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Merge branch 'Gastd-glonass' into glonass

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This commit is contained in:
Carles Fernandez 2018-01-24 00:06:55 +01:00
commit 6d8257e808
23 changed files with 1778 additions and 542 deletions
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8
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf → conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
View File

@ -107,7 +107,7 @@ Tracking_1C.if=0
Tracking_1C.early_late_space_chips=0.5
Tracking_1C.pll_bw_hz=20.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dump=true;
Tracking_1C.dump=false;
Tracking_1C.dump_filename=/archive/gps_tracking_ch_
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
@ -125,7 +125,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump=false;
Observables.dump_filename=/archive/gnss_observables.dat
;######### PVT CONFIG ############
@ -133,7 +133,7 @@ PVT.implementation=RTKLIB_PVT
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
@ -141,4 +141,4 @@ 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
PVT.rinex_version=3

147
conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf Normal file
View File

@ -0,0 +1,147 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=6625000
Receiver.sources_count=2
SignalSource.repeat=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/NT1065_L2_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=6625000
SignalSource0.samples=0
SignalSource0.dump=false;
SignalSource0.dump_filename=/archive/signal_glonass.bin
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=6625000
SignalSource1.samples=0
SignalSource1.dump=false;
SignalSource1.dump_filename=/archive/signal_glonass.bin
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.item_type=gr_complex
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=6625000
InputFilter0.IF=60000
Resampler0.implementation=Direct_Resampler
Resampler0.sample_freq_in=6625000
Resampler0.sample_freq_out=6625000
Resampler0.item_type=gr_complex
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Ibyte_To_Complex
InputFilter1.implementation=Pass_Through
InputFilter1.item_type=gr_complex
Resampler1.implementation=Direct_Resampler
Resampler1.sample_freq_in=6625000
Resampler1.sample_freq_out=6625000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels.in_acquisition=5
Channels_2S.count=5
Channels_1G.count=5
;# Defining GLONASS satellites
Channel0.RF_channel_ID=0
Channel0.signal=2S
Channel1.RF_channel_ID=0
Channel1.signal=2S
Channel2.RF_channel_ID=0
Channel2.signal=2S
Channel3.RF_channel_ID=0
Channel3.signal=2S
Channel4.RF_channel_ID=0
Channel4.signal=2S
Channel5.RF_channel_ID=1
Channel6.RF_channel_ID=1
Channel7.RF_channel_ID=1
Channel8.RF_channel_ID=1
Channel9.RF_channel_ID=1
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.item_type=gr_complex
Acquisition_2S.threshold=0.0
Acquisition_2S.pfa=0.00001
Acquisition_2S.if=0
Acquisition_2S.doppler_max=10000
Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1
Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
Acquisition_1G.item_type=gr_complex
Acquisition_1G.threshold=0.0
Acquisition_1G.pfa=0.00001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.if=0
Tracking_2S.early_late_space_chips=0.5
Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.250;
Tracking_2S.order=2;
Tracking_2S.dump=false;
Tracking_2S.dump_filename=/archive/gps_tracking_ch_
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
Tracking_1G.item_type=gr_complex
Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=false;
Observables.dump_filename=/archive/gnss_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=3

14
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1G
Channels.in_acquisition=1
Channels_1G.count=8
Channels_1G.count=5
Channel0.satellite=24 ; k=
Channel1.satellite=1 ; k=1
@ -43,9 +43,9 @@ Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=true;
Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5
;######### TRACKING GLOBAL CONFIG ############
@ -55,7 +55,7 @@ Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=true;
Tracking_1G.dump=false;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
@ -63,7 +63,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump=false;
Observables.dump_filename=/archive/glo_observables.dat
;######### PVT CONFIG ############
@ -72,7 +72,7 @@ PVT.positioning_mode=Single
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
@ -80,4 +80,4 @@ 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
PVT.rinex_version=3

8
conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
View File

@ -26,10 +26,10 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1G
Channels.in_acquisition=1
Channels.in_acquisition=2
Channels_1G.count=8
Channel0.satellite=24 ; k=
Channel0.satellite=24 ; k=2
Channel1.satellite=1 ; k=1
Channel2.satellite=2 ; k=-4
Channel3.satellite=20 ; k=-5
@ -53,9 +53,9 @@ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1G.item_type=gr_complex
Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.pll_bw_hz=40.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.pll_bw_narrow_hz = 20.0;
Tracking_1G.pll_bw_narrow_hz = 25.0;
Tracking_1G.dll_bw_narrow_hz = 2.0;
Tracking_1G.extend_correlation_ms = 1;
Tracking_1G.dump=true;

4
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
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@ -78,7 +78,7 @@ Observables.dump_filename=/archive/gps_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.positioning_mode=PPP_Static
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
@ -90,4 +90,4 @@ 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
PVT.rinex_version=3

2
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -150,6 +150,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
* 28 | GPS L2C + GLONASS L1 C/A
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
@ -187,6 +188,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;

58
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -345,7 +345,8 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
b_rinex_header_written = false;
b_rinex_header_updated = false;
rp = std::make_shared<Rinex_Printer>(rinex_version);
d_rinex_version = rinex_version;
rp = std::make_shared<Rinex_Printer>(d_rinex_version);
d_last_status_print_seg = 0;
@ -712,6 +713,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
* 28 | GPS L2C + GLONASS L1 C/A
*/
// ####################### RINEX FILES #################
@ -843,7 +845,7 @@ 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())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore
}
}
@ -852,8 +854,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::string signal("2G");
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_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore
}
}
@ -863,7 +865,7 @@ 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())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore
}
}
@ -874,7 +876,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
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_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);
if(d_rinex_version == 3)
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);
if(d_rinex_version == 2)
{
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
}
b_rinex_header_written = true; // do not write header anymore
}
}
@ -889,6 +897,16 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()) )
{
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_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
}
}
}
if(b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
@ -924,12 +942,23 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
}
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
if(d_rinex_version == 3)
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
if(d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
}
}
if(type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->galileo_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
}
if(type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_cnav_ephemeris_map, d_ls_pvt->glonass_gnav_ephemeris_map);
}
}
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
@ -1099,7 +1128,7 @@ 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.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
@ -1122,6 +1151,19 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
}
}

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
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@ -98,6 +98,7 @@ private:
bool d_dump;
bool b_rinex_header_written;
bool b_rinex_header_updated;
double d_rinex_version;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)

1841
src/algorithms/PVT/libs/rinex_printer.cc
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43
src/algorithms/PVT/libs/rinex_printer.h
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@ -116,7 +116,7 @@ public:
/*!
* \brief Generates the GLONASS L1, L2 C/A Navigation Data header
*/
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
/*!
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
@ -128,6 +128,11 @@ public:
*/
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
/*!
* \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
*/
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_iono, const Gps_CNAV_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
/*!
* \brief Generates the GPS Observation data header
*/
@ -156,7 +161,7 @@ public:
/*!
* \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1C");
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1G");
/*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
@ -168,6 +173,11 @@ public:
*/
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
/*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
/*!
* \brief Generates the SBAS raw data header
*/
@ -194,9 +204,20 @@ public:
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
/*!
* \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
* \brief Computes the UTC Time and returns a boost::posix_time::ptime object
* \details Function used as a method to convert the observation time into UTC time which is used
* as the default time for RINEX files
* \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week
*/
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
/*!
* \brief Computes number of leap seconds of GPS relative to UTC
* \param eph GLONASS GNAV Ephemeris object
* \param gps_obs_time Observation time in GPS seconds of week
*/
double get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time);
/*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
@ -228,6 +249,11 @@ public:
*/
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
/*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map);
/*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/
@ -268,6 +294,11 @@ public:
*/
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/
@ -295,6 +326,8 @@ public:
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_cnav_iono, const Gps_CNAV_Utc_Model & gps_cnav_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac);
void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model);

2
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
View File

@ -1,5 +1,5 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \file glonass_l1_ca_dll_pll_c_aid_tracking.cc
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com

2
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.h
View File

@ -1,5 +1,5 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \file glonass_l1_ca_dll_pll_c_aid_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com

13
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -218,6 +217,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
d_preamble_timestamp_s = 0.0;
d_carrier_frequency_hz = 0.0;
d_carrier_doppler_old_hz = 0.0;
//set_min_output_buffer((long int)300);
}
@ -270,13 +270,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
// d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
// d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
// d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -709,6 +709,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
// ################## PLL ##########################################################
// Update PLL discriminator [rads/Ti -> Secs/Ti]
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
// Carrier discriminator filter
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
// Input [s/Ti] -> output [Hz]
@ -716,7 +717,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
// PLL to DLL assistance [Secs/Ti]
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
// code Doppler frequency update
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
// ################## DLL ##########################################################
// DLL discriminator

4
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -158,6 +157,7 @@ private:
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_frequency_hz;
double d_carrier_doppler_old_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_cycles;
double d_code_phase_samples;

21
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \file glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -217,6 +216,10 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_code_error_filt_chips_Ti = 0.0;
d_preamble_timestamp_s = 0.0;
d_carr_phase_error_secs_Ti = 0.0;
d_carrier_frequency_hz = 0.0;
d_carrier_doppler_old_hz = 0.0;
//set_min_output_buffer((long int)300);
}
@ -265,13 +268,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
// d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -700,7 +703,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
// ################## PLL ##########################################################
// Update PLL discriminator [rads/Ti -> Secs/Ti]
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
// Carrier discriminator filter
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
// Input [s/Ti] -> output [Hz]
@ -708,7 +711,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
// PLL to DLL assistance [Secs/Ti]
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
// code Doppler frequency update
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
// ################## DLL ##########################################################
// DLL discriminator

7
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \file glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -160,6 +159,8 @@ private:
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_frequency_hz;
double d_carrier_doppler_old_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_cycles;
double d_code_phase_samples;

21
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \file glonass_l1_ca_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -54,9 +53,6 @@
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 10
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
@ -175,6 +171,7 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_carrier_doppler_phase_step_rad = 0.0;
d_carrier_frequency_hz = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 0.0;
@ -235,6 +232,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * (d_carrier_doppler_hz) / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
@ -554,9 +552,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
d_pull_in = false;
// take into account the carrier cycles accumulated in the pull in signal alignment
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * samples_offset;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1;
*out[0] = current_synchro_data;
@ -581,7 +579,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_frequency_hz += carr_error_filt_hz;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
d_carrier_doppler_hz += carr_error_filt_hz;
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
// ################## DLL ##########################################################
@ -605,12 +603,13 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * d_current_prn_length_samples;
//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
@ -657,7 +656,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1;

6
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
View File

@ -1,7 +1,6 @@
/*!
* \file glonass_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for Glonass L1 C/A to a TrackingInterface
* \file glonass_l1_ca_dll_pll_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
@ -140,6 +139,7 @@ private:
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_doppler_phase_step_rad;
double d_carrier_frequency_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad;

14
src/core/system_parameters/GLONASS_L1_CA.h
View File

@ -50,7 +50,7 @@ const double GLONASS_FLATTENING = 1/29825784; //!< Flatten
const double GLONASS_GRAVITY = 97803284; //!< Equatorial acceleration of gravity [mGal]
const double GLONASS_GRAVITY_CORRECTION = 0.87; //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
const double GLONASS_J2 = 1082625.75e-9; //!< Second zonal harmonic of the geopotential
const double GLONASS_J4 = -2370.89e-9; //!<Fourth zonal harmonic of the geopotential
const double GLONASS_J4 = -2370.89e-9; //!< Fourth zonal harmonic of the geopotential
const double GLONASS_J6 = 6.08e-9; //!< Sixth zonal harmonic of the geopotential
const double GLONASS_J8 = 1.40e-11; //!< Eighth zonal harmonic of the geopotential
const double GLONASS_U0 = 62636861.4; //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
@ -89,8 +89,12 @@ const double GLONASS_L1_CA_CHIP_PERIOD = 1.9569e-06; //!< GLONASS L1 C/
const double GLONASS_L1_CA_SYMBOL_RATE_BPS = 1000;
const int GLONASS_L1_CA_NBR_SATS = 24; // STRING DATA WITHOUT PREAMBLE
//FIXME Probably should use leap seconds definitions of rtklib
const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
/*!
* \brief Record of leap seconds definition for GLOT to GPST conversion and vice versa
* \details Each entry is defined by an array of 7 elements consisting of yr,month,day,hr,min,sec,utc-gpst
* \note Ideally should use leap seconds definitions of rtklib
*/
const double GLONASS_LEAP_SECONDS[19][7] = {
{2017, 1, 1, 0, 0, 0, -18},
{2015, 7, 1, 0, 0, 0, -17},
{2012, 7, 1, 0, 0, 0, -16},
@ -112,7 +116,7 @@ const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gp
{}
};
// GLONASS SV's orbital slots PRN = (orbital_slot - 1)
//!< GLONASS SV's orbital slots PRN = (orbital_slot - 1)
const std::map<unsigned int, int> GLONASS_PRN =
{{ 0, 8,}, //For test
{ 1, 1,}, //Plane 1
@ -134,7 +138,7 @@ const std::map<unsigned int, int> GLONASS_PRN =
{17, 4,}, //Plane 3
{18,-3,}, //Plane 3
{19, 3,}, //Plane 3
{20, -5,}, //Plane 3
{20,-5,}, //Plane 3
{21, 4,}, //Plane 3
{22,-3,}, //Plane 3
{23, 3,}, //Plane 3

94
src/core/system_parameters/glonass_gnav_ephemeris.cc
View File

@ -82,7 +82,6 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
d_tod = 0.0;
}
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
{
boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
@ -93,68 +92,71 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
return glonass_time;
}
boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
{
double tod = 0.0;
double glot2utc = 3*3600;
double tod = 0.0;
double glot2utc = 3*3600;
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);
boost::posix_time::ptime utc_time(d1+d2, t);
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);
boost::posix_time::ptime utc_time(d1+d2, t);
return utc_time;
return utc_time;
}
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 glot2utc = 3*3600;
double days = 0.0;
double total_sec = 0.0, sec_of_day = 0.0;
int i = 0;
double tod = 0.0;
double glot2utc = 3*3600;
double days = 0.0;
double total_sec = 0.0, sec_of_day = 0.0;
int i = 0;
boost::gregorian::date gps_epoch { 1980, 1, 6 };
boost::gregorian::date gps_epoch { 1980, 1, 6 };
// 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 - glot2utc ;
// 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 - glot2utc ;
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);
boost::posix_time::ptime glonass_time(d1+d2, t);
boost::gregorian::date utc_date = glonass_time.date();
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);
boost::posix_time::ptime utc_time(d1+d2, t);
boost::gregorian::date utc_date = utc_time.date();
boost::posix_time::ptime gps_time;
// Total number of days
std::string fdat = boost::posix_time::to_simple_string(glonass_time);
days = static_cast<double>((utc_date - gps_epoch).days());
// Adjust for leap second correction
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{
boost::posix_time::time_duration t3(GLONASS_LEAP_SECONDS[i][3], GLONASS_LEAP_SECONDS[i][4], GLONASS_LEAP_SECONDS[i][5]);
boost::gregorian::date d3(GLONASS_LEAP_SECONDS[i][0], GLONASS_LEAP_SECONDS[i][1], GLONASS_LEAP_SECONDS[i][2]);
boost::posix_time::ptime ls_time(d3, t3);
if (utc_time >= ls_time)
{
// We add the leap second when going from utc to gpst
gps_time = utc_time + boost::posix_time::time_duration(0,0,fabs(GLONASS_LEAP_SECONDS[i][6]));
break;
}
}
// Total number of seconds
sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
total_sec = days*86400 + sec_of_day;
// Total number of days
std::string fdat = boost::posix_time::to_simple_string(gps_time);
days = static_cast<double>((utc_date - gps_epoch).days());
// 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])
{
// We add the leap second when going from utc to gpst
total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]);
break;
}
}
// Total number of seconds
sec_of_day = static_cast<double>((gps_time.time_of_day()).total_seconds());
total_sec = days*86400 + sec_of_day;
// Compute Week number
*wn = floor(total_sec/604800);
// Compute Week number
*wn = floor(total_sec/604800);
// Compute the arithmetic modules to wrap around range
*tow = total_sec - 604800*floor(total_sec/604800);
// Perform corrections from fractional seconds
*tow += glot2utc_corr + glot2gpst_corr;
// Compute the arithmetic modules to wrap around range
*tow = total_sec - 604800*floor(total_sec/604800);
// Perform corrections from fractional seconds
*tow += glot2utc_corr + glot2gpst_corr;
}

5
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
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@ -95,8 +95,9 @@ TEST(RinexPrinterTest, GlonassObsHeader)
const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
std::shared_ptr<Rinex_Printer> rp1;
rp1 = std::make_shared<Rinex_Printer>();
rp1->rinex_obs_header(rp1->obsFile, eph, 0.0);
rp1 = std::make_shared<Rinex_Printer>(3);
const std::string bands = "1G";
rp1->rinex_obs_header(rp1->obsFile, eph, 0.0, bands);
rp1->obsFile.seekp(0);
while(!rp1->obsFile.eof())

2
src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
View File

@ -130,7 +130,7 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
double tow = 0.0;
double true_leap_sec = 17;
double true_week = 1886;
double true_tow = 259200+true_leap_sec;
double true_tow = 259200+true_leap_sec+tod;
gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);

3
src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
View File

@ -172,6 +172,7 @@ TEST(GlonassGnavNavigationMessageTest, String3Decoder)
gnav_ephemeris.d_Zn = 19929.2377929688;
// Call target test method
gnav_nav_message.flag_ephemeris_str_2 = true;
gnav_nav_message.string_decoder(str3);
// Perform assertions of decoded fields
@ -209,6 +210,7 @@ TEST(GlonassGnavNavigationMessageTest, String4Decoder)
gnav_ephemeris.d_M = 1;
// Call target test method
gnav_nav_message.flag_ephemeris_str_3 = true;
gnav_nav_message.string_decoder(str4);
// Perform assertions of decoded fields
@ -243,6 +245,7 @@ TEST(GlonassGnavNavigationMessageTest, String5Decoder)
gnav_utc_model.d_tau_gps = 9.313225746154785e-08;
// Call target test method
gnav_nav_message.flag_ephemeris_str_4 = true;
gnav_nav_message.string_decoder(str5);
// Perform assertions of decoded fields