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Code Issues Releases Wiki Activity

Fix computation of satellite elevation when using the GPS Almanac

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This commit is contained in:
Carles Fernandez 2018-11-22 15:19:36 +01:00
parent a59ffca8a1
commit 4bdb8c3bc4
2 changed files with 32 additions and 14 deletions
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14
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -302,14 +302,16 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
rtklib_alm.svh = gps_alm.i_SV_health;
rtklib_alm.svconf = gps_alm.i_AS_status;
rtklib_alm.week = gps_alm.i_WNa;
rtklib_alm.toa = gpst2time(gps_alm.i_WNa, gps_alm.i_Toa);
gtime_t toa;
toa.time = gps_alm.i_Toa;
rtklib_alm.toa = toa;
rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
rtklib_alm.e = gps_alm.d_e_eccentricity;
rtklib_alm.i0 = gps_alm.d_Delta_i + 0.3;
rtklib_alm.OMG0 = gps_alm.d_OMEGA0;
rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT;
rtklib_alm.omg = gps_alm.d_OMEGA;
rtklib_alm.M0 = gps_alm.d_M_0;
rtklib_alm.i0 = (gps_alm.d_Delta_i + 0.3) * PI;
rtklib_alm.OMG0 = gps_alm.d_OMEGA0 * PI;
rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT * PI;
rtklib_alm.omg = gps_alm.d_OMEGA * PI;
rtklib_alm.M0 = gps_alm.d_M_0 * PI;
rtklib_alm.f0 = gps_alm.d_A_f0;
rtklib_alm.f1 = gps_alm.d_A_f1;
rtklib_alm.toas = gps_alm.i_Toa;

32
src/core/receiver/control_thread.cc
View File

@ -61,6 +61,7 @@
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <algorithm>
#include <cmath>
#include <iostream>
#include <limits>
@ -851,7 +852,8 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
// 3. loop through all the available ephemeris or almanac and compute satellite positions and elevations
// store visible satellites in a vector of pairs <int,Gnss_Satellite> to associate an elevation to the each satellite
std::vector<std::pair<int, Gnss_Satellite>> available_satellites;
std::vector<unsigned int> visible_gps;
std::vector<unsigned int> visible_gal;
std::shared_ptr<PvtInterface> pvt_ptr = flowgraph_->get_pvt();
struct tm tstruct;
char buf[80];
@ -880,6 +882,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
std::cout << "Using GPS Ephemeris: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("GPS"), it->second.i_satellite_PRN))));
visible_gps.push_back(it->second.i_satellite_PRN);
}
}
@ -902,6 +905,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
std::cout << "Using Galileo Ephemeris: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("Galileo"), it->second.i_satellite_PRN))));
visible_gal.push_back(it->second.i_satellite_PRN);
}
}
@ -911,17 +915,23 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
alm_t rtklib_alm = alm_to_rtklib(it->second);
double r_sat[3];
double clock_bias_s;
gps_gtime.time = fmod(utc2gpst(gps_gtime).time, 604800);
alm2pos(gps_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
double Az, El, dist_m;
arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
// push sat
std::vector<unsigned int>::iterator it2;
if (El > 0)
{
std::cout << "Using GPS Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("GPS"), it->second.i_satellite_PRN))));
it2 = std::find(visible_gps.begin(), visible_gps.end(), it->second.i_satellite_PRN);
if (it2 == visible_gps.end())
{
std::cout << "Using GPS Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("GPS"), it->second.i_satellite_PRN))));
}
}
}
@ -939,11 +949,16 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
// push sat
std::vector<unsigned int>::iterator it2;
if (El > 0)
{
std::cout << "Using Galileo Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("Galileo"), it->second.i_satellite_PRN))));
it2 = std::find(visible_gal.begin(), visible_gal.end(), it->second.i_satellite_PRN);
if (it2 == visible_gal.end())
{
std::cout << "Using Galileo Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
available_satellites.push_back(std::pair<int, Gnss_Satellite>(floor(El),
(Gnss_Satellite(std::string("Galileo"), it->second.i_satellite_PRN))));
}
}
}
@ -951,7 +966,8 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
std::sort(available_satellites.begin(), available_satellites.end(), [](const std::pair<int, Gnss_Satellite> &a, const std::pair<int, Gnss_Satellite> &b) { // use lambda. Cleaner and easier to read
return a.first < b.first;
});
// std::reverse(available_satellites.begin(), available_satellites.end());
// provide list starting from satellites with higher elevation
std::reverse(available_satellites.begin(), available_satellites.end());
return available_satellites;
}