mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 15:23:04 +00:00
Clean source code, update to new gnss_synchro parameter name
This commit is contained in:
Carles Fernandez
@@ -147,8 +147,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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// ********************************************************************************
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// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
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// ********************************************************************************
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int valid_obs = 0; //valid observations counter
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int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
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int valid_obs = 0; // valid observations counter
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int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
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obsd_t obs_data[MAXOBS];
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eph_t eph_data[MAXOBS];
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@@ -156,7 +156,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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for (gnss_observables_iter = gnss_observables_map.cbegin();
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gnss_observables_iter != gnss_observables_map.cend();
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gnss_observables_iter++) //CHECK INCONSISTENCY when combining GLONASS + other system
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gnss_observables_iter++) // CHECK INCONSISTENCY when combining GLONASS + other system
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{
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switch (gnss_observables_iter->second.System)
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{
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@@ -170,9 +170,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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@@ -201,17 +201,17 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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2); // Band 3 (L5/E5)
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found_E1_obs = true;
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break;
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}
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}
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if (!found_E1_obs)
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{
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//insert Galileo E5 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// insert Galileo E5 obs as new obs and also insert its ephemeris
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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@@ -219,7 +219,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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2); // Band 3 (L5/E5)
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valid_obs++;
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}
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}
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@@ -240,9 +240,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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@@ -255,7 +255,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
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}
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}
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//GPS L2
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// GPS L2
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if (sig_.compare("2S") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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@@ -276,7 +276,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
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gnss_observables_iter->second,
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eph_data[i].week,
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1); //Band 2 (L2)
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1); // Band 2 (L2)
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break;
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}
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}
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@@ -285,9 +285,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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else
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{
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// 3. If not found, insert the GPS L2 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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@@ -295,7 +295,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1); //Band 2 (L2)
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1); // Band 2 (L2)
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valid_obs++;
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}
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}
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@@ -304,7 +304,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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//GPS L5
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// GPS L5
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if (sig_.compare("L5") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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@@ -324,7 +324,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2); //Band 3 (L5)
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2); // Band 3 (L5)
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break;
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}
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}
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@@ -332,9 +332,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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else
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{
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// 3. If not found, insert the GPS L5 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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@@ -342,7 +342,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2); //Band 3 (L5)
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2); // Band 3 (L5)
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valid_obs++;
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}
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}
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@@ -363,14 +363,14 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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0); //Band 0 (L1)
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0); // Band 0 (L1)
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glo_valid_obs++;
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}
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else // the ephemeris are not available for this SV
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@@ -400,15 +400,15 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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}
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if (!found_L1_obs)
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{
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//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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// insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
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// convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
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//convert observation from GNSS-SDR class to RTKLIB structure
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// convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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1); //Band 1 (L2)
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1); // Band 1 (L2)
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glo_valid_obs++;
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}
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}
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@@ -481,20 +481,19 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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this->set_valid_position(true);
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arma::vec rx_position_and_time(4);
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rx_position_and_time(0) = pvt_sol.rr[0]; //[m]
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rx_position_and_time(1) = pvt_sol.rr[1]; //[m]
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rx_position_and_time(2) = pvt_sol.rr[2]; //[m]
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rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
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rx_position_and_time(1) = pvt_sol.rr[1]; // [m]
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rx_position_and_time(2) = pvt_sol.rr[2]; // [m]
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//todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
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if (rtk_.opt.mode == PMODE_SINGLE)
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{
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rx_position_and_time(3) = pvt_sol.dtr[0]; //if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
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rx_position_and_time(3) = pvt_sol.dtr[0]; // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
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}
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else
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{
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rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_m_s; // the receiver clock offset is expressed in [meters]
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rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_m_s; // the receiver clock offset is expressed in [meters], so we convert it into [s]
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}
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//[s]
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this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
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//observable fix:
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//double offset_s = this->get_time_offset_s();
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@@ -505,7 +504,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
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boost::posix_time::ptime p_time;
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//gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
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// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
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gtime_t rtklib_utc_time = gpst2time(adjgpsweek(nav_data.eph[0].week), gnss_observables_map.begin()->second.RX_time);
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p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
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@@ -525,7 +524,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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try
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{
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double tmp_double;
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// PVT GPS time
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// PVT GPS time
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tmp_double = gnss_observables_map.begin()->second.RX_time;
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d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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// ECEF User Position East [m]
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@@ -63,7 +63,6 @@
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#define SQRT_SOL(x) ((x) < 0.0 ? 0.0 : sqrt(x))
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const int MAXFIELD = 64; /* max number of fields in a record */
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const int MAXNMEA = 256; /* max length of nmea sentence */
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const double KNOT2M = 0.514444444; /* m/knot */
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@@ -310,10 +310,10 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
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}
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find_interp_elements(ch, ti);
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//1st: copy the nearest gnss_synchro data for that channel
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// 1st: copy the nearest gnss_synchro data for that channel
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out = d_gnss_synchro_history->at(ch, 0);
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//2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
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// 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
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// CARRIER PHASE INTERPOLATION
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out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, 1).Carrier_phase_rads - d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
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@@ -324,11 +324,6 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
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// TOW INTERPOLATION
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out.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_ms)) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time);
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//std::cout.precision(17);
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//std::cout << "Diff TOW_at_current_symbol_ms(1) - out.interp_TOW_ms: " << static_cast<double>(d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_ms) - out.interp_TOW_ms << std::endl;
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return true;
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}
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@@ -345,6 +340,7 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
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}
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}
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void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
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{
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unsigned int closest = 0;
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@@ -412,10 +408,10 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
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{
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std::vector<Gnss_Synchro>::iterator it;
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/////////////////////// DEBUG //////////////////////////
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// Logs if there is a pseudorange difference between
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// signals of the same satellite higher than a threshold
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////////////////////////////////////////////////////////
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/////////////////////// DEBUG //////////////////////////
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// Logs if there is a pseudorange difference between
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// signals of the same satellite higher than a threshold
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////////////////////////////////////////////////////////
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#ifndef NDEBUG
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std::vector<Gnss_Synchro>::iterator it2;
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double thr_ = 250.0 / SPEED_OF_LIGHT; // Maximum pseudorange difference = 250 meters
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@@ -442,8 +438,6 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
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}
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#endif
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///////////////////////////////////////////////////////////
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if (!T_rx_TOW_set)
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{
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unsigned int TOW_ref = std::numeric_limits<unsigned int>::lowest();
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@@ -532,6 +526,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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}
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}
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}
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for (i = 0; i < d_nchannels; i++)
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{
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if (d_gnss_synchro_history->size(i) > 2)
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@@ -544,6 +539,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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}
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}
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d_num_valid_channels = valid_channels.count();
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// Check if there is any valid channel after reading the new incoming Gnss_Synchro data
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if (d_num_valid_channels == 0)
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{
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@@ -551,7 +547,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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return returned_elements;
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}
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for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
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for (i = 0; i < d_nchannels; i++) // Discard observables with T_rx higher than the threshold
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||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
@@ -589,11 +585,13 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
}
|
||||
}
|
||||
d_num_valid_channels = valid_channels.count();
|
||||
|
||||
if (d_num_valid_channels == 0)
|
||||
{
|
||||
consume(d_nchannels, epoch + 1);
|
||||
return returned_elements;
|
||||
}
|
||||
|
||||
correct_TOW_and_compute_prange(epoch_data);
|
||||
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
@@ -610,6 +608,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
out[i][epoch].Flag_valid_pseudorange = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
@@ -640,6 +639,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
d_dump = false;
|
||||
}
|
||||
}
|
||||
|
||||
returned_elements++;
|
||||
}
|
||||
consume(d_nchannels, ninput_items[d_nchannels]);
|
||||
|
||||
@@ -61,7 +61,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY DECODING";
|
||||
// Define the number of sampes per symbol. Notice that GLONASS has 2 rates,
|
||||
//one for the navigation data and the other for the preamble information
|
||||
// one for the navigation data and the other for the preamble information
|
||||
d_samples_per_symbol = (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
|
||||
|
||||
// Set the preamble information
|
||||
@@ -268,11 +268,11 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
|
||||
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
|
||||
|
||||
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
Gnss_Synchro current_symbol; // structure to save the synchronization information and send the output object to the next block
|
||||
// 1. Copy the current tracking output
|
||||
current_symbol = in[0][0];
|
||||
d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue
|
||||
d_sample_counter++; //count for the processed samples
|
||||
d_symbol_history.push_back(current_symbol); // add new symbol to the symbol queue
|
||||
d_sample_counter++; // count for the processed samples
|
||||
consume_each(1);
|
||||
|
||||
d_flag_preamble = false;
|
||||
@@ -280,7 +280,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
|
||||
if (d_symbol_history.size() > required_symbols)
|
||||
{
|
||||
//******* preamble correlation ********
|
||||
// ******* preamble correlation ********
|
||||
for (int i = 0; i < d_symbols_per_preamble; i++)
|
||||
{
|
||||
if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping
|
||||
@@ -294,8 +294,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
}
|
||||
|
||||
//******* frame sync ******************
|
||||
if (d_stat == 0) //no preamble information
|
||||
// ******* frame sync ******************
|
||||
if (d_stat == 0) // no preamble information
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
@@ -311,15 +311,15 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
//check preamble separation
|
||||
// check preamble separation
|
||||
preamble_diff = d_sample_counter - d_preamble_index;
|
||||
// Record the PRN start sample index associated to the preamble
|
||||
d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter;
|
||||
if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
|
||||
{
|
||||
//try to decode frame
|
||||
// try to decode frame
|
||||
LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||
d_stat = 2;
|
||||
}
|
||||
else
|
||||
@@ -342,7 +342,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
|
||||
double string_symbols[GLONASS_GNAV_DATA_SYMBOLS] = {0};
|
||||
|
||||
//******* SYMBOL TO BIT *******
|
||||
// ******* SYMBOL TO BIT *******
|
||||
for (int i = 0; i < string_length; i++)
|
||||
{
|
||||
if (corr_value > 0)
|
||||
@@ -355,13 +355,13 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
}
|
||||
|
||||
//call the decoder
|
||||
// call the decoder
|
||||
decode_string(string_symbols, string_length);
|
||||
if (d_nav.flag_CRC_test == true)
|
||||
{
|
||||
d_CRC_error_counter = 0;
|
||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
@@ -372,7 +372,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
else
|
||||
{
|
||||
d_CRC_error_counter++;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
||||
{
|
||||
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
||||
@@ -384,21 +384,21 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
//2. Add the telemetry decoder information
|
||||
// 2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
|
||||
//update TOW at the preamble instant
|
||||
// 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_nav.flag_TOW_new = false;
|
||||
}
|
||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
||||
else // if there is not a new preamble, we define the TOW of the current symbol
|
||||
{
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GLONASS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
|
||||
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
// if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
|
||||
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
|
||||
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
|
||||
// {
|
||||
// delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
|
||||
// }
|
||||
@@ -414,8 +414,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
|
||||
current_symbol.PRN = this->d_satellite.get_PRN();
|
||||
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
|
||||
//todo: glonass time to gps time should be done in observables block
|
||||
//current_symbol.TOW_at_current_symbol_s -= delta_t; // Galileo to GPS TOW
|
||||
// todo: glonass time to gps time should be done in observables block
|
||||
// current_symbol.TOW_at_current_symbol_ms -= -= static_cast<unsigned int>(delta_t) * 1000; // Galileo to GPS TOW
|
||||
|
||||
if (d_dump == true)
|
||||
{
|
||||
@@ -442,7 +442,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
{
|
||||
d_symbol_history.pop_front();
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_symbol;
|
||||
|
||||
return 1;
|
||||
|
||||
@@ -61,7 +61,7 @@ glonass_l2_ca_telemetry_decoder_cc::glonass_l2_ca_telemetry_decoder_cc(
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
LOG(INFO) << "Initializing GLONASS L2 CA TELEMETRY DECODING";
|
||||
// Define the number of sampes per symbol. Notice that GLONASS has 2 rates,
|
||||
//one for the navigation data and the other for the preamble information
|
||||
// one for the navigation data and the other for the preamble information
|
||||
d_samples_per_symbol = (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS) / GLONASS_L2_CA_SYMBOL_RATE_BPS;
|
||||
|
||||
// Set the preamble information
|
||||
@@ -268,11 +268,11 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
|
||||
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
|
||||
|
||||
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
Gnss_Synchro current_symbol; // structure to save the synchronization information and send the output object to the next block
|
||||
// 1. Copy the current tracking output
|
||||
current_symbol = in[0][0];
|
||||
d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue
|
||||
d_sample_counter++; //count for the processed samples
|
||||
d_symbol_history.push_back(current_symbol); // add new symbol to the symbol queue
|
||||
d_sample_counter++; // count for the processed samples
|
||||
consume_each(1);
|
||||
|
||||
d_flag_preamble = false;
|
||||
@@ -280,7 +280,7 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
|
||||
if (d_symbol_history.size() > required_symbols)
|
||||
{
|
||||
//******* preamble correlation ********
|
||||
// ******* preamble correlation ********
|
||||
for (int i = 0; i < d_symbols_per_preamble; i++)
|
||||
{
|
||||
if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping
|
||||
@@ -294,8 +294,8 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
}
|
||||
|
||||
//******* frame sync ******************
|
||||
if (d_stat == 0) //no preamble information
|
||||
// ******* frame sync ******************
|
||||
if (d_stat == 0) // no preamble information
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
@@ -311,15 +311,15 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
//check preamble separation
|
||||
// check preamble separation
|
||||
preamble_diff = d_sample_counter - d_preamble_index;
|
||||
// Record the PRN start sample index associated to the preamble
|
||||
d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter;
|
||||
if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
|
||||
{
|
||||
//try to decode frame
|
||||
// try to decode frame
|
||||
LOG(INFO) << "Starting string decoder for GLONASS L2 C/A SAT " << this->d_satellite;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||
d_stat = 2;
|
||||
}
|
||||
else
|
||||
@@ -342,7 +342,7 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
|
||||
double string_symbols[GLONASS_GNAV_DATA_SYMBOLS] = {0};
|
||||
|
||||
//******* SYMBOL TO BIT *******
|
||||
// ******* SYMBOL TO BIT *******
|
||||
for (int i = 0; i < string_length; i++)
|
||||
{
|
||||
if (corr_value > 0)
|
||||
@@ -355,13 +355,13 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
}
|
||||
|
||||
//call the decoder
|
||||
// call the decoder
|
||||
decode_string(string_symbols, string_length);
|
||||
if (d_nav.flag_CRC_test == true)
|
||||
{
|
||||
d_CRC_error_counter = 0;
|
||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
@@ -372,7 +372,7 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
else
|
||||
{
|
||||
d_CRC_error_counter++;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
||||
{
|
||||
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
||||
@@ -384,21 +384,21 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
}
|
||||
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
//2. Add the telemetry decoder information
|
||||
// 2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
|
||||
//update TOW at the preamble instant
|
||||
// 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_nav.flag_TOW_new = false;
|
||||
}
|
||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
||||
else // if there is not a new preamble, we define the TOW of the current symbol
|
||||
{
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GLONASS_L2_CA_CODE_PERIOD;
|
||||
}
|
||||
|
||||
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
// if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
|
||||
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
|
||||
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
|
||||
// {
|
||||
// delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
|
||||
// }
|
||||
@@ -414,8 +414,8 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
|
||||
current_symbol.PRN = this->d_satellite.get_PRN();
|
||||
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
|
||||
//todo: glonass time to gps time should be done in observables block
|
||||
//current_symbol.TOW_at_current_symbol_s -= delta_t;
|
||||
// todo: glonass time to gps time should be done in observables block
|
||||
// current_symbol.TOW_at_current_symbol_ms -= static_cast<unsigned int>(delta_t) * 1000;
|
||||
|
||||
if (d_dump == true)
|
||||
{
|
||||
@@ -442,7 +442,7 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
|
||||
{
|
||||
d_symbol_history.pop_front();
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_symbol;
|
||||
|
||||
return 1;
|
||||
|
||||
@@ -255,7 +255,6 @@ int StaticPositionSystemTest::configure_receiver()
|
||||
const float band1_error = 1.0;
|
||||
const float band2_error = 1.0;
|
||||
const int grid_density = 16;
|
||||
const int decimation_factor = 1;
|
||||
|
||||
const float zero = 0.0;
|
||||
const int number_of_channels = 8;
|
||||
|
||||
@@ -79,7 +79,7 @@ else
|
||||
% {
|
||||
% tmp_double = current_gnss_synchro[i].RX_time;
|
||||
% d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
% tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
|
||||
% tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_ms;
|
||||
% d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
% tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
|
||||
% d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
|
||||
Reference in New Issue
Block a user