mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-16 05:00:35 +00:00
Merge branch 'glonass' of https://github.com/gnss-sdr/gnss-sdr into glonass
This commit is contained in:
commit
5d85d15ad8
@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
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;######### CHANNELS GLOBAL CONFIG ############
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Channel.signal=1G
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Channels.in_acquisition=1
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Channels_1G.count=5
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Channels_1G.count=8
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Channel0.satellite=24 ; k=
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Channel1.satellite=1 ; k=1
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@ -43,9 +43,10 @@ Acquisition_1G.pfa=0.0001
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Acquisition_1G.if=0
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Acquisition_1G.doppler_max=10000
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Acquisition_1G.doppler_step=250
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Acquisition_1G.dump=false;
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Acquisition_1G.dump=true;
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Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
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;Acquisition_1G.coherent_integration_time_ms=10
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Acquisition_1G.coherent_integration_time_ms=1
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;Acquisition_1G.max_dwells = 5
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;######### TRACKING GLOBAL CONFIG ############
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Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
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@ -67,7 +68,7 @@ Observables.dump_filename=/archive/glo_observables.dat
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;######### PVT CONFIG ############
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PVT.implementation=RTKLIB_PVT
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PVT.positioning_mode=PPP_Static
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PVT.positioning_mode=Single
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PVT.output_rate_ms=100
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PVT.display_rate_ms=500
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PVT.trop_model=Saastamoinen
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|
144
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
Normal file
144
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
Normal file
@ -0,0 +1,144 @@
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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GNSS-SDR.internal_fs_sps=6625000
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Receiver.sources_count=2
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SignalSource.repeat=false
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource0.implementation=File_Signal_Source
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SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
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SignalSource0.item_type=ibyte
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SignalSource0.sampling_frequency=6625000
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SignalSource0.samples=0
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SignalSource0.dump=false;
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SignalSource0.dump_filename=/archive/signal_glonass.bin
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SignalSource1.implementation=File_Signal_Source
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SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
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SignalSource1.item_type=ibyte
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SignalSource1.sampling_frequency=6625000
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SignalSource1.samples=0
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SignalSource1.dump=false;
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SignalSource1.dump_filename=/archive/signal_glonass.bin
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;######### SIGNAL_CONDITIONER CONFIG ############
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SignalConditioner0.implementation=Signal_Conditioner
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DataTypeAdapter0.implementation=Ibyte_To_Complex
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InputFilter0.implementation=Freq_Xlating_Fir_Filter
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InputFilter0.item_type=gr_complex
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InputFilter0.output_item_type=gr_complex
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InputFilter0.taps_item_type=float
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InputFilter0.number_of_taps=5
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InputFilter0.number_of_bands=2
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InputFilter0.band1_begin=0.0
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InputFilter0.band1_end=0.70
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InputFilter0.band2_begin=0.80
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InputFilter0.band2_end=1.0
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InputFilter0.ampl1_begin=1.0
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InputFilter0.ampl1_end=1.0
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InputFilter0.ampl2_begin=0.0
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InputFilter0.ampl2_end=0.0
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InputFilter0.band1_error=1.0
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InputFilter0.band2_error=1.0
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InputFilter0.filter_type=bandpass
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InputFilter0.grid_density=16
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InputFilter0.sampling_frequency=6625000
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InputFilter0.IF=60000
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Resampler0.implementation=Direct_Resampler
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Resampler0.sample_freq_in=6625000
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Resampler0.sample_freq_out=6625000
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Resampler0.item_type=gr_complex
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SignalConditioner1.implementation=Signal_Conditioner
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DataTypeAdapter1.implementation=Ibyte_To_Complex
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InputFilter1.implementation=Pass_Through
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InputFilter1.item_type=gr_complex
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Resampler1.implementation=Direct_Resampler
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Resampler1.sample_freq_in=6625000
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Resampler1.sample_freq_out=6625000
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Resampler1.item_type=gr_complex
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;######### CHANNELS GLOBAL CONFIG ############
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Channels.in_acquisition=1
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Channels_1G.count=5
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Channels_1C.count=5
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;# Defining GLONASS satellites
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Channel0.RF_channel_ID=0
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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=1
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Channel6.RF_channel_ID=1
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Channel7.RF_channel_ID=1
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Channel8.RF_channel_ID=1
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Channel9.RF_channel_ID=1
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;######### ACQUISITION GLOBAL CONFIG ############
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Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition_1C.item_type=gr_complex
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Acquisition_1C.threshold=0.0
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Acquisition_1C.pfa=0.00001
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Acquisition_1C.if=0
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Acquisition_1C.doppler_max=10000
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Acquisition_1C.doppler_step=250
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Acquisition_1C.dump=false;
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Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
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;Acquisition_1C.coherent_integration_time_ms=10
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Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
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Acquisition_1G.item_type=gr_complex
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Acquisition_1G.threshold=0.0
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Acquisition_1G.pfa=0.00001
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Acquisition_1G.if=0
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Acquisition_1G.doppler_max=10000
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Acquisition_1G.doppler_step=250
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Acquisition_1G.dump=false;
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Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
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;Acquisition_1G.coherent_integration_time_ms=10
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;######### TRACKING GLOBAL CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=gr_complex
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Tracking_1C.if=0
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Tracking_1C.early_late_space_chips=0.5
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Tracking_1C.pll_bw_hz=20.0;
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Tracking_1C.dll_bw_hz=2.0;
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Tracking_1C.dump=true;
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Tracking_1C.dump_filename=/archive/gps_tracking_ch_
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Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
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Tracking_1G.item_type=gr_complex
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Tracking_1G.if=0
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Tracking_1G.early_late_space_chips=0.5
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Tracking_1G.pll_bw_hz=25.0;
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Tracking_1G.dll_bw_hz=3.0;
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Tracking_1G.dump=true;
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Tracking_1G.dump_filename=/archive/glo_tracking_ch_
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;######### TELEMETRY DECODER GPS CONFIG ############
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TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
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;######### OBSERVABLES CONFIG ############
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Observables.implementation=Hybrid_Observables
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Observables.dump=true;
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Observables.dump_filename=/archive/gnss_observables.dat
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;######### PVT CONFIG ############
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PVT.implementation=RTKLIB_PVT
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PVT.output_rate_ms=100
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PVT.display_rate_ms=500
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PVT.trop_model=Saastamoinen
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PVT.flag_rtcm_server=true
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PVT.flag_rtcm_tty_port=false
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PVT.rtcm_dump_devname=/dev/pts/1
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PVT.rtcm_tcp_port=2101
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PVT.rtcm_MT1019_rate_ms=5000
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PVT.rtcm_MT1045_rate_ms=5000
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PVT.rtcm_MT1097_rate_ms=1000
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PVT.rtcm_MT1077_rate_ms=1000
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PVT.rinex_version=2
|
93
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
Normal file
93
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
Normal file
@ -0,0 +1,93 @@
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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GNSS-SDR.internal_fs_hz=6625000
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=File_Signal_Source
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SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
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SignalSource.item_type=ibyte
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SignalSource.sampling_frequency=6625000
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;SignalSource.freq=0
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;SignalSource.samples=66250000
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SignalSource.samples=0
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SignalSource.dump=false;
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;######### SIGNAL_CONDITIONER CONFIG ############
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SignalConditioner.implementation=Signal_Conditioner
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DataTypeAdapter.implementation=Ibyte_To_Complex
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InputFilter.implementation=Freq_Xlating_Fir_Filter
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InputFilter.item_type=gr_complex
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InputFilter.output_item_type=gr_complex
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InputFilter.taps_item_type=float
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InputFilter.number_of_taps=5
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InputFilter.number_of_bands=2
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InputFilter.band1_begin=0.0
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InputFilter.band1_end=0.70
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InputFilter.band2_begin=0.80
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InputFilter.band2_end=1.0
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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InputFilter.filter_type=bandpass
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InputFilter.grid_density=16
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InputFilter.sampling_frequency=6625000
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InputFilter.IF=60000
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Resampler.implementation=Direct_Resampler
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Resampler.sample_freq_in=6625000
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Resampler.sample_freq_out=6625000
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Resampler.item_type=gr_complex
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;######### CHANNELS GLOBAL CONFIG ############
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Channel.signal=1C
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Channels.in_acquisition=1
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Channels_1C.count=6
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;######### ACQUISITION GLOBAL CONFIG ############
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Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition_1C.item_type=gr_complex
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Acquisition_1C.threshold=0.01
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;Acquisition_1C.pfa=0.00001
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Acquisition_1C.if=0
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Acquisition_1C.doppler_max=10000
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Acquisition_1C.doppler_step=250
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Acquisition_1C.dump=false;
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Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
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;Acquisition_1C.coherent_integration_time_ms=10
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;######### TRACKING GLOBAL CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=gr_complex
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Tracking_1C.if=60000
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Tracking_1C.early_late_space_chips=0.5
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Tracking_1C.pll_bw_hz=25.0;
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Tracking_1C.dll_bw_hz=3.0;
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Tracking_1C.dump=false;
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Tracking_1C.dump_filename=/archive/gps_tracking_ch_
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;######### TELEMETRY DECODER GPS CONFIG ############
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TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
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;######### OBSERVABLES CONFIG ############
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Observables.implementation=Hybrid_Observables
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Observables.dump=true;
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Observables.dump_filename=/archive/gps_observables.dat
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||||
|
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;######### PVT CONFIG ############
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||||
PVT.implementation=RTKLIB_PVT
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PVT.positioning_mode=Single
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PVT.output_rate_ms=100
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PVT.display_rate_ms=500
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PVT.trop_model=Saastamoinen
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||||
PVT.flag_rtcm_server=true
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||||
PVT.flag_rtcm_tty_port=false
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||||
PVT.rtcm_dump_devname=/dev/pts/1
|
||||
PVT.rtcm_tcp_port=2101
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||||
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
|
@ -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)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
@ -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)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
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);
|
||||
}
|
||||
@ -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
|
||||
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;
|
||||
}
|
||||
@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
|
||||
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())
|
||||
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
|
||||
{
|
||||
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 (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);
|
||||
}
|
||||
}
|
||||
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);
|
||||
}
|
||||
@ -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)
|
||||
{
|
||||
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);
|
||||
}
|
||||
}
|
||||
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);
|
||||
}
|
||||
@ -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();
|
||||
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
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);
|
||||
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
|
||||
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())
|
||||
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())
|
||||
{
|
||||
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;
|
||||
}
|
||||
|
||||
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++ )
|
||||
@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -184,9 +184,16 @@ Rinex_Printer::Rinex_Printer(int conf_version)
|
||||
if(conf_version != 0)
|
||||
{
|
||||
if(conf_version == 2)
|
||||
{
|
||||
version = 2;
|
||||
stringVersion = "2.11";
|
||||
}
|
||||
if(conf_version == 3)
|
||||
{
|
||||
version = 3;
|
||||
stringVersion = "3.02";
|
||||
}
|
||||
}
|
||||
|
||||
numberTypesObservations = 4; // Number of available types of observable in the system
|
||||
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){}
|
||||
std::string line;
|
||||
stringVersion = "3.02";
|
||||
version = 3;
|
||||
|
||||
// -------- Line 1
|
||||
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
|
||||
if(galileo_almanac.A_0G_10){}
|
||||
std::string line;
|
||||
stringVersion = "3.02";
|
||||
version = 3;
|
||||
|
||||
// -------- Line 1
|
||||
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)
|
||||
{
|
||||
std::string line;
|
||||
stringVersion = "3.02";
|
||||
version = 3;
|
||||
|
||||
// -------- Line 1
|
||||
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)
|
||||
{
|
||||
std::string line;
|
||||
stringVersion = "3.02";
|
||||
version = 3;
|
||||
|
||||
// -------- Line 1
|
||||
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 += std::string(1, ' ');
|
||||
//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);
|
||||
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);
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
|
||||
{
|
||||
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);
|
||||
|
||||
|
||||
// Receiver clock offset (optional)
|
||||
//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)
|
||||
{
|
||||
if(glonass_gnav_eph.d_m){} // avoid warning, not needed
|
||||
|
@ -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)))
|
||||
{
|
||||
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,
|
||||
galileo_ephemeris_iter->second.WN_5,
|
||||
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);
|
||||
//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,
|
||||
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
galileo_ephemeris_iter->second.WN_5,
|
||||
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);
|
||||
//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,
|
||||
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_ephemeris_iter->second.i_GPS_week,
|
||||
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))
|
||||
{
|
||||
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,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
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);
|
||||
//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,
|
||||
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
|
||||
gnss_observables_iter->second,
|
||||
gps_cnav_ephemeris_iter->second.i_GPS_week,
|
||||
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);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
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,
|
||||
glonass_gnav_ephemeris_iter->second.d_WN,
|
||||
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)))
|
||||
{
|
||||
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,
|
||||
glonass_gnav_ephemeris_iter->second.d_WN,
|
||||
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);
|
||||
//convert observation from GNSS-SDR class to RTKLIB structure
|
||||
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,
|
||||
glonass_gnav_ephemeris_iter->second.d_WN,
|
||||
1); //Band 1 (L2)
|
||||
|
@ -35,6 +35,7 @@
|
||||
#include <cstring> // for memcpy
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include "control_message_factory.h"
|
||||
#include <glog/logging.h>
|
||||
|
||||
gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
|
||||
unsigned long long nitems,
|
||||
@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
|
||||
{
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
d_queue->handle(cmf->GetQueueMessage(200,0));
|
||||
LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
|
||||
delete cmf;
|
||||
return -1; // Done!
|
||||
}
|
||||
|
@ -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) */
|
||||
|
||||
// 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));
|
||||
rtklib_sat.toe = gpst2time(adj_week, sec);
|
||||
|
||||
|
@ -371,7 +371,7 @@ void decodefile(rtksvr_t *svr, int index)
|
||||
|
||||
nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
{0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
|
||||
{0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0},{0.0},{0.0}},
|
||||
{0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0}, {0.0}, {0.0}},
|
||||
{0.0}, {0.0}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
|
||||
{{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;
|
||||
|
||||
|
@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
|
||||
|
||||
d_flag_parity = false;
|
||||
d_TOW_at_current_symbol = 0;
|
||||
Flag_valid_word = false;
|
||||
delta_t = 0;
|
||||
d_CRC_error_counter = 0;
|
||||
d_flag_preamble = false;
|
||||
@ -355,7 +356,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
|
||||
if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
|
||||
//update TOW at the preamble instant
|
||||
{
|
||||
d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
|
||||
d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW-GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
|
||||
d_nav.flag_TOW_new = false;
|
||||
|
||||
}
|
||||
|
@ -83,7 +83,6 @@ private:
|
||||
unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
|
||||
int *d_preambles_symbols;
|
||||
unsigned int d_samples_per_symbol;
|
||||
unsigned int d_samples_per_preamble_symbol;
|
||||
int d_symbols_per_preamble;
|
||||
|
||||
//!< Storage for incoming data
|
||||
|
@ -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
|
||||
{
|
||||
double tod = 0.0;
|
||||
double utcsu2utc = 3*3600;
|
||||
double glot2utcsu = 3*3600;
|
||||
double glot2utc = 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::gregorian::date d1(d_yr, 1, 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
|
||||
{
|
||||
double tod = 0.0;
|
||||
double dayofweek = 0.0;
|
||||
double utcsu2utc = 3*3600;
|
||||
double glot2utcsu = 3*3600;
|
||||
double glot2utc = 3*3600;
|
||||
double days = 0.0;
|
||||
double total_sec = 0.0, sec_of_day = 0.0;
|
||||
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 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);
|
||||
@ -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());
|
||||
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++)
|
||||
{
|
||||
if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
|
||||
|
@ -315,78 +315,6 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
|
||||
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)
|
||||
{
|
||||
@ -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_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_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;
|
||||
@ -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()
|
||||
{
|
||||
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
|
||||
{
|
||||
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;
|
||||
}
|
||||
else
|
||||
|
@ -65,7 +65,6 @@ public:
|
||||
unsigned int d_string_ID;
|
||||
bool flag_update_slot_number;
|
||||
|
||||
// satellite identification info
|
||||
int i_channel_ID;
|
||||
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_new; //!< Flag indicating when a new TOW has been computed
|
||||
|
||||
// Clock terms
|
||||
double d_satClkCorr; // Satellite clock error
|
||||
double d_dtr; // Relativistic clock correction term
|
||||
double d_satClkDrift; // Satellite clock drift
|
||||
double d_satClkCorr; //!< Satellite clock error
|
||||
double d_dtr; //!< Relativistic clock correction term
|
||||
double d_satClkDrift; //!< Satellite clock drift
|
||||
|
||||
// Data update parameters
|
||||
double d_previous_tb;
|
||||
double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
|
||||
double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
|
||||
double d_previous_Na[GLONASS_L1_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
|
||||
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
@ -130,45 +137,35 @@ public:
|
||||
*/
|
||||
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);
|
||||
|
||||
/*
|
||||
* \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();
|
||||
|
||||
/*
|
||||
* \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();
|
||||
|
||||
/*
|
||||
* \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();
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \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
|
||||
*/
|
||||
|
@ -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)));
|
||||
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;
|
||||
|
||||
// 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)
|
||||
{
|
||||
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);
|
||||
return 0;
|
||||
}
|
||||
|
@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
|
||||
gnav_eph.d_yr = 2004;
|
||||
gnav_eph.d_N_T = 366+28;
|
||||
|
||||
double tod = 70200;
|
||||
double glo2utc = 3600*3;
|
||||
double tod = 48600;
|
||||
double week = 0.0;
|
||||
double tow = 0.0;
|
||||
double true_leap_sec = 13;
|
||||
double true_week = 1307;
|
||||
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
|
||||
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_N_T = 268;
|
||||
|
||||
double glo2utc = 3600*3;
|
||||
double tod = 7560;
|
||||
double week = 0.0;
|
||||
double tow = 0.0;
|
||||
double true_leap_sec = 13;
|
||||
double true_leap_sec = 17;
|
||||
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
|
||||
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_N_T = 62;
|
||||
|
||||
double tod = 7560 + 6*3600;
|
||||
double glo2utc = 3600*3;
|
||||
double tod = 7560;
|
||||
double week = 0.0;
|
||||
double tow = 0.0;
|
||||
double true_leap_sec = 13;
|
||||
double true_week = 1307;
|
||||
double true_tow = 480600+true_leap_sec;
|
||||
double true_leap_sec = 17;
|
||||
double true_week = 1886;
|
||||
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
|
||||
ASSERT_TRUE(week - true_week < FLT_EPSILON );
|
||||
ASSERT_TRUE(tow - true_week < FLT_EPSILON );
|
||||
ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
|
||||
}
|
||||
|
@ -35,13 +35,13 @@
|
||||
|
||||
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=31.75e6
|
||||
sampling_freq_Hz=6.625e6
|
||||
Doppler_max_Hz = 10000
|
||||
Doppler_min_Hz = -10000
|
||||
Doppler_step_Hz = 500
|
||||
Doppler_step_Hz = 250
|
||||
|
||||
|
||||
% read files
|
||||
|
Loading…
Reference in New Issue
Block a user