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Merge branch 'dmiralles2009-glonass_dec' into glonass

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This commit is contained in:
Carles Fernandez 2017-10-11 18:23:39 +02:00
commit 619158d731
10 changed files with 183 additions and 153 deletions
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15
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -67,7 +67,16 @@ Observables.dump_filename=/archive/glo_observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.averaging_depth=100 PVT.positioning_mode=PPP_Static
PVT.flag_averaging=true PVT.output_rate_ms=100
PVT.output_rate_ms=10
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

17
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -547,8 +547,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2C") == 0))) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)))
{ {
// store valid observables in a map. // store valid observables in a map.
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch])); gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));
@ -579,7 +579,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{ {
//d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
} }
} }
@ -839,7 +839,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
if(type_of_rx == 23) // GLONASS L1 C/A only if(type_of_rx == 23) // GLONASS L1 C/A only
{ {
std::string signal("1C"); std::string signal("1G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@ -849,7 +849,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
if(type_of_rx == 24) // GLONASS L2 C/A only if(type_of_rx == 24) // GLONASS L2 C/A only
{ {
std::string signal("2C"); std::string signal("2G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
@ -859,7 +859,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
{ {
std::string signal("1C 2C"); std::string signal("1G 2G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@ -872,7 +872,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) ) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{ {
std::string glo_signal("1C"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
@ -882,7 +882,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) ) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{ {
std::string glo_signal("1C"); std::string glo_signal("1G");
std::string gal_signal("1B"); std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1112,7 +1112,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) ) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
{ {
std::string glo_signal("1C");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }

12
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -3208,9 +3208,9 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
strm << numberTypesObservations; strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3); line += Rinex_Printer::rightJustify(strm.str(), 3);
std::string signal_ = "1C"; std::string signal_ = "1G";
std::size_t found_1C = glonass_bands.find(signal_); std::size_t found_1C = glonass_bands.find(signal_);
signal_ = "2C"; signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_); std::size_t found_2C = glonass_bands.find(signal_);
if(found_1C != std::string::npos) if(found_1C != std::string::npos)
@ -3535,13 +3535,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
// Find GLONASS Signal in Mixed file // Find GLONASS Signal in Mixed file
unsigned int number_of_observations_glo = 0; unsigned int number_of_observations_glo = 0;
std::string signal_("1C"); std::string signal_("1G");
std::size_t found_1C = glonass_bands.find(signal_); std::size_t found_1C = glonass_bands.find(signal_);
if(found_1C != std::string::npos) if(found_1C != std::string::npos)
{ {
number_of_observations_glo = number_of_observations_glo + 4; number_of_observations_glo = number_of_observations_glo + 4;
} }
signal_ = "2C"; signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_); std::size_t found_2C = glonass_bands.find(signal_);
if(found_2C != std::string::npos) if(found_2C != std::string::npos)
{ {
@ -3851,13 +3851,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear(); line.clear();
unsigned int number_of_observations_glo = 0; unsigned int number_of_observations_glo = 0;
signal_ = "1C"; signal_ = "1G";
std::size_t found_1C = glonass_bands.find(signal_); std::size_t found_1C = glonass_bands.find(signal_);
if(found_1C != std::string::npos) if(found_1C != std::string::npos)
{ {
number_of_observations_glo = number_of_observations_glo + 4; number_of_observations_glo = number_of_observations_glo + 4;
} }
signal_ = "2C"; signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_); std::size_t found_2C = glonass_bands.find(signal_);
if(found_2C != std::string::npos) if(found_2C != std::string::npos)
{ {

143
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -115,7 +115,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -123,6 +123,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************ // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS]; obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
@ -278,76 +279,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
break; break;
} }
case 'R': //TODO This should be using rtk lib nomenclature case 'R': //TODO This should be using rtk lib nomenclature
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if(sig_.compare("1C") == 0) if(sig_.compare("1G") == 0)
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//TODO are THESE VALUES OK 0);//Band 0 (L1)
valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
// GLONASS GNAV L2 // GLONASS GNAV L2
if(sig_.compare("2C") == 0) if(sig_.compare("2G") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
bool found_L1_obs=false; bool found_L1_obs=false;
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < glo_valid_obs; i++)
{ {
// TODO what is this? if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO))) {
{ obs_data[i] = insert_obs_to_rtklib(obs_data[i],
obs_data[i] = insert_obs_to_rtklib(obs_data[i], gnss_observables_iter->second,
gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN,
glonass_gnav_ephemeris_iter->second.d_WN, 1);//Band 1 (L2)
2);//Band 3 (L5/E5) found_L1_obs=true;
found_L1_obs=true; break;
break; }
} }
} if (!found_L1_obs)
if (!found_L1_obs) {
{ //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //convert ephemeris from GNSS-SDR class to RTKLIB structure
//convert ephemeris from GNSS-SDR class to RTKLIB structure geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); //convert observation from GNSS-SDR class to RTKLIB structure
//convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second,
gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN,
galileo_ephemeris_iter->second.WN_5, 1); //Band 1 (L2)
2); //Band 3 (L5/E5) glo_valid_obs++;
valid_obs++; }
} }
} else // the ephemeris are not available for this SV
else // the ephemeris are not available for this SV {
{ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; }
}
} }
break; break;
} }
default : default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
@ -359,12 +359,15 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ********************************************************************** // **********************************************************************
this->set_valid_position(false); this->set_valid_position(false);
if (valid_obs > 0) if (valid_obs > 0 || glo_valid_obs > 0)
{ {
int result = 0; int result = 0;
nav_t nav_data; nav_t nav_data;
nav_data.eph = eph_data; nav_data.eph = eph_data;
nav_data.geph = geph_data;
nav_data.n = valid_obs; nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
for (int i = 0; i < MAXSAT; i++) for (int i = 0; i < MAXSAT; i++)
{ {
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */ nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
@ -372,7 +375,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */ nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
} }
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0) if(result == 0)
{ {
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;

7
src/algorithms/libs/rtklib/rtklib.h
View File

@ -182,6 +182,7 @@ const int SYS_ALL = 0xFF; //!< navigation system: all
#define ENAGLO
#ifdef ENAGLO #ifdef ENAGLO
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
@ -194,6 +195,12 @@ const int NSATGLO = 0;
const int NSYSGLO = 0; const int NSYSGLO = 0;
#endif #endif
/*
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!< number of GLONASS satellites
const int NSYSGLO = 1;
*/
const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo
const int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo const int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo
const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites

80
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -45,18 +45,18 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris //Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
switch(gnss_synchro.System) switch(gnss_synchro.System)
{ {
case 'G': case 'G':
rtklib_obs.sat = gnss_synchro.PRN; rtklib_obs.sat = gnss_synchro.PRN;
break; break;
case 'E': case 'E':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO; rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break; break;
case 'R': case 'R':
rtklib_obs.sat = gnss_synchro.PRN; rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
break; break;
default: default:
rtklib_obs.sat = gnss_synchro.PRN; rtklib_obs.sat = gnss_synchro.PRN;
} }
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1; rtklib_obs.rcv = 1;
@ -64,60 +64,62 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
return rtklib_obs; return rtklib_obs;
} }
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{ {
int week;
geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0, geph_t rtklib_sat = {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};
gtime_t t_utc; gtime_t t_utc;
struct tm utcinfo; struct tm utcinfo;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */ rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_iode; /* IODE (0-6 bit of tb field) */ rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */ rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/ rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/ rtklib_sat.sva = static_cast<int>(glonass_gnav_eph.d_F_T); /* satellite accuracy*/
rtklib_sat.age = glonass_gnav_eph.d_E_n; /* satellite age*/ rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_E_n); /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */ rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000; /* satellite position (ecef) (m) */ rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000; /* satellite position (ecef) (m) */ rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000; /* satellite position (ecef) (m) */
rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000; /* satellite velocity (ecef) (m/s) */ rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000; /* satellite velocity (ecef) (m/s) */ rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000; /* satellite velocity (ecef) (m/s) */ rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000; /* satellite acceleration (ecef) (m/s^2) */ rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000; /* satellite acceleration (ecef) (m/s^2) */ rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000; /* satellite acceleration (ecef) (m/s^2) */ rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */ rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */ rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.age = glonass_gnav_eph.d_Delta_tau_n; /* delay between L1 and L2 (s) */ rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
utcinfo.tm_mon = 0; utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T; utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h) utcinfo.tm_hour = -6;
utcinfo.tm_min = 0; utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_b; utcinfo.tm_sec = glonass_gnav_eph.d_tod;
t_utc.time = mktime(&utcinfo); t_utc.time = mktime(&utcinfo);
t_utc.sec = glonass_gnav_eph.d_tau_c; t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.toe = utc2gpst(t_utc); /* epoch of epherides (gpst) */ rtklib_sat.toe = utc2gpst(t_utc); /* message frame time (gpst) */
utcinfo.tm_mon = 0; utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T; utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6; utcinfo.tm_hour = -6;
utcinfo.tm_min = 0; utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_k; utcinfo.tm_sec = glonass_gnav_eph.d_t_k;
t_utc.time = mktime(&utcinfo); t_utc.time = mktime(&utcinfo);
t_utc.sec = glonass_gnav_eph.d_tau_c; t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */ rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */
return rtklib_sat; return rtklib_sat;
} }
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph) eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
{ {
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, eph_t rtklib_sat = {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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris //Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.i_satellite_PRN+NSATGPS+NSATGLO; rtklib_sat.sat = gal_eph.i_satellite_PRN+NSATGPS+NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1; rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
@ -167,7 +169,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph) eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
{ {
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, eph_t rtklib_sat = {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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_eph.i_satellite_PRN; rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A; rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0; rtklib_sat.M0 = gps_eph.d_M_0;
@ -218,7 +220,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph) eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
{ {
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, eph_t rtklib_sat = {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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN; rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170 const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A; rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;

8
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@ -350,6 +350,12 @@ int decoderaw(rtksvr_t *svr, int index)
/* decode download file ------------------------------------------------------*/ /* decode download file ------------------------------------------------------*/
void decodefile(rtksvr_t *svr, int index) void decodefile(rtksvr_t *svr, int index)
{ {
int i = 0;
char glo_fcn[MAXPRNGLO+1];
// Allocate space for GLONASS frequency channels depending on availability
for(i=0; i < MAXPRNGLO+1; i++)
glo_fcn[i]='0';
pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } }; pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } };
sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0}; sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0};
sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0}; sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0};
@ -366,7 +372,7 @@ 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, 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, (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}, '0', {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0}, {0.0}, {0.0}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
{{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ; {{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;
char file[1024]; char file[1024];

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

@ -379,6 +379,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
current_symbol.Flag_valid_word = false; current_symbol.Flag_valid_word = false;
} }
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0; current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW

1
src/core/system_parameters/glonass_gnav_ephemeris.h
View File

@ -102,6 +102,7 @@ public:
double d_tau_c; double d_tau_c;
double d_TOW; // tow of the start of frame double d_TOW; // tow of the start of frame
double d_WN; // week number of the start of frame double d_WN; // week number of the start of frame
double d_tod;
template<class Archive> template<class Archive>

52
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -492,38 +492,39 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD // Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
// 1). Current year number J in the four-year interval is calculated // 1). Current year number J in the four-year interval is calculated
if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366) if (gnav_ephemeris.d_N_T >= 1 && gnav_ephemeris.d_N_T <= 366)
{ {
J = 1; J = 1;
} }
else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731) else if (gnav_ephemeris.d_N_T >= 367 && gnav_ephemeris.d_N_T <= 731)
{ {
J = 2; J = 2;
} }
else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096) else if (gnav_ephemeris.d_N_T >= 732 && gnav_ephemeris.d_N_T <= 1096)
{ {
J = 3; J = 3;
} }
else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461) else if (gnav_ephemeris.d_N_T >= 1097 && gnav_ephemeris.d_N_T <= 1461)
{ {
J = 4; J = 4;
} }
// 2). Current year in common form is calculated by the following formula: // 2). Current year in common form is calculated by the following formula:
gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0); gnav_ephemeris.d_yr = 1996 + 4.0 * (gnav_utc_model.d_N_4 - 1.0) + (J - 1.0);
gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c; gnav_ephemeris.d_tau_c = gnav_utc_model.d_tau_c;
// 3). Set TOW once the year has been defined, it helps with leap second determination // 3). Set TOW once the year has been defined, it helps with leap second determination
if (flag_ephemeris_str_1 == true) if (flag_ephemeris_str_1 == true)
{ {
d_TOW = get_TOW(); d_TOW = get_TOW();
gnav_ephemeris.d_TOW = d_TOW; gnav_ephemeris.d_TOW = d_TOW;
gnav_ephemeris.d_WN = get_WN(); gnav_ephemeris.d_WN = get_WN();
flag_TOW_set = true; flag_TOW_set = true;
flag_TOW_new = true; flag_TOW_new = true;
} }
// 4) Set time of day (tod) when ephemeris data is complety decoded
gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
} }
break; break;
case 6: case 6:
@ -572,8 +573,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_7 = true; flag_almanac_str_7 = true;
} }
break; break;
case 8: case 8:
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
@ -593,6 +594,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_8 = true; flag_almanac_str_8 = true;
break; break;
case 9: case 9:
// --- It is string 9 ---------------------------------------------- // --- It is string 9 ----------------------------------------------
if (flag_almanac_str_8 == true) if (flag_almanac_str_8 == true)
@ -615,6 +617,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_9 = true; flag_almanac_str_9 = true;
} }
break; break;
case 10: case 10:
// --- It is string 10 --------------------------------------------- // --- It is string 10 ---------------------------------------------
i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
@ -657,6 +660,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_11 = true; flag_almanac_str_11 = true;
} }
break; break;
case 12: case 12:
// --- It is string 12 --------------------------------------------- // --- It is string 12 ---------------------------------------------
i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
@ -698,6 +702,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_13 = true; flag_almanac_str_13 = true;
} }
break; break;
case 14: case 14:
// --- It is string 14 --------------------------------------------- // --- It is string 14 ---------------------------------------------
if (d_frame_ID == 5) if (d_frame_ID == 5)
@ -745,15 +750,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_almanac_str_15 = true; flag_almanac_str_15 = true;
} }
break; break;
default: default:
LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID
<< ", but acceptable range is from 1-15"; << ", but acceptable range is from 1-15";
break; break;
} // switch string ID ... } // switch string ID ...
return d_string_ID; return d_string_ID;
} }
@ -805,10 +809,8 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl; DLOG(INFO) << "GLONASS GNAV Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
new_eph = true; new_eph = true;
} }
} }
return new_eph; return new_eph;
} }