mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-11-25 11:34:53 +00:00
Code Issues Releases Wiki Activity

Give more natural, consistent names to ephemeris / iono / utc parameters exposed outside the receiver via XML files

Browse Source 
Create a base class for GPS, Galileo and BeiDou ephemeris, allowing to remove some duplicated code

Use BOOST_SERIALIZATION_NVP macro, less error prone than boost::serialization::make_nvp

Update .xsd files
This commit is contained in:
Carles Fernandez
2021-02-21 00:01:56 +01:00
parent c0796f416d
commit 7971565a0d
68 changed files with 3012 additions and 3764 deletions
Download Patch File Download Diff File Expand all files Collapse all files

270
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -168,36 +168,36 @@ 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,
0.0, 0.0, 0.0, 0.0, 0.0, 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
rtklib_sat.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
rtklib_sat.M0 = gal_eph.M0_1;
rtklib_sat.deln = gal_eph.delta_n_3;
rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
rtklib_sat.OMGd = gal_eph.OMEGA_dot_3;
rtklib_sat.omg = gal_eph.omega_2;
rtklib_sat.i0 = gal_eph.i_0_2;
rtklib_sat.idot = gal_eph.iDot_2;
rtklib_sat.e = gal_eph.e_1;
rtklib_sat.sat = gal_eph.PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.sqrtA * gal_eph.sqrtA;
rtklib_sat.M0 = gal_eph.M_0;
rtklib_sat.deln = gal_eph.delta_n;
rtklib_sat.OMG0 = gal_eph.OMEGA_0;
rtklib_sat.OMGd = gal_eph.OMEGAdot;
rtklib_sat.omg = gal_eph.omega;
rtklib_sat.i0 = gal_eph.i_0;
rtklib_sat.idot = gal_eph.idot;
rtklib_sat.e = gal_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = gal_eph.WN_5 + 1024; /* week of tow in GPS (not mod-1024) week scale */
rtklib_sat.cic = gal_eph.C_ic_4;
rtklib_sat.cis = gal_eph.C_is_4;
rtklib_sat.cuc = gal_eph.C_uc_3;
rtklib_sat.cus = gal_eph.C_us_3;
rtklib_sat.crc = gal_eph.C_rc_3;
rtklib_sat.crs = gal_eph.C_rs_3;
rtklib_sat.f0 = gal_eph.af0_4;
rtklib_sat.f1 = gal_eph.af1_4;
rtklib_sat.f2 = gal_eph.af2_4;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
rtklib_sat.week = gal_eph.WN + 1024; /* week of tow in GPS (not mod-1024) week scale */
rtklib_sat.cic = gal_eph.Cic;
rtklib_sat.cis = gal_eph.Cis;
rtklib_sat.cuc = gal_eph.Cuc;
rtklib_sat.cus = gal_eph.Cus;
rtklib_sat.crc = gal_eph.Crc;
rtklib_sat.crs = gal_eph.Crs;
rtklib_sat.f0 = gal_eph.af0;
rtklib_sat.f1 = gal_eph.af1;
rtklib_sat.f2 = gal_eph.af2;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.t0c_4);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.TOW_5);
rtklib_sat.toes = gal_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.tow);
/* adjustment for week handover */
double tow;
@@ -226,36 +226,36 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, bool pre_2009_file)
{
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};
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
rtklib_sat.deln = gps_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
rtklib_sat.OMGd = gps_eph.d_OMEGA_DOT;
rtklib_sat.omg = gps_eph.d_OMEGA;
rtklib_sat.i0 = gps_eph.d_i_0;
rtklib_sat.idot = gps_eph.d_IDOT;
rtklib_sat.e = gps_eph.d_e_eccentricity;
rtklib_sat.sat = gps_eph.PRN;
rtklib_sat.A = gps_eph.sqrtA * gps_eph.sqrtA;
rtklib_sat.M0 = gps_eph.M_0;
rtklib_sat.deln = gps_eph.delta_n;
rtklib_sat.OMG0 = gps_eph.OMEGA_0;
rtklib_sat.OMGd = gps_eph.OMEGAdot;
rtklib_sat.omg = gps_eph.omega;
rtklib_sat.i0 = gps_eph.i_0;
rtklib_sat.idot = gps_eph.idot;
rtklib_sat.e = gps_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week, pre_2009_file); /* week of tow */
rtklib_sat.cic = gps_eph.d_Cic;
rtklib_sat.cis = gps_eph.d_Cis;
rtklib_sat.cuc = gps_eph.d_Cuc;
rtklib_sat.cus = gps_eph.d_Cus;
rtklib_sat.crc = gps_eph.d_Crc;
rtklib_sat.crs = gps_eph.d_Crs;
rtklib_sat.f0 = gps_eph.d_A_f0;
rtklib_sat.f1 = gps_eph.d_A_f1;
rtklib_sat.f2 = gps_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_eph.d_TGD;
rtklib_sat.week = adjgpsweek(gps_eph.WN, pre_2009_file); /* week of tow */
rtklib_sat.cic = gps_eph.Cic;
rtklib_sat.cis = gps_eph.Cis;
rtklib_sat.cuc = gps_eph.Cuc;
rtklib_sat.cus = gps_eph.Cus;
rtklib_sat.crc = gps_eph.Crc;
rtklib_sat.crs = gps_eph.Crs;
rtklib_sat.f0 = gps_eph.af0;
rtklib_sat.f1 = gps_eph.af1;
rtklib_sat.f2 = gps_eph.af2;
rtklib_sat.tgd[0] = gps_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
rtklib_sat.toes = gps_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.tow);
/* adjustment for week handover */
double tow;
@@ -284,45 +284,45 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_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,
0.0, 0.0, 0.0, 0.0, 0.0, 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 = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.d_sqrt_A * bei_eph.d_sqrt_A;
rtklib_sat.M0 = bei_eph.d_M_0;
rtklib_sat.deln = bei_eph.d_Delta_n;
rtklib_sat.OMG0 = bei_eph.d_OMEGA0;
rtklib_sat.OMGd = bei_eph.d_OMEGA_DOT;
rtklib_sat.omg = bei_eph.d_OMEGA;
rtklib_sat.i0 = bei_eph.d_i_0;
rtklib_sat.idot = bei_eph.d_IDOT;
rtklib_sat.e = bei_eph.d_eccentricity;
rtklib_sat.sat = bei_eph.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.sqrtA * bei_eph.sqrtA;
rtklib_sat.M0 = bei_eph.M_0;
rtklib_sat.deln = bei_eph.delta_n;
rtklib_sat.OMG0 = bei_eph.OMEGA_0;
rtklib_sat.OMGd = bei_eph.OMEGAdot;
rtklib_sat.omg = bei_eph.omega;
rtklib_sat.i0 = bei_eph.i_0;
rtklib_sat.idot = bei_eph.idot;
rtklib_sat.e = bei_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.svh = bei_eph.i_SV_health;
rtklib_sat.sva = bei_eph.i_SV_accuracy;
rtklib_sat.svh = bei_eph.SV_health;
rtklib_sat.sva = bei_eph.SV_accuracy;
rtklib_sat.code = bei_eph.i_sig_type; /* B1I data */
rtklib_sat.flag = bei_eph.i_nav_type; /* MEO/IGSO satellite */
rtklib_sat.iode = static_cast<int32_t>(bei_eph.d_AODE); /* AODE */
rtklib_sat.iodc = static_cast<int32_t>(bei_eph.d_AODC); /* AODC */
rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */
rtklib_sat.cic = bei_eph.d_Cic;
rtklib_sat.cis = bei_eph.d_Cis;
rtklib_sat.cuc = bei_eph.d_Cuc;
rtklib_sat.cus = bei_eph.d_Cus;
rtklib_sat.crc = bei_eph.d_Crc;
rtklib_sat.crs = bei_eph.d_Crs;
rtklib_sat.f0 = bei_eph.d_A_f0;
rtklib_sat.f1 = bei_eph.d_A_f1;
rtklib_sat.f2 = bei_eph.d_A_f2;
rtklib_sat.week = bei_eph.WN; /* week of tow */
rtklib_sat.cic = bei_eph.Cic;
rtklib_sat.cis = bei_eph.Cis;
rtklib_sat.cuc = bei_eph.Cuc;
rtklib_sat.cus = bei_eph.Cus;
rtklib_sat.crc = bei_eph.Crc;
rtklib_sat.crs = bei_eph.Crs;
rtklib_sat.f0 = bei_eph.af0;
rtklib_sat.f1 = bei_eph.af1;
rtklib_sat.f2 = bei_eph.af2;
rtklib_sat.tgd[0] = bei_eph.d_TGD1;
rtklib_sat.tgd[1] = bei_eph.d_TGD2;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = bei_eph.d_Toe;
rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toe));
rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toc));
rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_TOW));
rtklib_sat.toes = bei_eph.toe;
rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toe));
rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toc));
rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.tow));
/* adjustment for week handover */
double tow;
double toc;
@@ -353,44 +353,40 @@ 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,
0.0, 0.0, 0.0, 0.0, 0.0, 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;
const double A_REF = 26559710.0; // See IS-GPS-200L, pp. 161
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
rtklib_sat.M0 = gps_cnav_eph.d_M_0;
rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200L pp. 160
double d_OMEGA_DOT = OMEGA_DOT_REF * GNSS_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd = d_OMEGA_DOT;
rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
rtklib_sat.i0 = gps_cnav_eph.d_i_0;
rtklib_sat.idot = gps_cnav_eph.d_IDOT;
rtklib_sat.e = gps_cnav_eph.d_e_eccentricity;
rtklib_sat.Adot = gps_cnav_eph.d_A_DOT; // only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N; // only in CNAV;
rtklib_sat.sat = gps_cnav_eph.PRN;
rtklib_sat.A = gps_cnav_eph.sqrtA * gps_cnav_eph.sqrtA;
rtklib_sat.M0 = gps_cnav_eph.M_0;
rtklib_sat.deln = gps_cnav_eph.delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.OMEGA_0;
rtklib_sat.OMGd = gps_cnav_eph.OMEGAdot;
rtklib_sat.omg = gps_cnav_eph.omega;
rtklib_sat.i0 = gps_cnav_eph.i_0;
rtklib_sat.idot = gps_cnav_eph.idot;
rtklib_sat.e = gps_cnav_eph.ecc;
rtklib_sat.Adot = gps_cnav_eph.Adot; // only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.delta_ndot; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.d_Cic;
rtklib_sat.cis = gps_cnav_eph.d_Cis;
rtklib_sat.cuc = gps_cnav_eph.d_Cuc;
rtklib_sat.cus = gps_cnav_eph.d_Cus;
rtklib_sat.crc = gps_cnav_eph.d_Crc;
rtklib_sat.crs = gps_cnav_eph.d_Crs;
rtklib_sat.f0 = gps_cnav_eph.d_A_f0;
rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.WN); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.Cic;
rtklib_sat.cis = gps_cnav_eph.Cis;
rtklib_sat.cuc = gps_cnav_eph.Cuc;
rtklib_sat.cus = gps_cnav_eph.Cus;
rtklib_sat.crc = gps_cnav_eph.Crc;
rtklib_sat.crs = gps_cnav_eph.Crs;
rtklib_sat.f0 = gps_cnav_eph.af0;
rtklib_sat.f1 = gps_cnav_eph.af1;
rtklib_sat.f2 = gps_cnav_eph.af2;
rtklib_sat.tgd[0] = gps_cnav_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.d_Toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW);
rtklib_sat.isc[0] = gps_cnav_eph.ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.tow);
/* adjustment for week handover */
double tow;
@@ -421,24 +417,24 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gps_alm.i_satellite_PRN;
rtklib_alm.svh = gps_alm.i_SV_health;
rtklib_alm.svconf = gps_alm.i_AS_status;
rtklib_alm.week = gps_alm.i_WNa;
rtklib_alm.sat = gps_alm.PRN;
rtklib_alm.svh = gps_alm.SV_health;
rtklib_alm.svconf = gps_alm.AS_status;
rtklib_alm.week = gps_alm.WNa;
gtime_t toa;
toa.time = gps_alm.i_Toa;
toa.time = gps_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
rtklib_alm.e = gps_alm.d_e_eccentricity;
rtklib_alm.i0 = (gps_alm.d_Delta_i + 0.3) * GNSS_PI;
rtklib_alm.OMG0 = gps_alm.d_OMEGA0 * GNSS_PI;
rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT * GNSS_PI;
rtklib_alm.omg = gps_alm.d_OMEGA * GNSS_PI;
rtklib_alm.M0 = gps_alm.d_M_0 * GNSS_PI;
rtklib_alm.f0 = gps_alm.d_A_f0;
rtklib_alm.f1 = gps_alm.d_A_f1;
rtklib_alm.toas = gps_alm.i_Toa;
rtklib_alm.A = gps_alm.sqrtA * gps_alm.sqrtA;
rtklib_alm.e = gps_alm.ecc;
rtklib_alm.i0 = (gps_alm.delta_i + 0.3) * GNSS_PI;
rtklib_alm.OMG0 = gps_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gps_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gps_alm.omega * GNSS_PI;
rtklib_alm.M0 = gps_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gps_alm.af0;
rtklib_alm.f1 = gps_alm.af1;
rtklib_alm.toas = gps_alm.toa;
return rtklib_alm;
}
@@ -450,25 +446,25 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gal_alm.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_alm.sat = gal_alm.PRN + NSATGPS + NSATGLO;
rtklib_alm.svh = gal_alm.E1B_HS;
rtklib_alm.svconf = gal_alm.E1B_HS;
rtklib_alm.week = gal_alm.i_WNa;
rtklib_alm.week = gal_alm.WNa;
gtime_t toa;
toa.time = gal_alm.i_Toa;
toa.time = gal_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
rtklib_alm.A = 5440.588203494 + gal_alm.delta_sqrtA;
rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
rtklib_alm.e = gal_alm.d_e_eccentricity;
rtklib_alm.i0 = (gal_alm.d_Delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.d_OMEGA0 * GNSS_PI;
rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT * GNSS_PI;
rtklib_alm.omg = gal_alm.d_OMEGA * GNSS_PI;
rtklib_alm.M0 = gal_alm.d_M_0 * GNSS_PI;
rtklib_alm.f0 = gal_alm.d_A_f0;
rtklib_alm.f1 = gal_alm.d_A_f1;
rtklib_alm.toas = gal_alm.i_Toa;
rtklib_alm.e = gal_alm.ecc;
rtklib_alm.i0 = (gal_alm.delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gal_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gal_alm.omega * GNSS_PI;
rtklib_alm.M0 = gal_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gal_alm.af0;
rtklib_alm.f1 = gal_alm.af1;
rtklib_alm.toas = gal_alm.toa;
return rtklib_alm;
}