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Code Issues Releases Wiki Activity

Fix GPS L5

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This commit is contained in:
Antonio Ramos 2017-12-14 16:39:34 +01:00
parent 26a521907a
commit 52aabf05c1
10 changed files with 53 additions and 63 deletions

7
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@ -123,7 +123,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
LOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>) )
{
@ -335,7 +335,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_L2CM.xml";
std::string file_name = "eph_GPS_L2CM_L5.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{
@ -470,7 +470,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("L5") == 0)))
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));

3
src/algorithms/PVT/libs/rtklib_solver.cc

@ -275,7 +275,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
}
}
//GPS L5
if(sig_.compare("5X") == 0)
if(sig_.compare("L5") == 0)
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -346,7 +346,6 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
}
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
if(result == 0)
{

8
src/algorithms/libs/gps_l5_signal.cc

@ -186,7 +186,7 @@ void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn);
make_l5i(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
@ -206,7 +206,7 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
int32_t* _code = new int32_t[GPS_L5i_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn);
make_l5i(_code, _prn - 1);
}
signed int _samplesPerCode, _codeValueIndex;
@ -253,7 +253,7 @@ void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn);
make_l5q(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
@ -273,7 +273,7 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
int32_t* _code = new int32_t[GPS_L5q_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn);
make_l5q(_code, _prn - 1);
}
signed int _samplesPerCode, _codeValueIndex;

10
src/algorithms/libs/rtklib/rtklib_pntpos.cc

@ -97,7 +97,13 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (NFREQ >= 3 && (sys & (SYS_GAL | SYS_SBS))) j = 2;
if (sys & (SYS_GAL | SYS_SBS)) {j = 2;}
if (sys == SYS_GPS)
{
if(obs->code[1] != CODE_NONE) {j = 1;}
else if(obs->code[2] != CODE_NONE) {j = 2;}
}
if (NFREQ<2 || lam[i] == 0.0 || lam[j] == 0.0)
{
@ -132,7 +138,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
P2_C2 = nav->cbias[obs->sat-1][2];
/* if no P1-P2 DCB, use TGD instead */
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS)))
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS))) //CHECK!
{
P1_P2 = (1.0 - gamma_) * gettgd(obs->sat, nav);
}

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc

@ -170,12 +170,6 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word = d_flag_valid_word;
// if (flag_PLL_180_deg_phase_locked == true)
// {
// //correct the accumulated phase for the Costas loop phase shift, if required
// current_synchro_data.Carrier_phase_rads += GPS_PI;
// }
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
@ -192,7 +186,7 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
LOG(WARNING) << "Exception writing Telemetry GPS L2 dump file " << e.what();
}
}
@ -230,7 +224,7 @@ void gps_l2c_telemetry_decoder_cc::set_channel(int channel)
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L2 dump file " << e.what();
}
}
}

60
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc

@ -62,14 +62,10 @@ gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc(
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite;
//set_output_multiple (1);
d_channel = 0;
d_flag_valid_word = false;
d_TOW_at_current_symbol = 0;
d_TOW_at_Preamble = 0;
d_state = 0; //initial state
d_crc_error_count = 0;
d_TOW_at_current_symbol = 0.0;
d_TOW_at_Preamble = 0.0;
//initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder);
for(int aux = 0; aux < GPS_L5_NH_CODE_LENGTH; aux++)
@ -117,33 +113,30 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
current_synchro_data = in[0];
consume_each(1); //one by one
sym_hist.push_back(in[0].Prompt_I);
double symbol_value = 0.0;
int corr_NH = 0;
int symbol_value = 0;
//Search correlation with Neuman-Hofman Code (see IS-GPS-705D)
if(sym_hist.size() == GPS_L5_NH_CODE_LENGTH)
{
std::deque<double>::iterator it;
int corr_NH = 0;
it = sym_hist.begin();
for(int i = 0; i < GPS_L5_NH_CODE_LENGTH; i++)
{
if((bits_NH[i] * (*it)) > 0.0){corr_NH += 1;}
else{corr_NH -= 1;}
it++;
if((bits_NH[i] * sym_hist.at(i)) > 0.0) {corr_NH += 1;}
else {corr_NH -= 1;}
}
if(abs(corr_NH) == GPS_L5_NH_CODE_LENGTH)
{
sync_NH = true;
if(corr_NH > 0) {symbol_value = 1;}
else {symbol_value = -1;}
new_sym = true;
sym_hist.clear();
}
if(abs(corr_NH) == GPS_L5_NH_CODE_LENGTH){sync_NH = true;}
else
{
sym_hist.pop_front();
sync_NH = false;
}
if (sync_NH)
{
new_sym = true;
for(it = sym_hist.begin(); it != sym_hist.end(); it++)
{
symbol_value += (*it);
}
sym_hist.clear();
new_sym = false;
}
}
@ -154,7 +147,7 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
//add the symbol to the decoder
if(new_sym)
{
u8 symbol_clip = static_cast<u8>(symbol_value > 0.0) * 255;
u8 symbol_clip = static_cast<u8>(symbol_value > 0) * 255;
flag_new_cnav_frame = cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay);
new_sym = false;
}
@ -162,7 +155,6 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
//check if new CNAV frame is available
if (flag_new_cnav_frame == true)
{
std::cout << "NEW CNAV FRAME" << std::endl;
std::bitset<GPS_L5_CNAV_DATA_PAGE_BITS> raw_bits;
//Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
for (u32 i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS ; i++)
@ -177,31 +169,31 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
{
// get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << std::endl;
std::cout << "New GPS L5 CNAV message received: ephemeris from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_iono() == true)
{
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << std::endl;
std::cout << "New GPS L5 CNAV message received: iono model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_utc_model() == true)
{
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
std::cout << "New GPS L5 CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
//update TOW at the preamble instant
d_TOW_at_Preamble = static_cast<int>(msg.tow);
d_TOW_at_Preamble = static_cast<double>(msg.tow) * 6.0;
//* The time of the last input symbol can be computed from the message ToW and
//* delay by the formulae:
//* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L5i_PERIOD + 6 * GPS_L5i_PERIOD;
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 10
d_TOW_at_current_symbol = (static_cast<double>(msg.tow) * 6.0) + (static_cast<double>(delay) + 12.0) * GPS_L5i_SYMBOL_PERIOD;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
d_flag_valid_word = true;
}
@ -232,7 +224,7 @@ int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
@ -246,12 +238,14 @@ void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite & satellite
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
d_CNAV_Message.reset();
}
void gps_l5_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
d_CNAV_Message.reset();
LOG(INFO) << "GPS L5 CNAV channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
@ -270,7 +264,7 @@ void gps_l5_telemetry_decoder_cc::set_channel(int channel)
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what();
}
}
}

9
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h

@ -58,7 +58,7 @@ gps_l5_telemetry_decoder_cc_sptr
gps_l5_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
/*!
* \brief This class implements a block that decodes the SBAS integrity and corrections data defined in RTCA MOPS DO-229
* \brief This class implements a GPS L5 Telemetry decoder
*
*/
class gps_l5_telemetry_decoder_cc : public gr::block
@ -67,10 +67,6 @@ public:
~gps_l5_telemetry_decoder_cc();
void set_satellite(const Gnss_Satellite & satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
/*!
* \brief This is where all signal processing takes place
*/
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
@ -89,9 +85,6 @@ private:
cnav_msg_decoder_t d_cnav_decoder;
int d_state;
int d_crc_error_count;
double d_TOW_at_current_symbol;
double d_TOW_at_Preamble;
bool d_flag_valid_word;

3
src/algorithms/telemetry_decoder/libs/libswiftcnav/cnav_msg.c

@ -411,7 +411,8 @@ void cnav_msg_decoder_init(cnav_msg_decoder_t *dec)
* The time of the last input symbol can be computed from the message ToW and
* delay by the formulae:
* \code
* symbolTime_ms = msg->tow * 6000 + *pdelay * 20
* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 (L2)
* symbolTime_ms = msg->tow * 6000 + *pdelay * 10 (L5)
* \endcode
*
* \param[in,out] dec Decoder object.

5
src/core/system_parameters/GPS_L5.h

@ -51,8 +51,9 @@ const double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1
const double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const double GPS_L5i_SYMBOL_PERIOD = 0.01; //!< GPS L5 symbol period [seconds]
const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]

1
src/core/system_parameters/gps_cnav_navigation_message.cc

@ -40,6 +40,7 @@ void Gps_CNAV_Navigation_Message::reset()
b_flag_ephemeris_1 = false;
b_flag_ephemeris_2 = false;
b_flag_iono_valid = false;
b_flag_utc_valid = false;
// satellite positions
d_satpos_X = 0;