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This commit is contained in:
Javier Arribas 2022-06-14 10:38:05 +02:00
commit 527d3d2307
21 changed files with 597 additions and 117 deletions
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15
README.md
View File

@ -23,16 +23,20 @@ position fixes) the following Global Navigation Satellite System's signals:
In the L1 band:
- 🛰 GLONASS L1 C/A (centered at 1602.00 MHz) :white_check_mark:
- 🛰 GPS L1 C/A (centered at 1575.42 MHz) :white_check_mark:
- 🛰 Galileo E1b/c (centered at 1575.42 MHz) :white_check_mark:
- 🛰 GLONASS L1 C/A (centered at 1602.000 MHz) :white_check_mark:
- 🛰 GPS L1 C/A (centered at 1575.420 MHz) :white_check_mark:
- 🛰 Galileo E1b/c (centered at 1575.420 MHz) :white_check_mark:
- 🛰 BeiDou B1I (centered at 1561.098 MHz) :white_check_mark:
In the E6 band:
- 🛰 Galileo E6B (centered at 1278.750 MHz) :white_check_mark:
In the L2 band:
- 🛰 BeiDou B3I (centered at 1268.520 MHz) :white_check_mark:
- 🛰 GLONASS L2 C/A (centered at 1246.00 MHz) :white_check_mark:
- 🛰 GPS L2C (centered at 1227.60 MHz) :white_check_mark:
- 🛰 GLONASS L2 C/A (centered at 1246.000 MHz) :white_check_mark:
- 🛰 GPS L2C (centered at 1227.600 MHz) :white_check_mark:
In the L5 band:
@ -1664,6 +1668,7 @@ identifiers:
| Galileo E1b/c | 1B |
| Glonass L1 C/A | 1G |
| Beidou B1I | B1 |
| Galileo E6B | E6 |
| Beidou B3I | B3 |
| GPS L2 L2C(M) | 2S |
| Glonass L2 C/A | 2G |

16
docs/CHANGELOG.md
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@ -14,6 +14,22 @@ All notable changes to GNSS-SDR will be documented in this file.
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
### Improvements in Interoperability:
- Enabled PVT computation in the Galileo E5a + E5b receiver. Observables
reported in the RINEX file.
- Fixed PVT computation in the Galileo E5b-only receiver.
- Get E6B observables and PVT solutions in the Galileo E1B + E6B receiver.
Decoding of HAS messages as described in the
[HAS SIS ICD v1.0](https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_HAS_SIS_ICD_v1.0.pdf).
Generation of RTCM 3.2 messages from the received HAS messages in the
[IGS State Space Representation (SSR) Format](https://files.igs.org/pub/data/format/igs_ssr_v1.pdf).
Specifically, it generates messages of type IGM01 (SSR Orbit Correction),
IGM02 (SSR Clock Correction), IGM03 (SSR Combined Orbit and Clock Correction),
and IGM05 (SSR Code Bias). Please note that the content of the HAS messages is
**not** applied to the computed PVT solution. In the Galileo E6B-only
receiver, HAS messages are decoded and reported.
### Improvements in Portability:
- Improved detection of the BLAS library under macOS / Macports (the `lapack`

23
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -489,28 +489,29 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (gal_E6_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
{
num_bands = 1;
num_bands += 1;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)))
if ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0))
{
num_bands = 2;
num_bands += 1;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
if (gal_E6_count > 0)
{
num_bands = 2;
num_bands += 1;
}
if ((gal_1B_count > 0) && (gal_E6_count > 0))
if ((gal_E5a_count > 0) || (gps_L5_count > 0))
{
num_bands = 2;
num_bands += 1;
}
if ((gal_1B_count > 0) && (gal_E6_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)))
if (gal_E5b_count > 0)
{
num_bands = 3;
num_bands += 1;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
if (num_bands > 3)
{
LOG(WARNING) << "Too much bands: The PVT engine can only handle 3 bands, but " << num_bands << " were set";
num_bands = 3;
}

13
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -524,21 +524,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{
// setup two PVT solvers: internal solver for rx clock and user solver
// user PVT solver
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat);
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_user_pvt_solver->set_averaging_depth(1);
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
// internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, false, false);
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
}
else
{
// only one solver, customized by the user options
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat);
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
d_user_pvt_solver = d_internal_pvt_solver;
@ -2146,7 +2146,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
while (fabs(delta_rxtime_to_tag_ms) >= 100 and !d_TimeChannelTagTimestamps.empty());
// 2. If both timestamps (relative to the receiver's start) are closer than 100 ms (the granularituy of the PVT)
if (fabs(delta_rxtime_to_tag_ms) <= 100) // [ms]
{
@ -2222,11 +2221,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
// debug code
// else
// {
// DLOG(INFO) << "Internal PVT solver error";
// }
// compute on the fly PVT solution
if (flag_compute_pvt_output == true)
@ -2234,7 +2228,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false);
}
if (flag_pvt_valid == true)
{
// experimental VTL tests

27
src/algorithms/PVT/libs/rinex_printer.cc
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@ -11762,33 +11762,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
if (found_E5a != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
}
else
{
// if 5X is listed but empty
if (found_E5a != std::string::npos)
{
if ((total_map.count(prn_)) == 1)
{
Gnss_Synchro gs = Gnss_Synchro();
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
}
}
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
}

176
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -45,14 +45,99 @@
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const std::string &dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat) : d_rtk(rtk),
d_dump_filename(dump_filename),
bool flag_dump_to_mat) : d_dump_filename(dump_filename),
d_rtk(rtk),
d_type_of_rx(type_of_rx),
d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(flag_dump_to_mat)
{
this->set_averaging_flag(false);
// see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
// function: satwavelen
d_rtklib_freq_index[0] = 0;
d_rtklib_freq_index[1] = 1;
d_rtklib_freq_index[2] = 2;
d_rtklib_band_index["1G"] = 0;
d_rtklib_band_index["1C"] = 0;
d_rtklib_band_index["1B"] = 0;
d_rtklib_band_index["B1"] = 0;
d_rtklib_band_index["B3"] = 2;
d_rtklib_band_index["2G"] = 1;
d_rtklib_band_index["2S"] = 1;
d_rtklib_band_index["7X"] = 2;
d_rtklib_band_index["5X"] = 2;
d_rtklib_band_index["L5"] = 2;
d_rtklib_band_index["E6"] = 0;
if (d_type_of_rx == 6) // E5b only
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 15) // Galileo E1B + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 18) // GPS L2C + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 19) // Galileo E5a + Galileo E5b
{
d_rtklib_band_index["5X"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 20) // GPS L5 + Galileo E5b
{
d_rtklib_band_index["L5"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 100) // E6B only
{
d_rtklib_freq_index[0] = 3;
}
if (d_type_of_rx == 101) // E1 + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 102) // E5a + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 103) // E5b + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 104) // Galileo E1B + Galileo E5a + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 105) // Galileo E1B + Galileo E5b + Galileo E6B
{
d_rtklib_freq_index[2] = 4;
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 106) // GPS L1 C/A + Galileo E1B + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
@ -406,8 +491,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool gps_dual_band = false;
bool band1 = false;
bool band2 = false;
bool gal_e5_is_e5b = false;
bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
@ -460,7 +544,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0);
d_rtklib_band_index[sig_]);
valid_obs++;
}
else // the ephemeris are not available for this SV
@ -484,7 +568,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
d_rtklib_band_index[sig_]);
found_E1_obs = true;
break;
}
@ -502,7 +586,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@ -510,14 +594,49 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
if (sig_ == "7X")
}
if (sig_ == "E6")
{
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{
gal_e5_is_e5b = true;
bool found_E1_obs = false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
d_rtklib_band_index[sig_]);
found_E1_obs = true;
break;
}
}
if (!found_E1_obs)
{
// insert Galileo E6 obs as new obs and also insert its ephemeris
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
if (sig_ == "E6")
{
gal_e6 = true;
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{
@ -576,7 +695,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.WN,
0,
d_rtklib_band_index[sig_],
this->is_pre_2009());
valid_obs++;
}
@ -606,7 +725,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
eph_data[i].week,
1); // Band 2 (L2)
d_rtklib_band_index[sig_]);
break;
}
}
@ -625,7 +744,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@ -654,7 +773,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
d_rtklib_band_index[sig_]);
break;
}
}
@ -672,7 +791,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@ -700,7 +819,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1)
d_rtklib_band_index[sig_]);
glo_valid_obs++;
}
else // the ephemeris are not available for this SV
@ -723,7 +842,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
d_rtklib_band_index[sig_]);
found_L1_obs = true;
break;
}
@ -738,7 +857,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
d_rtklib_band_index[sig_]);
glo_valid_obs++;
}
}
@ -766,7 +885,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0);
d_rtklib_band_index[sig_]);
valid_obs++;
}
else // the ephemeris are not available for this SV
@ -788,7 +907,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3)
d_rtklib_band_index[sig_]);
found_B1I_obs = true;
break;
}
@ -806,7 +925,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@ -922,20 +1041,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
if (j == 2 && gal_e6)
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
}
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function
nav_data.lam[i][j] = satwavelen(i + 1, 4, &nav_data);
}
else
{
nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
}
nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
}
}

14
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -58,6 +58,7 @@
#include "pvt_solution.h"
#include "rtklib.h"
#include <array>
#include <cstdint>
#include <fstream>
#include <map>
#include <string>
@ -75,7 +76,11 @@
class Rtklib_Solver : public Pvt_Solution
{
public:
Rtklib_Solver(const rtk_t& rtk, const std::string& dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat);
Rtklib_Solver(const rtk_t& rtk,
const std::string& dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat);
~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@ -118,10 +123,13 @@ private:
std::array<obsd_t, MAXOBS> d_obs_data{};
std::array<double, 4> d_dop{};
rtk_t d_rtk{};
Monitor_Pvt d_monitor_pvt{};
std::map<int, int> d_rtklib_freq_index;
std::map<std::string, int> d_rtklib_band_index;
std::string d_dump_filename;
std::ofstream d_dump_file;
rtk_t d_rtk{};
Monitor_Pvt d_monitor_pvt{};
uint32_t d_type_of_rx;
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
};

1
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -112,7 +112,6 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_)
d_mapStringValues["B2"] = evBDS_B2;
d_mapStringValues["B3"] = evBDS_B3;
d_SourceTagTimestamps = std::vector<std::queue<GnssTime>>(d_nchannels_out);
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()

7
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@ -107,6 +107,13 @@ else()
)
endif()
if(PMT_USES_BOOST_ANY)
target_compile_definitions(telemetry_decoder_gr_blocks
PRIVATE
-DPMT_USES_BOOST_ANY=1
)
endif()
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(telemetry_decoder_gr_blocks

184
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -36,17 +36,33 @@
#include "viterbi_decoder.h" // for Viterbi_Decoder
#include <glog/logging.h> // for LOG, DLOG
#include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <pmt/pmt.h> // for pmt::make_any
#include <pmt/pmt_sugar.h> // for pmt::mp
#include <array> // for std::array
#include <cmath> // for std::fmod, std::abs
#include <cstddef> // for size_t
#include <exception> // for std::exception
#include <iostream> // for std::cout
#include <limits> // for std::numeric_limits
#include <map> // for std::map
#include <stdexcept> // for std::out_of_range
#include <typeinfo> // for typeid
#include <utility> // for std::pair
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
#define CRC_ERROR_LIMIT 6
galileo_telemetry_decoder_gs_sptr
galileo_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf, int frame_type)
{
@ -63,7 +79,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_delta_t(0),
d_sample_counter(0ULL),
d_preamble_index(0ULL),
d_last_valid_preamble(0),
d_last_valid_preamble(0ULL),
d_received_sample_counter(0),
d_frame_type(frame_type),
d_CRC_error_counter(0),
d_channel(0),
@ -71,6 +88,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_stat(0),
d_TOW_at_Preamble_ms(0),
d_TOW_at_current_symbol_ms(0),
d_received_tow_ms(std::numeric_limits<uint32_t>::max()),
d_band('1'),
d_sent_tlm_failed_msg(false),
d_flag_frame_sync(false),
@ -86,7 +104,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_dump_crc_stats(conf.dump_crc_stats),
d_enable_reed_solomon_inav(false),
d_valid_timetag(false),
d_E6_TOW_set(false)
d_E6_TOW_set(false),
d_there_are_e6_channels(conf.there_are_e6_channels)
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
@ -94,8 +113,27 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
// register Gal E6 messages HAS out
this->message_port_register_out(pmt::mp("E6_HAS_from_TLM"));
if (d_there_are_e6_channels)
{
// register Gal E6 messages HAS out
this->message_port_register_out(pmt::mp("E6_HAS_from_TLM"));
// register TOW from map out
this->message_port_register_out(pmt::mp("TOW_from_TLM"));
// register TOW to TLM input
this->message_port_register_in(pmt::mp("TOW_to_TLM"));
// handler for input port
this->set_msg_handler(pmt::mp("TOW_to_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_read_galileo_tow_map(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&galileo_telemetry_decoder_gs::msg_handler_read_galileo_tow_map, this, boost::placeholders::_1));
#else
boost::bind(&galileo_telemetry_decoder_gs::msg_handler_read_galileo_tow_map, this, _1));
#endif
#endif
}
if (d_enable_navdata_monitor)
{
@ -281,6 +319,36 @@ galileo_telemetry_decoder_gs::~galileo_telemetry_decoder_gs()
}
void galileo_telemetry_decoder_gs::msg_handler_read_galileo_tow_map(const pmt::pmt_t &msg)
{
if (d_frame_type == 3)
{
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == typeid(std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>).hash_code())
{
const auto received_tow_map = wht::any_cast<std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>>(pmt::any_ref(msg));
const std::pair<uint32_t, uint64_t> received_tow_sample = received_tow_map->at(d_satellite.get_PRN());
if (received_tow_sample.first < 604800000)
{
d_received_tow_ms = received_tow_sample.first;
d_received_sample_counter = received_tow_sample.second;
}
}
}
catch (const wht::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_read_galileo_tow_map Bad any_cast: " << e.what();
}
catch (const std::out_of_range &oor)
{
LOG(WARNING) << "msg_handler_read_galileo_tow_map Out of Range error: " << oor.what();
}
}
}
void galileo_telemetry_decoder_gs::deinterleaver(int32_t rows, int32_t cols, const float *in, float *out)
{
for (int32_t r = 0; r < rows; r++)
@ -550,6 +618,12 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
page_String.push_back('0');
}
}
if (d_enable_navdata_monitor)
{
d_nav_msg_packet.nav_message = page_String;
}
d_cnav_nav.read_HAS_page(page_String);
d_cnav_nav.set_time_stamp(time_stamp);
// 4. If we have a new HAS page, read it
@ -596,7 +670,15 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
d_received_tow_ms = std::numeric_limits<uint32_t>::max();
d_E6_TOW_set = false;
d_valid_timetag = false;
if (d_there_are_e6_channels)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_received_tow_ms, 0ULL};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
@ -615,7 +697,15 @@ void galileo_telemetry_decoder_gs::reset()
d_sent_tlm_failed_msg = false;
d_E6_TOW_set = false;
d_stat = 0;
d_received_tow_ms = std::numeric_limits<uint32_t>::max();
d_viterbi->reset();
d_valid_timetag = false;
if (d_there_are_e6_channels)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_received_tow_ms, 0ULL};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
if (d_enable_reed_solomon_inav == true)
{
d_inav_nav.enable_reed_solomon();
@ -870,7 +960,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
else
{
d_CRC_error_counter++;
if ((d_CRC_error_counter > CRC_ERROR_LIMIT) && (d_frame_type != 3))
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
gr::thread::scoped_lock lock(d_setlock);
@ -878,6 +968,14 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_stat = 0;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
d_E6_TOW_set = false;
d_valid_timetag = false;
if (d_there_are_e6_channels)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{std::numeric_limits<uint32_t>::max(), 0ULL};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
d_fnav_nav.set_flag_TOW_set(false);
d_inav_nav.set_flag_TOW_set(false);
}
@ -904,6 +1002,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW5() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW5_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
// timetag debug
if (d_valid_timetag == true)
{
@ -924,6 +1028,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW6() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW6_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
// timetag debug
if (d_valid_timetag == true)
{
@ -943,6 +1053,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW0() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW0_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
// timetag debug
if (d_valid_timetag == true)
{
@ -982,29 +1098,49 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW1() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
// d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_fnav_nav.set_TOW1_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
}
else if (d_fnav_nav.is_TOW2_set() == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW2() * 1000.0);
// d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.set_TOW2_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
}
else if (d_fnav_nav.is_TOW3_set() == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW3() * 1000.0);
// d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.set_TOW3_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
}
else if (d_fnav_nav.is_TOW4_set() == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW4() * 1000.0);
// d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.set_TOW4_flag(false);
if (d_there_are_e6_channels && !d_valid_timetag)
{
const std::pair<uint32_t, uint64_t> tow_and_sample{d_TOW_at_current_symbol_ms, current_symbol.Tracking_sample_counter};
const auto tmp_obj = std::make_shared<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>(d_satellite.get_PRN(), tow_and_sample);
this->message_port_pub(pmt::mp("TOW_from_TLM"), pmt::make_any(tmp_obj));
}
}
else
{
@ -1035,7 +1171,8 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
int rx_tow_at_preamble = d_current_timetag.tow_ms;
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
d_TOW_at_Preamble_ms = predicted_tow_at_preamble_ms;
d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * d_PRN_code_period_ms);
d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((d_required_symbols)*d_PRN_code_period_ms);
if (d_E6_TOW_set == false)
{
std::cout << " Sat PRN " << d_satellite.get_PRN() << " E6 TimeTag TOW at preamble: " << predicted_tow_at_preamble_ms
@ -1043,6 +1180,27 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_E6_TOW_set = true;
}
}
else
{
if (d_received_tow_ms < 604800000)
{
const int64_t diff = current_symbol.Tracking_sample_counter - d_received_sample_counter;
const double time_since_reference_ms = (double(diff) * 1000.0) / static_cast<double>(current_symbol.fs);
d_TOW_at_current_symbol_ms = d_received_tow_ms + static_cast<uint32_t>(time_since_reference_ms) + GALILEO_E6_CODE_PERIOD_MS;
d_TOW_at_Preamble_ms = (d_TOW_at_current_symbol_ms / 1000) * 1000;
d_E6_TOW_set = true;
}
}
if (d_E6_TOW_set && d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
{
d_nav_msg_packet.system = std::string(1, current_symbol.System);
d_nav_msg_packet.signal = std::string(current_symbol.Signal);
d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
d_nav_msg_packet.nav_message = "";
}
}
}
}
@ -1111,7 +1269,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
}
}
if (d_inav_nav.get_flag_TOW_set() == true || d_fnav_nav.get_flag_TOW_set() == true || d_cnav_nav.get_flag_CRC_test() == true)
if (current_symbol.Flag_valid_word == true)
{
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
// todo: Galileo to GPS time conversion should be moved to observable block.

5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -32,6 +32,7 @@
#include <boost/circular_buffer.hpp> // for boost::circular_buffer
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <pmt/pmt.h> // for pmt::pmt_t
#include <cstdint> // for int32_t, uint32_t
#include <fstream> // for std::ofstream
#include <memory> // for std::unique_ptr
@ -80,6 +81,7 @@ private:
galileo_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf, int frame_type);
void msg_handler_read_galileo_tow_map(const pmt::pmt_t &msg);
void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out);
void decode_INAV_word(float *page_part_symbols, int32_t frame_length);
void decode_FNAV_word(float *page_symbols, int32_t frame_length);
@ -111,6 +113,7 @@ private:
uint64_t d_sample_counter;
uint64_t d_preamble_index;
uint64_t d_last_valid_preamble;
uint64_t d_received_sample_counter;
int32_t d_mm;
int32_t d_codelength;
@ -130,6 +133,7 @@ private:
uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms;
uint32_t d_max_symbols_without_valid_frame;
uint32_t d_received_tow_ms;
char d_band; // This variable will store which band we are dealing with (Galileo E1 or E5b)
@ -148,6 +152,7 @@ private:
bool d_enable_reed_solomon_inav;
bool d_valid_timetag;
bool d_E6_TOW_set;
bool d_there_are_e6_channels;
};

4
src/algorithms/telemetry_decoder/libs/tlm_conf.cc
View File

@ -30,4 +30,8 @@ void Tlm_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
const std::string default_crc_stats_dumpname("telemetry_crc_stats");
dump_crc_stats_filename = configuration->property(role + ".dump_crc_stats_filename", default_crc_stats_dumpname);
enable_navdata_monitor = configuration->property("NavDataMonitor.enable_monitor", false);
if (configuration->property("Channels_E6.count", 0) > 0)
{
there_are_e6_channels = true;
}
}

1
src/algorithms/telemetry_decoder/libs/tlm_conf.h
View File

@ -42,6 +42,7 @@ public:
bool enable_reed_solomon{false}; // for INAV message in Galileo E1B
bool dump_crc_stats{false}; // telemetry CRC statistics
bool enable_navdata_monitor{false};
bool there_are_e6_channels{false};
};

2
src/core/libs/CMakeLists.txt
View File

@ -20,6 +20,7 @@ set(CORE_LIBS_SOURCES
galileo_e6_has_msg_receiver.cc
nav_message_monitor.cc
nav_message_udp_sink.cc
galileo_tow_map.cc
)
set(CORE_LIBS_HEADERS
@ -35,6 +36,7 @@ set(CORE_LIBS_HEADERS
nav_message_udp_sink.h
serdes_nav_message.h
nav_message_monitor.h
galileo_tow_map.h
)
if(ENABLE_FPGA)

98
src/core/libs/galileo_tow_map.cc Normal file
View File

@ -0,0 +1,98 @@
/*!
* \file galileo_tow_map.cc
* \brief GNU Radio block that stores TOW for Galileo channels
* \author Carles Fernandez-Prades, 2022. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_tow_map.h"
#include <glog/logging.h> // for LOG
#include <limits> // for std::numeric_limits
#include <memory> // for std::shared
#include <typeinfo> // for typeid
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
galileo_tow_map_sptr galileo_tow_map_make()
{
return galileo_tow_map_sptr(new galileo_tow_map());
}
galileo_tow_map::galileo_tow_map() : gr::block("galileo_tow_map", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
// register Gal E6 HAS input message port from telemetry blocks
this->message_port_register_in(pmt::mp("TOW_from_TLM"));
// register nav message monitor out
this->message_port_register_out(pmt::mp("TOW_to_TLM"));
// handler for input port
this->set_msg_handler(pmt::mp("TOW_from_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_galileo_tow_map(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&galileo_tow_map::msg_handler_galileo_tow_map, this, boost::placeholders::_1));
#else
boost::bind(&galileo_tow_map::msg_handler_galileo_tow_map, this, _1));
#endif
#endif
for (uint32_t prn = 0; prn < 37; prn++)
{
d_galileo_tow[prn] = std::pair<uint32_t, uint64_t>(std::numeric_limits<uint32_t>::max(), std::numeric_limits<uint64_t>::max());
}
}
void galileo_tow_map::msg_handler_galileo_tow_map(const pmt::pmt_t& msg)
{
gr::thread::scoped_lock lock(d_setlock);
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == typeid(std::shared_ptr<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>).hash_code())
{
const auto received_tow_map = wht::any_cast<std::shared_ptr<std::pair<uint32_t, std::pair<uint32_t, uint64_t>>>>(pmt::any_ref(msg));
const uint32_t received_prn = received_tow_map->first;
const uint32_t received_tow = received_tow_map->second.first;
const uint64_t received_sample_counter = received_tow_map->second.second;
d_galileo_tow.erase(received_prn);
if (received_tow < 604800000) // received TOW is in ms
{
d_galileo_tow[received_prn] = std::pair<uint32_t, uint64_t>(received_tow, received_sample_counter);
}
else
{
d_galileo_tow[received_prn] = std::pair<uint32_t, uint64_t>(std::numeric_limits<uint32_t>::max(), std::numeric_limits<uint64_t>::max());
}
const std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>> tmp_obj = std::make_shared<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>(d_galileo_tow);
this->message_port_pub(pmt::mp("TOW_to_TLM"), pmt::make_any(tmp_obj));
}
}
catch (const wht::bad_any_cast& e)
{
LOG(WARNING) << "galileo_tow_map Bad any_cast: " << e.what();
}
}

54
src/core/libs/galileo_tow_map.h Normal file
View File

@ -0,0 +1,54 @@
/*!
* \file galileo_tow_map.h
* \brief GNU Radio block that stores TOW for Galileo channels
* \author Carles Fernandez-Prades, 2022. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_TOW_MAP_H
#define GNSS_SDR_GALILEO_TOW_MAP_H
#include "gnss_block_interface.h" // for gnss_shared_ptr
#include <gnuradio/block.h> // for gr::block
#include <pmt/pmt.h> // for pmt::pmt_t
#include <cstdint>
#include <map>
#include <utility>
/** \addtogroup Core
* \{ */
/** \addtogroup Core_Receiver_Library
* \{ */
class galileo_tow_map;
using galileo_tow_map_sptr = gnss_shared_ptr<galileo_tow_map>;
galileo_tow_map_sptr galileo_tow_map_make();
class galileo_tow_map : public gr::block
{
public:
~galileo_tow_map() = default; //!< Default destructor
private:
friend galileo_tow_map_sptr galileo_tow_map_make();
galileo_tow_map();
void msg_handler_galileo_tow_map(const pmt::pmt_t& msg);
std::map<uint32_t, std::pair<uint32_t, uint64_t>> d_galileo_tow;
};
/** \} */
/** \} */
#endif // GNSS_SDR_GALILEO_TOW_MAP_H

47
src/core/receiver/gnss_flowgraph.cc
View File

@ -106,16 +106,26 @@ void GNSSFlowgraph::init()
{
enable_e6_has_rx_ = true;
gal_e6_has_rx_ = galileo_e6_has_msg_receiver_make();
galileo_tow_map_ = galileo_tow_map_make();
}
else
{
gal_e6_has_rx_ = nullptr;
galileo_tow_map_ = nullptr;
}
// 1. read the number of RF front-ends available (one file_source per RF front-end)
int sources_count_deprecated = configuration_->property("Receiver.sources_count", 1);
sources_count_ = configuration_->property("GNSS-SDR.num_sources", sources_count_deprecated);
// Avoid segmentation fault caused by wrong configuration
if (sources_count_ == 2 && block_factory->GetSignalSource(configuration_.get(), queue_.get(), 0)->implementation() == "Multichannel_File_Signal_Source")
{
std::cout << " * Please set GNSS-SDR.num_sources=1 in your configuraiion file\n";
std::cout << " if you are using the Multichannel_File_Signal_Source implementation.\n";
sources_count_ = 1;
}
int signal_conditioner_ID = 0;
for (int i = 0; i < sources_count_; i++)
@ -474,7 +484,12 @@ int GNSSFlowgraph::connect_desktop_flowgraph()
{
return 1;
}
if (connect_galileo_tow_map() != 0)
{
return 1;
}
}
// Activate acquisition in enabled channels
for (int i = 0; i < channels_count_; i++)
{
@ -582,6 +597,18 @@ int GNSSFlowgraph::connect_fpga_flowgraph()
return 1;
}
if (enable_e6_has_rx_)
{
if (connect_gal_e6_has() != 0)
{
return 1;
}
if (connect_galileo_tow_map() != 0)
{
return 1;
}
}
check_desktop_conf_in_fpga_env();
LOG(INFO) << "The GNU Radio flowgraph for the current GNSS-SDR configuration with FPGA off-loading has been successfully connected";
@ -781,6 +808,26 @@ int GNSSFlowgraph::connect_pvt()
}
int GNSSFlowgraph::connect_galileo_tow_map()
{
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("TOW_from_TLM"), galileo_tow_map_, pmt::mp("TOW_from_TLM"));
top_block_->msg_connect(galileo_tow_map_, pmt::mp("TOW_to_TLM"), channels_.at(i)->get_right_block(), pmt::mp("TOW_to_TLM"));
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect The Galileo TOW map internally: " << e.what();
top_block_->disconnect_all();
return 1;
}
return 0;
}
int GNSSFlowgraph::connect_sample_counter()
{
// connect the sample counter to the Signal Conditioner

3
src/core/receiver/gnss_flowgraph.h
View File

@ -27,6 +27,7 @@
#include "channel_status_msg_receiver.h"
#include "concurrent_queue.h"
#include "galileo_e6_has_msg_receiver.h"
#include "galileo_tow_map.h"
#include "gnss_sdr_sample_counter.h"
#include "gnss_signal.h"
#include "pvt_interface.h"
@ -171,6 +172,7 @@ private:
int connect_observables();
int connect_pvt();
int connect_sample_counter();
int connect_galileo_tow_map();
int connect_signal_sources_to_signal_conditioners();
int connect_signal_conditioners_to_channels();
@ -231,6 +233,7 @@ private:
gr::basic_block_sptr NavDataMonitor_;
channel_status_msg_receiver_sptr channels_status_; // class that receives and stores the current status of the receiver channels
galileo_e6_has_msg_receiver_sptr gal_e6_has_rx_;
galileo_tow_map_sptr galileo_tow_map_;
gnss_sdr_sample_counter_sptr ch_out_sample_counter_;
#if ENABLE_FPGA

2
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
View File

@ -143,7 +143,7 @@ void NmeaPrinterTest::conf()
TEST_F(NmeaPrinterTest, PrintLine)
{
std::string filename("nmea_test.nmea");
std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false);
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46));

20
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
View File

@ -141,7 +141,7 @@ void RinexPrinterTest::conf()
TEST_F(RinexPrinterTest, GalileoObsHeader)
{
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph;
@ -227,7 +227,7 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
TEST_F(RinexPrinterTest, GlonassObsHeader)
{
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false);
auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 1;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
@ -287,7 +287,7 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
auto eph_gps = Gps_Ephemeris();
eph_gal.PRN = 1;
eph_gps.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph_gal;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -357,7 +357,7 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
auto eph_gps = Gps_Ephemeris();
eph_glo.PRN = 1;
eph_gps.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -424,7 +424,7 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
bool no_more_finds = false;
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
@ -504,7 +504,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
bool no_more_finds = false;
auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 22;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
@ -586,7 +586,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
auto eph_cnav = Gps_CNAV_Ephemeris();
eph.PRN = 1;
eph_cnav.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false);
pvt_solution->gps_ephemeris_map[1] = eph;
pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
std::map<int, Gnss_Synchro> gnss_observables_map;
@ -674,7 +674,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
{
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false);
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph;
@ -774,7 +774,7 @@ TEST_F(RinexPrinterTest, MixedObsLog)
auto eph_gal = Galileo_Ephemeris();
eph_gps.PRN = 1;
eph_gal.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->galileo_ephemeris_map[1] = eph_gal;
std::map<int, Gnss_Synchro> gnss_observables_map;
@ -898,7 +898,7 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
auto eph_glo = Glonass_Gnav_Ephemeris();
eph_gps.PRN = 1;
eph_glo.PRN = 1;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", false, false);
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
std::map<int, Gnss_Synchro> gnss_observables_map;

2
src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
View File

@ -383,7 +383,7 @@ TEST(RTKLibSolverTest, test1)
bool save_to_mat = false;
rtk_t rtk = configure_rtklib_options();
auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, flag_dump_to_file, save_to_mat);
auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat);
d_ls_pvt->set_averaging_depth(1);
// load ephemeris