
class Glonass_Gnav_Utc_Model class Glonass_Gnav_Utc_Model
{ {
public: public:
bool valid; bool valid;
// UTC // Clock Parameters
double d_tau_c; //!< GLONASS time scale correction to UTC(SU) time. [s] double d_tau_c; //!< GLONASS time scale correction to UTC(SU) time. [s]
double d_tau_gps; //!< Correction to GPS time to GLONASS time [day] double d_tau_gps; //!< Correction to GPS time to GLONASS time [day]
double d_N_4; //!< Four year interval number starting from 1996 [4 year interval] double d_N_4; //!< Four year interval number starting from 1996 [4 year interval]
@ -60,7 +61,6 @@ public:
{ {
using boost::serialization::make_nvp; using boost::serialization::make_nvp;
if(version){}; if(version){};
archive & make_nvp("valid",valid); archive & make_nvp("valid",valid);
archive & make_nvp("d_tau_c", d_tau_c); archive & make_nvp("d_tau_c", d_tau_c);
archive & make_nvp("d_tau_gps", d_tau_gps); archive & make_nvp("d_tau_gps", d_tau_gps);

16
src/core/system_parameters/rtcm.cc
View File

@ -1848,7 +1848,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
glonass_gnav_eph.i_satellite_slot_number = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6))); glonass_gnav_eph.i_satellite_slot_number = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6; index += 6;
glonass_gnav_eph.i_satellite_freq_channel = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 5))); glonass_gnav_eph.i_satellite_freq_channel = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)) - 7.0);
index += 5; index += 5;
glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1))); glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
@ -3882,12 +3882,14 @@ int Rtcm::set_DF039(bool code_indicator)
} }
int Rtcm::set_DF040(unsigned int frequency_channel_number) int Rtcm::set_DF040(int frequency_channel_number)
{ {
unsigned int freq_ = frequency_channel_number; unsigned int freq_ = frequency_channel_number + 7;
if(freq_ > 20) if(freq_ > 20)
{ {
LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found"; LOG(WARNING) << "GLONASS Satellite Frequency Number Conversion Error."
<< "Value must be between 0 and 20, but converted channel"
<< "frequency number " << freq_ << " was found";
} }
DF040 = std::bitset<5>(freq_); DF040 = std::bitset<5>(freq_);
@ -3897,10 +3899,12 @@ int Rtcm::set_DF040(unsigned int frequency_channel_number)
int Rtcm::set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) int Rtcm::set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{ {
unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel; unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel + 7;
if(freq_ > 20) if(freq_ > 20)
{ {
LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found"; LOG(WARNING) << "GLONASS Satellite Frequency Number Conversion Error."
<< "Value must be between 0 and 20, but converted channel"
<< "frequency number " << freq_ << " was found";
} }
DF040 = std::bitset<5>(freq_); DF040 = std::bitset<5>(freq_);

40
src/core/system_parameters/rtcm.h
View File

@ -133,9 +133,9 @@ public:
* \brief Prints L1-Only GLONASS RTK Observables * \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred. * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing * \param obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return string with message contents * \return string with message contents
*/ */
std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id); std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@ -143,9 +143,9 @@ public:
* \brief Prints Extended L1-Only GLONASS RTK Observables * \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases. * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing * \param obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return string with message contents * \return string with message contents
*/ */
std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id); std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@ -153,9 +153,9 @@ public:
* \brief Prints L1&L2 GLONASS RTK Observables * \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing * \param obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return string with message contents * \return string with message contents
*/ */
std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id); std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@ -163,9 +163,9 @@ public:
* \brief Prints Extended L1&L2 GLONASS RTK Observables * \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found. * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris * \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing * \param obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return string with message contents * \return string with message contents
*/ */
std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id); std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
@ -333,9 +333,9 @@ public:
/*! /*!
* \brief Locks time period in which GLONASS signals have been continually tracked. * \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
* \params eph GLONASS GNAV Broadcast Ephemeris * \param eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing * \param obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return Returns the time period in which GLONASS signals have been continually tracked. * \return Returns the time period in which GLONASS signals have been continually tracked.
*/ */
unsigned int lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
@ -1015,8 +1015,14 @@ private:
std::bitset<8> DF032; std::bitset<8> DF032;
std::bitset<27> DF034; //!< GLONASS Epoch Time (tk) /*!
* \brief Sets the Data Field value
* \note Code added as part of GSoC 2017 program
* \param obs_time Time of observation at the moment of printing
* \return returns 0 upon success
*/
int set_DF034(double obs_time); int set_DF034(double obs_time);
std::bitset<27> DF034; //!< GLONASS Epoch Time (tk)
std::bitset<5> DF035; //!< No. of GLONASS Satellite Signals Processed std::bitset<5> DF035; //!< No. of GLONASS Satellite Signals Processed
int set_DF035(const std::map<int, Gnss_Synchro> & observables); int set_DF035(const std::map<int, Gnss_Synchro> & observables);
@ -1035,7 +1041,7 @@ private:
int set_DF039(bool code_indicator); int set_DF039(bool code_indicator);
std::bitset<5> DF040; //!< GLONASS Satellite Frequency Number std::bitset<5> DF040; //!< GLONASS Satellite Frequency Number
int set_DF040(unsigned int frequency_channel_number); int set_DF040(int frequency_channel_number);
int set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph); int set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<25> DF041; //!< GLONASS L1 Pseudorange std::bitset<25> DF041; //!< GLONASS L1 Pseudorange

5
src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
View File

@ -53,10 +53,11 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
double Vxoi = -3.375497; // [m/s] double Vxoi = -3.375497; // [m/s]
double Vyoi = -0.161453; // [Кm/s] double Vyoi = -0.161453; // [Кm/s]
double Vzoi = 2.060844; // [Кm/s] double Vzoi = 2.060844; // [Кm/s]
double N_A = 615; // [days]
Glonass_Gnav_Almanac gnav_almanac; Glonass_Gnav_Almanac gnav_almanac;
gnav_almanac.d_N_A = 615; // [days]
gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles] gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles]
gnav_almanac.d_t_lambda_n_A = 27122.09375; // [second] gnav_almanac.d_t_lambda_n_A = 27122.09375; // [second]
gnav_almanac.d_Delta_i_n_A = 0.011929512; // [half cycle] gnav_almanac.d_Delta_i_n_A = 0.011929512; // [half cycle]
@ -65,7 +66,7 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
gnav_almanac.d_epsilon_n_A = 0.001482010; // [unitless] gnav_almanac.d_epsilon_n_A = 0.001482010; // [unitless]
gnav_almanac.d_omega_n_A = 0.440277100; // [Half cycle] gnav_almanac.d_omega_n_A = 0.440277100; // [Half cycle]
gnav_almanac.satellite_position(N_i, t_i); gnav_almanac.satellite_position(N_A, N_i, t_i);
ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON ); ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON );
ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON ); ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON );