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Compute PVT with E6 only and xml assistance

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This commit is contained in:
Carles Fernandez 2022-05-25 14:43:01 +02:00
parent 81d0098205
commit 657a7298f3
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GPG Key ID: 4C583C52B0C3877D
4 changed files with 70 additions and 0 deletions
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11
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -651,6 +651,13 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
// Annotate as GPS week number
for (auto gal_eph_iter = d_internal_pvt_solver->galileo_ephemeris_map.begin();
gal_eph_iter != d_internal_pvt_solver->galileo_ephemeris_map.end();
++gal_eph_iter)
{
gal_eph_iter->second.WN += 1024;
}
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
@ -2049,6 +2056,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
store_valid_observable = true;
}
}
if (std::string(in[i][epoch].Signal) == std::string("E6"))
{
store_valid_observable = true;
}
if (store_valid_observable)
{

48
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -407,6 +407,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool band1 = false;
bool band2 = false;
bool gal_e5_is_e5b = false;
bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
@ -514,6 +515,48 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
gal_e5_is_e5b = true;
}
}
if (sig_ == "E6")
{
gal_e6 = true;
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{
bool found_E1_obs = false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0); // Band 1 (E6)
found_E1_obs = true;
break;
}
}
if (!found_E1_obs)
{
// insert Galileo E6 obs as new obs and also insert its ephemeris
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0); // Band 1 (E6)
// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
case 'G':
@ -879,6 +922,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
if (j == 0 && gal_e6)
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
}
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function

4
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -75,6 +75,10 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L7X);
}
if (sig_ == "E6")
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6B);
}
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS;

7
src/core/libs/gnss_sdr_supl_client.cc
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@ -414,6 +414,13 @@ bool Gnss_Sdr_Supl_Client::load_gal_ephemeris_xml(const std::string& file_name)
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
// Convert to GPS week number
for (auto gal_eph_iter = this->gal_ephemeris_map.begin();
gal_eph_iter != this->gal_ephemeris_map.end();
++gal_eph_iter)
{
gal_eph_iter->second.WN -= 1024;
}
}
catch (std::exception& e)
{