mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-15 19:55:47 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
5aec42ddef
@ -29,7 +29,7 @@ GNSS-SDR.SUPL_CI=0x31b0
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SignalSource.implementation=Flexiband_Signal_Source
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SignalSource.flag_read_file=true
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SignalSource.signal_file=/home/javier/signals/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
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SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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@ -38,7 +38,7 @@ SignalSource.item_type=gr_complex
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SignalSource.firmware_file=flexiband_III-1b.bit
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;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
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SignalSource.RF_channels=3
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SignalSource.RF_channels=1
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;#frontend channels gain. Not usable yet!
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SignalSource.gain1=0
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@ -324,9 +324,10 @@ Resampler2.implementation=Pass_Through
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available GPS satellite channels.
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Channels_1C.count=1
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Channels_2S.count=1
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Channels_5X.count=2
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Channels_1C.count=0
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Channels_1B.count=10
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Channels_2S.count=0
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Channels_5X.count=0
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;#GPS.prns=7,8
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@ -343,30 +344,50 @@ Channels.in_acquisition=1
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;# CHANNEL CONNECTION
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Channel0.RF_channel_ID=0
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Channel1.RF_channel_ID=1
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Channel2.RF_channel_ID=2
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Channel3.RF_channel_ID=2
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Channel1.RF_channel_ID=0
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Channel2.RF_channel_ID=0
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Channel3.RF_channel_ID=0
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Channel4.RF_channel_ID=0
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Channel5.RF_channel_ID=0
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Channel6.RF_channel_ID=0
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Channel7.RF_channel_ID=0
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Channel8.RF_channel_ID=0
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Channel9.RF_channel_ID=0
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Channel10.RF_channel_ID=1
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Channel11.RF_channel_ID=1
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Channel12.RF_channel_ID=1
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Channel13.RF_channel_ID=1
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Channel14.RF_channel_ID=1
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Channel15.RF_channel_ID=1
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Channel16.RF_channel_ID=1
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Channel17.RF_channel_ID=1
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Channel18.RF_channel_ID=1
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Channel19.RF_channel_ID=1
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Channel10.RF_channel_ID=0
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Channel11.RF_channel_ID=0
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Channel12.RF_channel_ID=0
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Channel13.RF_channel_ID=0
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Channel14.RF_channel_ID=0
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Channel15.RF_channel_ID=0
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Channel16.RF_channel_ID=0
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Channel17.RF_channel_ID=0
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Channel18.RF_channel_ID=0
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Channel19.RF_channel_ID=0
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Channel20.RF_channel_ID=0
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Channel21.RF_channel_ID=0
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Channel22.RF_channel_ID=0
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Channel23.RF_channel_ID=0
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Channel24.RF_channel_ID=0
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Channel25.RF_channel_ID=0
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Channel26.RF_channel_ID=0
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Channel27.RF_channel_ID=0
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Channel28.RF_channel_ID=0
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Channel29.RF_channel_ID=0
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Channel30.RF_channel_ID=2
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Channel31.RF_channel_ID=2
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Channel32.RF_channel_ID=2
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Channel33.RF_channel_ID=2
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Channel34.RF_channel_ID=2
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Channel35.RF_channel_ID=2
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Channel36.RF_channel_ID=2
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Channel37.RF_channel_ID=2
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Channel38.RF_channel_ID=2
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Channel39.RF_channel_ID=2
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;######### ACQUISITION GENERIC CONFIG ######
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;#The following options are specific to each channel and overwrite the generic options
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;# GPS L1 CA
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Acquisition_1C.dump=false
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Acquisition_1C.dump_filename=./acq_dump.dat
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Acquisition_1C.item_type=gr_complex
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@ -379,6 +400,30 @@ Acquisition_1C.doppler_step=250
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Acquisition_1C.bit_transition_flag=false
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Acquisition_1C.max_dwells=1
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;# Galileo E1
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition_1B.dump=false
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;#filename: Log path and filename
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Acquisition_1B.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition_1B.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition_1B.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition_1B.sampled_ms=4
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
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;#threshold: Acquisition threshold
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;Acquisition_1B.threshold=0
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;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition_1B.pfa=0.0000002
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition_1B.doppler_max=5000
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;#doppler_max: Doppler step in the grid search [Hz]
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Acquisition_1B.doppler_step=125
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;# GPS L2C M
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Acquisition_2S.dump=false
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Acquisition_2S.dump_filename=./acq_dump.dat
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@ -399,16 +444,14 @@ Acquisition_5X.item_type=gr_complex
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Acquisition_5X.if=0
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Acquisition_5X.coherent_integration_time_ms=1
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Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
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Acquisition_5X.threshold=0.008
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Acquisition_5X.doppler_max=10000
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Acquisition_5X.doppler_step=250
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Acquisition_5X.threshold=0.009
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Acquisition_5X.doppler_max=5000
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Acquisition_5X.doppler_step=125
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Acquisition_5X.bit_transition_flag=false
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Acquisition_5X.max_dwells=1
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Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
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Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
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;######### TRACKING CONFIG ############
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;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
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@ -422,6 +465,28 @@ Tracking_1C.dll_bw_hz=3.0;
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Tracking_1C.order=3;
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Tracking_1C.early_late_space_chips=0.5;
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;######### GALILEO E1 TRK CONFIG ############
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;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
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Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking_1B.item_type=gr_complex
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;#sampling_frequency: Signal Intermediate Frequency in [Hz]
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Tracking_1B.if=0
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;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
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Tracking_1B.dump=false
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;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
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Tracking_1B.dump_filename=../data/veml_tracking_ch_
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;#pll_bw_hz: PLL loop filter bandwidth [Hz]
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Tracking_1B.pll_bw_hz=15.0;
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;#dll_bw_hz: DLL loop filter bandwidth [Hz]
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Tracking_1B.dll_bw_hz=2.0;
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;#order: PLL/DLL loop filter order [2] or [3]
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Tracking_1B.order=3;
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;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
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Tracking_1B.early_late_space_chips=0.15;
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;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
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Tracking_1B.very_early_late_space_chips=0.6;
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;######### GPS L2C GENERIC TRACKING CONFIG ############
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Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
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@ -434,6 +499,7 @@ Tracking_2S.dll_bw_hz=0.25;
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Tracking_2S.order=2;
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Tracking_2S.early_late_space_chips=0.5;
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;######### GALILEO E5 TRK CONFIG ############
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Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
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Tracking_5X.item_type=gr_complex
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Tracking_5X.if=0
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@ -451,6 +517,9 @@ Tracking_5X.early_late_space_chips=0.5;
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TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder_1C.dump=false
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TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
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TelemetryDecoder_1B.dump=false
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TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
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TelemetryDecoder_2S.dump=false
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File diff suppressed because it is too large
Load Diff
@ -74,21 +74,21 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
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// ############# ENABLE DATA FILE LOG #################
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if (d_flag_dump_enabled == true)
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{
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if (d_dump_file.is_open() == false)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure &e)
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{
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LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
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}
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}
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure &e)
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{
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LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
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}
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}
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}
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}
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@ -118,194 +118,243 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
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for(gnss_observables_iter = gnss_observables_map.begin();
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gnss_observables_iter != gnss_observables_map.end();
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gnss_observables_iter++)
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{
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switch(gnss_observables_iter->second.System)
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{
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switch(gnss_observables_iter->second.System)
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case 'E':
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// Galileo E1
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if(sig_.compare("1B") == 0)
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{
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case 'E':
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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|
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}
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// Galileo E5
|
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if(sig_.compare("5X") == 0)
|
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{
|
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
|
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{
|
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bool found_E1_obs=false;
|
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for (int i = 0; i < valid_obs; i++)
|
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{
|
||||
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
|
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{
|
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
|
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gnss_observables_iter->second,
|
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galileo_ephemeris_iter->second.WN_5,
|
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0);
|
||||
valid_obs++;
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2);//Band 3 (L5/E5)
|
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found_E1_obs=true;
|
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break;
|
||||
}
|
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else // the ephemeris are not available for this SV
|
||||
{
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
|
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}
|
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break;
|
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}
|
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if (!found_E1_obs)
|
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{
|
||||
//insert Galileo E5 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
|
||||
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
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gnss_observables_iter->second,
|
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galileo_ephemeris_iter->second.WN_5,
|
||||
2); //Band 3 (L5/E5)
|
||||
valid_obs++;
|
||||
}
|
||||
}
|
||||
case 'G':
|
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else // the ephemeris are not available for this SV
|
||||
{
|
||||
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
|
||||
std::string sig_(gnss_observables_iter->second.Signal);
|
||||
if(sig_.compare("1C") == 0)
|
||||
{
|
||||
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_ephemeris_iter != gps_ephemeris_map.end())
|
||||
{
|
||||
//convert ephemeris from GNSS-SDR class to RTKLIB structure
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_ephemeris_iter->second.i_GPS_week,
|
||||
0);
|
||||
valid_obs++;
|
||||
}
|
||||
else // the ephemeris are not available for this SV
|
||||
{
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
|
||||
}
|
||||
}
|
||||
if(sig_.compare("2S") == 0)
|
||||
{
|
||||
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
|
||||
{
|
||||
// 1. Find the same satellite in GPS L1 band
|
||||
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_ephemeris_iter != gps_ephemeris_map.end())
|
||||
{
|
||||
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
|
||||
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
|
||||
for (int i = 0; i < valid_obs; i++)
|
||||
{
|
||||
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
|
||||
{
|
||||
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(obs_data[valid_obs],
|
||||
gnss_observables_iter->second,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
1);//Band 2 (L2)
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// 3. If not found, insert the GPS L2 ephemeris and the observation
|
||||
//convert ephemeris from GNSS-SDR class to RTKLIB structure
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
1);//Band 2 (L2)
|
||||
valid_obs++;
|
||||
}
|
||||
}
|
||||
else // the ephemeris are not available for this SV
|
||||
{
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
|
||||
}
|
||||
}
|
||||
break;
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
|
||||
}
|
||||
default :
|
||||
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
|
||||
break;
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 'G':
|
||||
{
|
||||
// GPS L1
|
||||
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
|
||||
std::string sig_(gnss_observables_iter->second.Signal);
|
||||
if(sig_.compare("1C") == 0)
|
||||
{
|
||||
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_ephemeris_iter != gps_ephemeris_map.end())
|
||||
{
|
||||
//convert ephemeris from GNSS-SDR class to RTKLIB structure
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_ephemeris_iter->second.i_GPS_week,
|
||||
0);
|
||||
valid_obs++;
|
||||
}
|
||||
else // the ephemeris are not available for this SV
|
||||
{
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
|
||||
}
|
||||
}
|
||||
//GPS L2
|
||||
if(sig_.compare("2S") == 0)
|
||||
{
|
||||
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
|
||||
{
|
||||
// 1. Find the same satellite in GPS L1 band
|
||||
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
||||
if (gps_ephemeris_iter != gps_ephemeris_map.end())
|
||||
{
|
||||
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
|
||||
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
|
||||
for (int i = 0; i < valid_obs; i++)
|
||||
{
|
||||
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
|
||||
{
|
||||
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
|
||||
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
|
||||
gnss_observables_iter->second,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
1);//Band 2 (L2)
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// 3. If not found, insert the GPS L2 ephemeris and the observation
|
||||
//convert ephemeris from GNSS-SDR class to RTKLIB structure
|
||||
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
|
||||
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
1);//Band 2 (L2)
|
||||
valid_obs++;
|
||||
}
|
||||
}
|
||||
else // the ephemeris are not available for this SV
|
||||
{
|
||||
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
default :
|
||||
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// **********************************************************************
|
||||
// ****** SOLVE PVT******************************************************
|
||||
// **********************************************************************
|
||||
// **********************************************************************
|
||||
// ****** SOLVE PVT******************************************************
|
||||
// **********************************************************************
|
||||
|
||||
b_valid_position = false;
|
||||
if (valid_obs > 0)
|
||||
b_valid_position = false;
|
||||
if (valid_obs > 0)
|
||||
{
|
||||
int result = 0;
|
||||
nav_t nav_data;
|
||||
nav_data.eph = eph_data;
|
||||
nav_data.n = valid_obs;
|
||||
for (int i = 0; i < MAXSAT; i++)
|
||||
{
|
||||
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
|
||||
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
|
||||
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L2 */
|
||||
}
|
||||
{
|
||||
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
|
||||
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)
|
||||
{
|
||||
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
|
||||
d_rx_dt_s = 0; //reset rx time estimation
|
||||
d_valid_observations = 0;
|
||||
}
|
||||
{
|
||||
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
|
||||
d_rx_dt_s = 0; //reset rx time estimation
|
||||
d_valid_observations = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
|
||||
pvt_sol = rtk_.sol;
|
||||
b_valid_position = true;
|
||||
arma::vec rx_position_and_time(4);
|
||||
rx_position_and_time(0) = pvt_sol.rr[0];
|
||||
rx_position_and_time(1) = pvt_sol.rr[1];
|
||||
rx_position_and_time(2) = pvt_sol.rr[2];
|
||||
rx_position_and_time(3) = pvt_sol.dtr[0];
|
||||
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
|
||||
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
|
||||
DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
|
||||
boost::posix_time::ptime p_time;
|
||||
gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
|
||||
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
d_position_UTC_time = p_time;
|
||||
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
|
||||
|
||||
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
|
||||
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
|
||||
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
|
||||
|
||||
// ######## LOG FILE #########
|
||||
if(d_flag_dump_enabled == true)
|
||||
{
|
||||
d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
|
||||
pvt_sol = rtk_.sol;
|
||||
b_valid_position = true;
|
||||
arma::vec rx_position_and_time(4);
|
||||
rx_position_and_time(0) = pvt_sol.rr[0];
|
||||
rx_position_and_time(1) = pvt_sol.rr[1];
|
||||
rx_position_and_time(2) = pvt_sol.rr[2];
|
||||
rx_position_and_time(3) = pvt_sol.dtr[0];
|
||||
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
|
||||
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
|
||||
DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
|
||||
boost::posix_time::ptime p_time;
|
||||
gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
|
||||
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
d_position_UTC_time = p_time;
|
||||
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
|
||||
|
||||
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
|
||||
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
|
||||
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
|
||||
|
||||
// ######## LOG FILE #########
|
||||
if(d_flag_dump_enabled == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
// PVT GPS time
|
||||
tmp_double = Rx_time;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position East [m]
|
||||
tmp_double = rx_position_and_time(0);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position North [m]
|
||||
tmp_double = rx_position_and_time(1);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position Up [m]
|
||||
tmp_double = rx_position_and_time(2);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// User clock offset [s]
|
||||
tmp_double = rx_position_and_time(3);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Latitude [deg]
|
||||
tmp_double = d_latitude_d;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Longitude [deg]
|
||||
tmp_double = d_longitude_d;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Height [m]
|
||||
tmp_double = d_height_m;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
|
||||
}
|
||||
}
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
// PVT GPS time
|
||||
tmp_double = Rx_time;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position East [m]
|
||||
tmp_double = rx_position_and_time(0);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position North [m]
|
||||
tmp_double = rx_position_and_time(1);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position Up [m]
|
||||
tmp_double = rx_position_and_time(2);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// User clock offset [s]
|
||||
tmp_double = rx_position_and_time(3);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Latitude [deg]
|
||||
tmp_double = d_latitude_d;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Longitude [deg]
|
||||
tmp_double = d_longitude_d;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// GEO user position Height [m]
|
||||
tmp_double = d_height_m;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return b_valid_position;
|
||||
}
|
||||
return b_valid_position;
|
||||
}
|
||||
|
||||
@ -147,6 +147,7 @@ int hybrid_observables_cc::general_work (int noutput_items,
|
||||
*/
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
current_gnss_synchro[i].Flag_valid_pseudorange=false;
|
||||
n_consume[i] = ninput_items[i];// full throttle
|
||||
for (int j = 0; j < n_consume[i]; j++)
|
||||
{
|
||||
@ -186,7 +187,6 @@ int hybrid_observables_cc::general_work (int noutput_items,
|
||||
gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
|
||||
d_gnss_synchro_history_queue[i].front().Channel_ID,
|
||||
d_gnss_synchro_history_queue[i].front()));
|
||||
|
||||
}
|
||||
gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
|
||||
gnss_synchro_map.end(),
|
||||
|
||||
@ -188,10 +188,9 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols,int fram
|
||||
}
|
||||
|
||||
galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
|
||||
Gnss_Satellite satellite,
|
||||
bool dump) :
|
||||
gr::block("galileo_e5a_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
Gnss_Satellite satellite, bool dump) : gr::block("galileo_e5a_telemetry_decoder_cc",
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// Telemetry Bit transition synchronization port out
|
||||
this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
|
||||
@ -245,10 +244,8 @@ galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc()
|
||||
int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
//
|
||||
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
|
||||
const Gnss_Synchro *in = (const Gnss_Synchro *) input_items[0]; // input
|
||||
Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
|
||||
/* Terminology: Prompt: output from tracking Prompt correlator (Prompt samples)
|
||||
* Symbol: encoded navigation bits. 1 symbol = 20 samples in E5a
|
||||
* Bit: decoded navigation bits forming words as described in Galileo ICD
|
||||
@ -260,9 +257,9 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
if (in[0][0].Prompt_I != 0)
|
||||
if (in[0].Prompt_I != 0)
|
||||
{
|
||||
d_current_symbol += in[0][0].Prompt_I;
|
||||
d_current_symbol += in[0].Prompt_I;
|
||||
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
|
||||
{
|
||||
if (d_current_symbol > 0)
|
||||
@ -290,7 +287,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
d_current_symbol += in[0][0].Prompt_I;
|
||||
d_current_symbol += in[0].Prompt_I;
|
||||
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
|
||||
{
|
||||
if (d_current_symbol > 0)
|
||||
@ -354,7 +351,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
d_current_symbol += in[0][0].Prompt_I;
|
||||
d_current_symbol += in[0].Prompt_I;
|
||||
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
|
||||
{
|
||||
if (d_current_symbol > 0)
|
||||
@ -415,7 +412,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
|
||||
<< in[0][0].Tracking_sample_counter << " [samples]"; }
|
||||
<< in[0].Tracking_sample_counter << " [samples]"; }
|
||||
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
|
||||
}
|
||||
else
|
||||
@ -443,12 +440,12 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
break;
|
||||
}
|
||||
}
|
||||
consume_each(1);
|
||||
|
||||
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
current_synchro_data = in[0][0];
|
||||
current_synchro_data = in[0];
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
|
||||
//update TOW at the preamble instant
|
||||
@ -524,7 +521,8 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
}
|
||||
d_sample_counter++; //count for the processed samples
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_synchro_data;
|
||||
out[0] = current_synchro_data;
|
||||
consume_each(1);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
@ -110,7 +110,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
|
||||
d_channel = 0;
|
||||
flag_PLL_180_deg_phase_locked = false;
|
||||
//set minimum output buffer to avoid deadlock when combined with other GNSS systems or signals with slower symbol rates
|
||||
this->set_min_output_buffer(3000);
|
||||
this->set_min_output_buffer(5000);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -400,7 +400,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items __attri
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
current_synchro_data.Flag_valid_symbol_output = true;
|
||||
current_synchro_data.correlation_length_ms = 4;
|
||||
current_synchro_data.correlation_length_ms = Galileo_E1_CODE_PERIOD_MS;
|
||||
|
||||
}
|
||||
else
|
||||
|
||||
@ -646,6 +646,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
|
||||
}
|
||||
|
||||
current_synchro_data.fs=d_fs_in;
|
||||
current_synchro_data.correlation_length_ms=GALILEO_E5a_CODE_PERIOD_MS;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
if(d_dump)
|
||||
|
||||
@ -52,6 +52,7 @@ const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
|
||||
const double Galileo_E1_FREQ_HZ = FREQ1; //!< Galileo E1 carrier frequency [Hz]
|
||||
const double Galileo_E1_CODE_CHIP_RATE_HZ = 1.023e6; //!< Galileo E1 code rate [chips/s]
|
||||
const double Galileo_E1_CODE_PERIOD = 0.004; //!< Galileo E1 code period [s]
|
||||
const int Galileo_E1_CODE_PERIOD_MS = 4; //!< Galileo E1 code period [ms]
|
||||
const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-carrier 'a' rate [Hz]
|
||||
const double Galileo_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6; //!< Galileo E1 sub-carrier 'b' rate [Hz]
|
||||
const double Galileo_E1_B_CODE_LENGTH_CHIPS = 4092.0; //!< Galileo E1-B code length [chips]
|
||||
|
||||
@ -46,7 +46,8 @@ const double Galileo_E5a_Q_TIERED_CODE_PERIOD = 0.100; //!< Galileo E5a-Q tie
|
||||
const int Galileo_E5a_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5a primary code length [chips]
|
||||
const int Galileo_E5a_I_SECONDARY_CODE_LENGTH = 20; //!< Galileo E5a-I secondary code length [chips]
|
||||
const int Galileo_E5a_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5a-Q secondary code length [chips]
|
||||
const double GALILEO_E5a_CODE_PERIOD = 0.001;
|
||||
const double GALILEO_E5a_CODE_PERIOD = 0.001; //!< Galileo E1 primary code period [s]
|
||||
const int GALILEO_E5a_CODE_PERIOD_MS = 1; //!< Galileo E1 primary code period [ms]
|
||||
const int Galileo_E5a_SYMBOL_RATE_BPS = 50; //!< Galileo E5a symbol rate [bits/second]
|
||||
const int Galileo_E5a_NUMBER_OF_CODES = 50;
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user