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Merge branch 'glonass' of https://github.com/gnss-sdr/gnss-sdr into glonass

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This commit is contained in:
Carles Fernandez 2017-11-21 18:06:33 +01:00
commit 5d85d15ad8
17 changed files with 481 additions and 188 deletions
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9
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1G Channel.signal=1G
Channels.in_acquisition=1 Channels.in_acquisition=1
Channels_1G.count=5 Channels_1G.count=8
Channel0.satellite=24 ; k= Channel0.satellite=24 ; k=
Channel1.satellite=1 ; k=1 Channel1.satellite=1 ; k=1
@ -43,9 +43,10 @@ Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0 Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250 Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false; Acquisition_1G.dump=true;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=10 Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
@ -67,7 +68,7 @@ Observables.dump_filename=/archive/glo_observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static PVT.positioning_mode=Single
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen PVT.trop_model=Saastamoinen

144
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf Normal file
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@ -0,0 +1,144 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=6625000
Receiver.sources_count=2
SignalSource.repeat=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=6625000
SignalSource0.samples=0
SignalSource0.dump=false;
SignalSource0.dump_filename=/archive/signal_glonass.bin
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=6625000
SignalSource1.samples=0
SignalSource1.dump=false;
SignalSource1.dump_filename=/archive/signal_glonass.bin
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.item_type=gr_complex
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=6625000
InputFilter0.IF=60000
Resampler0.implementation=Direct_Resampler
Resampler0.sample_freq_in=6625000
Resampler0.sample_freq_out=6625000
Resampler0.item_type=gr_complex
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Ibyte_To_Complex
InputFilter1.implementation=Pass_Through
InputFilter1.item_type=gr_complex
Resampler1.implementation=Direct_Resampler
Resampler1.sample_freq_in=6625000
Resampler1.sample_freq_out=6625000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels.in_acquisition=1
Channels_1G.count=5
Channels_1C.count=5
;# Defining GLONASS satellites
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=1
Channel6.RF_channel_ID=1
Channel7.RF_channel_ID=1
Channel8.RF_channel_ID=1
Channel9.RF_channel_ID=1
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.0
Acquisition_1C.pfa=0.00001
Acquisition_1C.if=0
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false;
Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
;Acquisition_1C.coherent_integration_time_ms=10
Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
Acquisition_1G.item_type=gr_complex
Acquisition_1G.threshold=0.0
Acquisition_1G.pfa=0.00001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=10
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.early_late_space_chips=0.5
Tracking_1C.pll_bw_hz=20.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=/archive/gps_tracking_ch_
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
Tracking_1G.item_type=gr_complex
Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump_filename=/archive/gnss_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

93
conf/gnss-sdr_GPS_L1_CA_ibyte.conf Normal file
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@ -0,0 +1,93 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_hz=6625000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=ibyte
SignalSource.sampling_frequency=6625000
;SignalSource.freq=0
;SignalSource.samples=66250000
SignalSource.samples=0
SignalSource.dump=false;
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ibyte_To_Complex
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.70
InputFilter.band2_begin=0.80
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=6625000
InputFilter.IF=60000
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=6625000
Resampler.sample_freq_out=6625000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1C
Channels.in_acquisition=1
Channels_1C.count=6
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.01
;Acquisition_1C.pfa=0.00001
Acquisition_1C.if=0
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false;
Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
;Acquisition_1C.coherent_integration_time_ms=10
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=60000
Tracking_1C.early_late_space_chips=0.5
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.dump=false;
Tracking_1C.dump_filename=/archive/gps_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump_filename=/archive/gps_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

169
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
} }
std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1019_output == true) if(flag_write_RTCM_1019_output == true)
{ {
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
} }
} }
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
// This is a channel with valid GPS signal // This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{ {
gps_channel = i; gps_channel = i;
} }
@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if(system.compare("R") == 0) if(system.compare("R") == 0)
{ {
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
glo_channel = i; glo_channel = i;
} }
@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if(flag_write_RTCM_MSM_output == true) if(flag_write_RTCM_MSM_output == true)
{ {
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
} }
if(flag_write_RTCM_MSM_output == true) if(flag_write_RTCM_MSM_output == true)
{ {
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
} }
if(flag_write_RTCM_1045_output == true) if(flag_write_RTCM_1045_output == true)
{ {
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
} }
@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
std::string system(&gnss_observables_iter->second.System, 1); std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0) if(gal_channel == 0)
{ {
if(system.compare("G") == 0) if(system.compare("E") == 0)
{ {
// This is a channel with valid GPS signal // This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
{ {
gps_channel = i; gal_channel = i;
} }
} }
} }
@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{ {
for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ ) for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ )
@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{
gps_channel = i;
}
}
}
if(glo_channel == 0)
{
if(system.compare("R") == 0)
{
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
glo_channel = i;
}
}
}
i++;
}
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
{
if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
}
}
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gal_channel == 0)
{
if(system.compare("E") == 0)
{
// This is a channel with valid GPS signal
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
{
gal_channel = i;
}
}
}
if(glo_channel == 0)
{
if(system.compare("R") == 0)
{
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
glo_channel = i;
}
}
}
i++;
}
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
} }
} }
} }

23
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -184,9 +184,16 @@ Rinex_Printer::Rinex_Printer(int conf_version)
if(conf_version != 0) if(conf_version != 0)
{ {
if(conf_version == 2) if(conf_version == 2)
{
version = 2; version = 2;
stringVersion = "2.11"; stringVersion = "2.11";
} }
if(conf_version == 3)
{
version = 3;
stringVersion = "3.02";
}
}
numberTypesObservations = 4; // Number of available types of observable in the system numberTypesObservations = 4; // Number of available types of observable in the system
fake_cnav_iode = 1; fake_cnav_iode = 1;
@ -412,8 +419,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
{ {
if(glonass_gnav_almanac.i_satellite_freq_channel){} if(glonass_gnav_almanac.i_satellite_freq_channel){}
std::string line; std::string line;
stringVersion = "3.02";
version = 3;
// -------- Line 1 // -------- Line 1
line = std::string(5, ' '); line = std::string(5, ' ');
@ -636,8 +641,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
//Avoid compiler warning, there is not time system correction between Galileo and GLONASS //Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if(galileo_almanac.A_0G_10){} if(galileo_almanac.A_0G_10){}
std::string line; std::string line;
stringVersion = "3.02";
version = 3;
// -------- Line 1 // -------- Line 1
line = std::string(5, ' '); line = std::string(5, ' ');
@ -746,8 +749,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac) void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
{ {
std::string line; std::string line;
stringVersion = "3.02";
version = 3;
// -------- Line 1 // -------- Line 1
line = std::string(5, ' '); line = std::string(5, ' ');
@ -1152,8 +1153,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac) void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
{ {
std::string line; std::string line;
stringVersion = "3.02";
version = 3;
// -------- Line 1 // -------- Line 1
line = std::string(5, ' '); line = std::string(5, ' ');
@ -2924,7 +2923,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2); line += Rinex_Printer::doub2for(+glonass_gnav_ephemeris_iter->second.d_gamma_n, 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');
//TODO need to define this here. what is nd //TODO need to define this here. what is nd
line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day()*86400, 18, 2); line += Rinex_Printer::doub2for(glonass_gnav_ephemeris_iter->second.d_t_k + p_utc_time.date().day_of_week()*86400, 18, 2);
} }
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -3008,6 +3007,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
} }
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
line.clear();
} }
} }
@ -5190,6 +5190,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model) void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
{ {
if(utc_model.d_N_4) if(utc_model.d_N_4)
@ -5577,7 +5578,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
} }
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); //line += rightJustify(asString(clockOffset, 12), 15);
@ -5647,6 +5647,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
} }
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& observables) void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& observables)
{ {
if(glonass_gnav_eph.d_m){} // avoid warning, not needed if(glonass_gnav_eph.d_m){} // avoid warning, not needed

16
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -179,7 +179,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO))) if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{ {
obs_data[i] = insert_obs_to_rtklib(obs_data[i], obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2);//Band 3 (L5/E5) 2);//Band 3 (L5/E5)
@ -194,7 +194,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5) 2); //Band 3 (L5/E5)
@ -223,7 +223,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week, gps_ephemeris_iter->second.i_GPS_week,
0); 0);
@ -251,7 +251,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i] = insert_obs_to_rtklib(obs_data[i], obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1);//Band 2 (L2)
@ -266,7 +266,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1);//Band 2 (L2)
@ -294,7 +294,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1) 0);//Band 0 (L1)
@ -318,7 +318,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS))) if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
{ {
obs_data[i] = insert_obs_to_rtklib(obs_data[i], obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2) 1);//Band 1 (L2)
@ -333,7 +333,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2) 1); //Band 1 (L2)

2
src/algorithms/libs/gnss_sdr_valve.cc
View File

@ -35,6 +35,7 @@
#include <cstring> // for memcpy #include <cstring> // for memcpy
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include "control_message_factory.h" #include "control_message_factory.h"
#include <glog/logging.h>
gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item, gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
unsigned long long nitems, unsigned long long nitems,
@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
{ {
ControlMessageFactory* cmf = new ControlMessageFactory(); ControlMessageFactory* cmf = new ControlMessageFactory();
d_queue->handle(cmf->GetQueueMessage(200,0)); d_queue->handle(cmf->GetQueueMessage(200,0));
LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
delete cmf; delete cmf;
return -1; // Done! return -1; // Done!
} }

2
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -91,7 +91,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glon
rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */ rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
// Time expressed in GPS Time but using RTKLib format // Time expressed in GPS Time but using RTKLib format
glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec); glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
adj_week = adjgpsweek(static_cast<int>(week)); adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.toe = gpst2time(adj_week, sec); rtklib_sat.toe = gpst2time(adj_week, sec);

1
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
d_flag_parity = false; d_flag_parity = false;
d_TOW_at_current_symbol = 0; d_TOW_at_current_symbol = 0;
Flag_valid_word = false;
delta_t = 0; delta_t = 0;
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_flag_preamble = false; d_flag_preamble = false;

1
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
View File

@ -83,7 +83,6 @@ private:
unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]; unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
int *d_preambles_symbols; int *d_preambles_symbols;
unsigned int d_samples_per_symbol; unsigned int d_samples_per_symbol;
unsigned int d_samples_per_preamble_symbol;
int d_symbols_per_preamble; int d_symbols_per_preamble;
//!< Storage for incoming data //!< Storage for incoming data

12
src/core/system_parameters/glonass_gnav_ephemeris.cc
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@ -97,10 +97,9 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
{ {
double tod = 0.0; double tod = 0.0;
double utcsu2utc = 3*3600; double glot2utc = 3*3600;
double glot2utcsu = 3*3600;
tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n; tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
boost::posix_time::time_duration t(0, 0, tod); boost::posix_time::time_duration t(0, 0, tod);
boost::gregorian::date d1(d_yr, 1, 1); boost::gregorian::date d1(d_yr, 1, 1);
boost::gregorian::days d2(d_N_T - 1); boost::gregorian::days d2(d_N_T - 1);
@ -112,9 +111,7 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset
void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
{ {
double tod = 0.0; double tod = 0.0;
double dayofweek = 0.0; double glot2utc = 3*3600;
double utcsu2utc = 3*3600;
double glot2utcsu = 3*3600;
double days = 0.0; double days = 0.0;
double total_sec = 0.0, sec_of_day = 0.0; double total_sec = 0.0, sec_of_day = 0.0;
int i = 0; int i = 0;
@ -123,7 +120,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
// tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
// tk plus 10 sec is the true tod since get_TOW is called when in str5 // tk plus 10 sec is the true tod since get_TOW is called when in str5
tod = tod_offset - glot2utcsu - utcsu2utc; tod = tod_offset - glot2utc ;
boost::posix_time::time_duration t(0, 0, tod); boost::posix_time::time_duration t(0, 0, tod);
@ -140,6 +137,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds()); sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
total_sec = days*86400 + sec_of_day; total_sec = days*86400 + sec_of_day;
// GLONASST already includes leap second addition or deletion
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++) for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{ {
if (d_yr >= GLONASS_LEAP_SECONDS[i][0]) if (d_yr >= GLONASS_LEAP_SECONDS[i][0])

87
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -315,78 +315,6 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
return frame_ID; return frame_ID;
} }
double Glonass_Gnav_Navigation_Message::get_WN()
{
double WN = 0.0;
double days = 0.0;
double total_sec = 0.0;
int i = 0;
boost::gregorian::date gps_epoch { 1980, 1, 6 };
// Map to UTC
boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
glo_date = glo_date + d2;
boost::posix_time::time_duration t(-6, 0, 0);
boost::posix_time::ptime glo_time(glo_date, t);
boost::gregorian::date utc_date = glo_time.date();
days = static_cast<double>((utc_date - gps_epoch).days());
total_sec = days*86400;
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{
if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
{
// We add the leap second when going from utc to gpst
total_sec += GLONASS_LEAP_SECONDS[i][6];
}
}
WN = floor(total_sec/604800);
return WN;
}
double Glonass_Gnav_Navigation_Message::get_TOW()
{
double TOD = 0.0;
double TOW = 0.0;
double dayofweek = 0.0;
double utcsu2utc = 3*3600;
double glot2utcsu = 3*3600;
int i = 0;
// tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
// tk plus 10 sec is the true tod since get_TOW is called when in str5
TOD = (gnav_ephemeris.d_t_k + 10) - glot2utcsu - utcsu2utc;// + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
boost::gregorian::days d2(gnav_ephemeris.d_N_T);
glo_date = glo_date + d2;
dayofweek = static_cast<double>(glo_date.day_of_week());
TOW = TOD + dayofweek*86400;
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{
if (gnav_ephemeris.d_yr >= GLONASS_LEAP_SECONDS[i][0])
{
// We add the leap second when going from utc to gpst
TOW += fabs(GLONASS_LEAP_SECONDS[i][6]);
}
}
// Compute the arithmetic modules to wrap around range
TOW = TOW - 604800*floor(TOW/604800);
return TOW;
}
int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
{ {
@ -426,7 +354,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
{ {
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N)); gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2)); gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * gnav_ephemeris.d_P_1 * 60; gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * 15 * 60;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20; gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30; gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11; gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
@ -759,15 +687,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
} }
double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corrected) const
{
double t_utc;
t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
return t_utc;
}
Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris() Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris()
{ {
return gnav_ephemeris; return gnav_ephemeris;
@ -814,9 +733,9 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
{ {
if (flag_utc_model_valid == true) if (flag_utc_model_str_5 == true)
{ {
flag_utc_model_valid = false; // clear the flag flag_utc_model_str_5 = false; // clear the flag
return true; return true;
} }
else else

57
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -65,7 +65,6 @@ public:
unsigned int d_string_ID; unsigned int d_string_ID;
bool flag_update_slot_number; bool flag_update_slot_number;
// satellite identification info
int i_channel_ID; int i_channel_ID;
unsigned int i_satellite_PRN; unsigned int i_satellite_PRN;
@ -102,17 +101,25 @@ public:
bool flag_TOW_set; //!< Flag indicating when the TOW has been set bool flag_TOW_set; //!< Flag indicating when the TOW has been set
bool flag_TOW_new; //!< Flag indicating when a new TOW has been computed bool flag_TOW_new; //!< Flag indicating when a new TOW has been computed
// Clock terms double d_satClkCorr; //!< Satellite clock error
double d_satClkCorr; // Satellite clock error double d_dtr; //!< Relativistic clock correction term
double d_dtr; // Relativistic clock correction term double d_satClkDrift; //!< Satellite clock drift
double d_satClkDrift; // Satellite clock drift
// Data update parameters double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
double d_previous_tb; double d_previous_Na[GLONASS_L1_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
/*!
* \brief Compute CRC for GLONASS GNAV strings
* \param bits Bits of the string message where to compute CRC
*/
bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits); bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
/*!
* \brief Computes the frame number being decoded given the satellite slot number
* \param satellite_slot_number [in] Satellite slot number identifier
* \returns Frame number being decoded, 0 if operation was not successful.
*/
unsigned int get_frame_number(unsigned int satellite_slot_number); unsigned int get_frame_number(unsigned int satellite_slot_number);
/*! /*!
@ -130,45 +137,35 @@ public:
*/ */
Glonass_Gnav_Utc_Model get_utc_model(); Glonass_Gnav_Utc_Model get_utc_model();
/* /*!
* \brief Returns a Galileo_Almanac object filled with the latest navigation data received * \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received
* \param satellite_slot_number Slot number identifier for the satellite
* \returns Returns the Glonass_Gnav_Almanac object for the input slot number
*/ */
Glonass_Gnav_Almanac get_almanac(unsigned int satellite_slot_number); Glonass_Gnav_Almanac get_almanac(unsigned int satellite_slot_number);
/* /*!
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed * \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived.
*/ */
bool have_new_ephemeris(); bool have_new_ephemeris();
/* /*!
* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed * \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived
*/ */
bool have_new_utc_model(); bool have_new_utc_model();
/* /*!
* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed * \brief Returns true if new Glonass_Gnav_Almanac object has arrived.
*/ */
bool have_new_almanac(); bool have_new_almanac();
/*! /*!
* \brief Decodes the GLONASS GNAV string * \brief Decodes the GLONASS GNAV string
* \param frame_string [in] is the string message within the parsed frame
* \returns Returns the ID of the decoded string
*/ */
int string_decoder(std::string frame_string); int string_decoder(std::string frame_string);
/*!
* \brief Gets the time of week in GPS Time
* \details This converts from GLONASS Time to GPS Time of Week based on the
* start of frame
*/
double get_TOW();
double get_WN();
/*!
* \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
*/
double utc_time(const double glonasstime_corrected) const;
/*! /*!
* Default constructor * Default constructor
*/ */

4
src/core/system_parameters/rtcm.cc
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@ -1911,7 +1911,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1))); glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1; index += 1;
glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*glonass_gnav_eph.d_P_1*60.0; glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15*60.0;
index += 7; index += 7;
// TODO Check for type spec for intS24 // TODO Check for type spec for intS24
@ -4385,7 +4385,7 @@ int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{ {
unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(glonass_gnav_eph.d_P_1*60))); unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(15*60)));
DF110 = std::bitset<7>(t_b); DF110 = std::bitset<7>(t_b);
return 0; return 0;
} }

29
src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
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@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
gnav_eph.d_yr = 2004; gnav_eph.d_yr = 2004;
gnav_eph.d_N_T = 366+28; gnav_eph.d_N_T = 366+28;
double tod = 70200; double glo2utc = 3600*3;
double tod = 48600;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 13;
double true_week = 1307; double true_week = 1307;
double true_tow = 480600+true_leap_sec; double true_tow = 480600+true_leap_sec;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }
/*! /*!
@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
gnav_eph.d_yr = 2016; gnav_eph.d_yr = 2016;
gnav_eph.d_N_T = 268; gnav_eph.d_N_T = 268;
double glo2utc = 3600*3;
double tod = 7560; double tod = 7560;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 17;
double true_week = 1915; double true_week = 1915;
double true_tow = 480600+true_leap_sec; double true_tow = 518400+true_leap_sec+tod;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }
/*! /*!
@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
gnav_eph.d_yr = 2016; gnav_eph.d_yr = 2016;
gnav_eph.d_N_T = 62; gnav_eph.d_N_T = 62;
double tod = 7560 + 6*3600; double glo2utc = 3600*3;
double tod = 7560;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 17;
double true_week = 1307; double true_week = 1886;
double true_tow = 480600+true_leap_sec; double true_tow = 259200+true_leap_sec;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }

6
src/utils/matlab/plot_acq_grid_gsoc_glonass.m
View File

@ -35,13 +35,13 @@
function plot_acq_grid_gsoc_glonass(sat) function plot_acq_grid_gsoc_glonass(sat)
file=['acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat']; file=['/archive/acquisition_R_1G_sat_' num2str(sat) '_doppler_0.dat'];
% sampling_freq_Hz=62316000 % sampling_freq_Hz=62316000
sampling_freq_Hz=31.75e6 sampling_freq_Hz=6.625e6
Doppler_max_Hz = 10000 Doppler_max_Hz = 10000
Doppler_min_Hz = -10000 Doppler_min_Hz = -10000
Doppler_step_Hz = 500 Doppler_step_Hz = 250
% read files % read files