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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-13 19:50:34 +00:00
bugfix: Fix compile errors, code style and documentation
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
Damian Miralles
parent
bc8d0bbe64
commit
3f87223f35
@ -84,17 +84,24 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
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// RTCM message rates: least common multiple with output_rate_ms
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int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
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int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
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int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
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int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
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int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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std::map<int,int> rtcm_msg_rate_ms;
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rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
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rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
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rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
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for (int k = 1071; k < 1078; k++) // All GPS MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
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}
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for (int k = 1081; k < 1088; k++) // All GLONASS MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
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}
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for (int k = 1091; k < 1098; k++) // All Galileo MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
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@ -180,6 +180,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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d_ls_pvt->galileo_almanac = *galileo_almanac;
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DLOG(INFO) << "New Galileo Almanac has arrived ";
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}
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//**************** GLONASS GNAV Telemetry **************************
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else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) )
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{
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@ -207,7 +208,6 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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// ### GLONASS GNAV Almanac ###
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std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
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glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
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DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
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}
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@ -279,6 +279,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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{
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d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if(rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
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{
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d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
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}
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else
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{
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d_rtcm_MT1020_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
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{
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d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
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@ -295,6 +303,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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{
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d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if(rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
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{
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d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
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}
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else
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{
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d_rtcm_MT1087_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
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{
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d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
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@ -316,8 +332,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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d_rx_time = 0.0;
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last_pvt_display_T_rx_s = 0.0;
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last_RTCM_1019_output_time = 0.0;
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last_RTCM_1020_output_time = 0.0;
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last_RTCM_1045_output_time = 0.0;
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last_RTCM_1077_output_time = 0.0;
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last_RTCM_1087_output_time = 0.0;
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last_RTCM_1097_output_time = 0.0;
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last_RTCM_MSM_output_time = 0.0;
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last_RINEX_obs_output_time = 0.0;
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@ -499,8 +517,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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bool flag_display_pvt = false;
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bool flag_compute_pvt_output = false;
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bool flag_write_RTCM_1019_output = false;
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bool flag_write_RTCM_1020_output = false;
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bool flag_write_RTCM_1045_output = false;
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bool flag_write_RTCM_1077_output = false;
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bool flag_write_RTCM_1087_output = false;
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bool flag_write_RTCM_1097_output = false;
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bool flag_write_RTCM_MSM_output = false;
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bool flag_write_RINEX_obs_output = false;
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@ -593,7 +613,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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flag_write_RTCM_1019_output = true;
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last_RTCM_1019_output_time = current_RX_time;
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}
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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
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{
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flag_write_RTCM_1020_output = true;
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last_RTCM_1020_output_time = current_RX_time;
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}
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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) )
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{
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flag_write_RTCM_1045_output = true;
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@ -605,7 +629,11 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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flag_write_RTCM_1077_output = true;
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last_RTCM_1077_output_time = current_RX_time;
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}
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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) )
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{
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flag_write_RTCM_1087_output = true;
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last_RTCM_1087_output_time = current_RX_time;
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}
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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) )
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{
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flag_write_RTCM_1097_output = true;
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@ -1097,7 +1125,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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}
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// ####################### RTCM MESSAGES #################
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//TODO Add RTCM logic for GLONASS satellites
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if(b_rtcm_writing_started)
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{
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if(type_of_rx == 1) // GPS L1 C/A
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@ -1226,6 +1253,157 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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}
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}
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}
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if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
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{
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if(flag_write_RTCM_1020_output == true)
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{
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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++ )
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin();
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if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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b_rtcm_writing_started = true;
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}
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if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
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{
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if(flag_write_RTCM_1019_output == true)
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{
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for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if(flag_write_RTCM_1020_output == true)
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{
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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++ )
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if(gps_channel == 0)
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{
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if(system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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gps_channel = i;
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}
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}
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}
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if(glo_channel == 0)
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{
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if(system.compare("R") == 0)
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{
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glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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glo_channel = i;
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}
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}
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}
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i++;
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
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{
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if(flag_write_RTCM_1020_output == true)
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{
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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++ )
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if(flag_write_RTCM_1045_output == true)
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{
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for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
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{
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d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
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}
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if(gps_channel == 0)
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{
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if(system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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gps_channel = i;
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}
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}
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}
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if(glo_channel == 0)
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{
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if(system.compare("R") == 0)
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{
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glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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glo_channel = i;
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}
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}
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}
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i++;
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if(flag_write_RTCM_MSM_output == true)
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{
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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}
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if(!b_rtcm_writing_started) // the first time
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@ -99,8 +99,8 @@ public:
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Gps_CNAV_Iono gps_cnav_iono;
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Gps_CNAV_Utc_Model gps_cnav_utc_model;
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Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< GLONASS GNAV UTC Model
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Glonass_Gnav_Almanac glonass_gnav_almanac; //!< GLONASS GNAV Almanac Model
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Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model
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Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
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int count_valid_position;
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@ -1,8 +1,9 @@
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/*!
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* \file glonass_gnav_almanac.cc
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* \brief Interface of a GLONASS GNAV ALMANAC storage as described in GLONASS ICD (Edition 5.1)
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* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
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* \author Damian Miralles , 2017. dmiralles2009(at)gmail.com
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* \note Code added as part of GSoC 2017 program
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* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
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*
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* -------------------------------------------------------------------------
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*
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@ -36,10 +37,9 @@
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Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
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{
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i_satellite_freq_channel = 0;
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d_tau_c = 0.0;
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d_tau_gps = 0.0;
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d_N_4 = 0.0;
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d_N_A = 0.0;
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i_satellite_PRN = 0;
|
||||
i_satellite_slot_number = 0;
|
||||
|
||||
d_n_A = 0.0;
|
||||
d_H_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;
|
||||
}
|
||||
|
||||
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 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_z = 0.0;
|
||||
// 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
|
||||
i = i_nom + d_Delta_i_n_A;
|
||||
|
||||
@ -39,19 +39,14 @@
|
||||
|
||||
/*!
|
||||
* \brief This class is a storage for the GLONASS SV ALMANAC data as described 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_Almanac
|
||||
{
|
||||
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_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_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]
|
||||
@ -65,6 +60,11 @@ public:
|
||||
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]
|
||||
|
||||
// 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
|
||||
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]
|
||||
@ -93,10 +93,8 @@ public:
|
||||
if(version){};
|
||||
|
||||
archive & make_nvp("i_satellite_freq_channel", i_satellite_freq_channel);
|
||||
archive & make_nvp("d_tau_c", d_tau_c);
|
||||
archive & make_nvp("d_tau_gps", d_tau_gps);
|
||||
archive & make_nvp("d_N_4", d_N_4);
|
||||
archive & make_nvp("d_N_A", d_N_A);
|
||||
archive & make_nvp("i_satellite_PRN", i_satellite_PRN);
|
||||
archive & make_nvp("i_satellite_slot_number", i_satellite_slot_number);
|
||||
archive & make_nvp("d_n_A", d_n_A);
|
||||
archive & make_nvp("d_H_n_A", d_H_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);
|
||||
}
|
||||
|
||||
void satellite_position(double N_i, double t_i);
|
||||
void satellite_position(double N_A, double N_i, double t_i);
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
|
||||
@ -1,11 +1,9 @@
|
||||
/*!
|
||||
* \file glonass_gnav_ephemeris.cc
|
||||
* \brief Interface of a GLONASS GNAV EPHEMERIS storage and orbital model functions
|
||||
*
|
||||
* 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.
|
||||
* \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>
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
|
||||
@ -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)
|
||||
*
|
||||
* 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_Ephemeris
|
||||
{
|
||||
@ -100,9 +100,10 @@ public:
|
||||
|
||||
// Inmediate deliverables of ephemeris information
|
||||
//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
|
||||
unsigned int i_satellite_PRN; //!< SV PRN NUMBER
|
||||
unsigned int i_satellite_slot_number; //!< SV PRN NUMBER
|
||||
// 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
|
||||
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_yr; //!< Current year
|
||||
@ -139,6 +140,8 @@ public:
|
||||
if(version){};
|
||||
|
||||
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_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]
|
||||
|
||||
@ -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)
|
||||
* 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
|
||||
* \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
|
||||
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;
|
||||
|
||||
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_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_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));
|
||||
|
||||
// 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)
|
||||
{
|
||||
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;
|
||||
}
|
||||
@ -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_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;
|
||||
}
|
||||
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_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;
|
||||
}
|
||||
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_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;
|
||||
}
|
||||
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_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;
|
||||
}
|
||||
default:
|
||||
|
||||
@ -48,9 +48,8 @@
|
||||
|
||||
/*!
|
||||
* \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
|
||||
*
|
||||
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdfdescribed in IS-GPS-200E
|
||||
*
|
||||
* \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_Navigation_Message
|
||||
{
|
||||
|
||||
@ -1,7 +1,9 @@
|
||||
/*
|
||||
* \file glonass_gnav_utc_model.h
|
||||
* \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>
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
|
||||
@ -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)
|
||||
* 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
|
||||
{
|
||||
public:
|
||||
bool valid;
|
||||
// UTC
|
||||
// Clock Parameters
|
||||
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]
|
||||
@ -60,7 +61,6 @@ public:
|
||||
{
|
||||
using boost::serialization::make_nvp;
|
||||
if(version){};
|
||||
|
||||
archive & make_nvp("valid",valid);
|
||||
archive & make_nvp("d_tau_c", d_tau_c);
|
||||
archive & make_nvp("d_tau_gps", d_tau_gps);
|
||||
|
||||
@ -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)));
|
||||
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;
|
||||
|
||||
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)
|
||||
{
|
||||
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_);
|
||||
@ -3897,10 +3899,12 @@ int Rtcm::set_DF040(unsigned int frequency_channel_number)
|
||||
|
||||
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)
|
||||
{
|
||||
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_);
|
||||
|
||||
@ -133,9 +133,9 @@ public:
|
||||
* \brief Prints L1-Only GLONASS RTK Observables
|
||||
* \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
|
||||
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \params obs_time Time of observation at the moment of printing
|
||||
* \params observables Set of observables as defined by the platform
|
||||
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \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);
|
||||
@ -143,9 +143,9 @@ public:
|
||||
* \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.
|
||||
* \note Code added as part of GSoC 2017 program
|
||||
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \params obs_time Time of observation at the moment of printing
|
||||
* \params observables Set of observables as defined by the platform
|
||||
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \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);
|
||||
@ -153,9 +153,9 @@ public:
|
||||
* \brief Prints L1&L2 GLONASS RTK Observables
|
||||
* \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
|
||||
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \params obs_time Time of observation at the moment of printing
|
||||
* \params observables Set of observables as defined by the platform
|
||||
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \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);
|
||||
@ -163,9 +163,9 @@ public:
|
||||
* \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.
|
||||
* \note Code added as part of GSoC 2017 program
|
||||
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \params obs_time Time of observation at the moment of printing
|
||||
* \params observables Set of observables as defined by the platform
|
||||
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \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);
|
||||
@ -333,9 +333,9 @@ public:
|
||||
/*!
|
||||
* \brief Locks time period in which GLONASS signals have been continually tracked.
|
||||
* \note Code added as part of GSoC 2017 program
|
||||
* \params eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \params obs_time Time of observation at the moment of printing
|
||||
* \params observables Set of observables as defined by the platform
|
||||
* \param eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \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);
|
||||
@ -1015,8 +1015,14 @@ private:
|
||||
|
||||
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);
|
||||
std::bitset<27> DF034; //!< GLONASS Epoch Time (tk)
|
||||
|
||||
std::bitset<5> DF035; //!< No. of GLONASS Satellite Signals Processed
|
||||
int set_DF035(const std::map<int, Gnss_Synchro> & observables);
|
||||
@ -1035,7 +1041,7 @@ private:
|
||||
int set_DF039(bool code_indicator);
|
||||
|
||||
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);
|
||||
|
||||
std::bitset<25> DF041; //!< GLONASS L1 Pseudorange
|
||||
|
||||
@ -53,10 +53,11 @@ TEST(GlonassGnavAlmanacTest, SatellitePosition)
|
||||
double Vxoi = -3.375497; // [m/s]
|
||||
double Vyoi = -0.161453; // [Кm/s]
|
||||
double Vzoi = 2.060844; // [Кm/s]
|
||||
double N_A = 615; // [days]
|
||||
|
||||
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_t_lambda_n_A = 27122.09375; // [second]
|
||||
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_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_Yo - Yoi < DBL_EPSILON );
|
||||
|
||||
Loading…
Reference in New Issue
Block a user