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Merge branch 'next' of https://github.com/mmajoral/gnss-sdr into improve_fpga_extended_correlation

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This commit is contained in:
Marc Majoral 2019-11-05 15:04:20 +01:00
commit 83b202a5f7
12 changed files with 125 additions and 53 deletions
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2
docs/protobuf/monitor_pvt.proto
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@ -38,4 +38,6 @@ double gdop = 25; // Geometric Dilution of Precision
double pdop = 26; // Position (3D) Dilution of Precision
double hdop = 27; // Horizontal Dilution of Precision
double vdop = 28; // Vertical Dilution of Precision
double user_clk_drift_ppm = 29; // User clock drift [ppm]
}

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -4168,6 +4168,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
std::cout
<< TEXT_BOLD_GREEN
<< "Velocity: " << std::fixed << std::setprecision(3)
<< "East: " << d_user_pvt_solver->get_rx_vel()[0] << " [m/s], North: " << d_user_pvt_solver->get_rx_vel()[1]
<< " [m/s], Up = " << d_user_pvt_solver->get_rx_vel()[2] << " [m/s]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock drift: " << d_user_pvt_solver->get_clock_drift_ppm() << " [ppm]";
// boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_user_pvt_solver->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);

5
src/algorithms/PVT/libs/monitor_pvt.h
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@ -89,6 +89,9 @@ public:
double hdop;
double vdop;
// User clock drift [ppm]
double user_clk_drift_ppm;
/*!
* \brief This member function serializes and restores
* Monitor_Pvt objects from a byte stream.
@ -134,6 +137,8 @@ public:
ar& BOOST_SERIALIZATION_NVP(pdop);
ar& BOOST_SERIALIZATION_NVP(hdop);
ar& BOOST_SERIALIZATION_NVP(vdop);
ar& BOOST_SERIALIZATION_NVP(user_clk_drift_ppm);
}
};

21
src/algorithms/PVT/libs/pvt_solution.cc
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@ -316,6 +316,16 @@ void Pvt_Solution::set_time_offset_s(double offset)
d_rx_dt_s = offset;
}
double Pvt_Solution::get_clock_drift_ppm() const
{
return d_rx_clock_drift_ppm;
}
void Pvt_Solution::set_clock_drift_ppm(double clock_drift_ppm)
{
d_rx_clock_drift_ppm = clock_drift_ppm;
}
double Pvt_Solution::get_latitude() const
{
@ -409,6 +419,17 @@ arma::vec Pvt_Solution::get_rx_pos() const
return d_rx_pos;
}
void Pvt_Solution::set_rx_vel(const arma::vec &vel)
{
d_rx_vel = vel;
}
arma::vec Pvt_Solution::get_rx_vel() const
{
return d_rx_vel;
}
boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
{

7
src/algorithms/PVT/libs/pvt_solution.h
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@ -53,6 +53,8 @@ public:
double get_time_offset_s() const; //!< Get RX time offset [s]
void set_time_offset_s(double offset); //!< Set RX time offset [s]
double get_clock_drift_ppm() const; //!< Get the Rx clock drift [ppm]
void set_clock_drift_ppm(double clock_drift_ppm); //!< Set the Rx clock drift [ppm]
double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
double get_height() const; //!< Get RX position height WGS84 [m]
@ -70,6 +72,9 @@ public:
void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
arma::vec get_rx_pos() const;
void set_rx_vel(const arma::vec &vel); //!< Set velocity: East [m/s], North [m/s], Up [m/s]
arma::vec get_rx_vel() const;
bool is_valid_position() const;
void set_valid_position(bool is_valid);
@ -133,6 +138,7 @@ protected:
bool d_pre_2009_file; // Flag to correct week rollover in post processing mode for signals older than 2009
private:
double d_rx_dt_s; // RX time offset [s]
double d_rx_clock_drift_ppm; // RX clock drift [ppm]
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
@ -154,6 +160,7 @@ private:
int d_averaging_depth; // Length of averaging window
arma::vec d_rx_pos;
arma::vec d_rx_vel;
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
};

34
src/algorithms/PVT/libs/rtcm.cc
View File

@ -147,7 +147,7 @@ std::string Rtcm::add_CRC(const std::string& message_without_crc) const
// 2) Computes CRC
CRC_RTCM.process_bytes(bytes.data(), bytes.size());
std::bitset<24> crc_frame = std::bitset<24>(CRC_RTCM.checksum());
auto crc_frame = std::bitset<24>(CRC_RTCM.checksum());
// 3) Builds the complete message
std::string complete_message = message_without_crc + crc_frame.to_string();
@ -162,7 +162,7 @@ bool Rtcm::check_CRC(const std::string& message) const
std::string message_bin = Rtcm::binary_data_to_bin(message);
// Check CRC
std::string crc = message_bin.substr(message_bin.length() - 24, 24);
std::bitset<24> read_crc = std::bitset<24>(crc);
auto read_crc = std::bitset<24>(crc);
std::string msg_without_crc = message_bin.substr(0, message_bin.length() - 24);
boost::dynamic_bitset<uint8_t> frame_bits(msg_without_crc);
@ -171,7 +171,7 @@ bool Rtcm::check_CRC(const std::string& message) const
std::reverse(bytes.begin(), bytes.end());
CRC_RTCM_CHECK.process_bytes(bytes.data(), bytes.size());
std::bitset<24> computed_crc = std::bitset<24>(CRC_RTCM_CHECK.checksum());
auto computed_crc = std::bitset<24>(CRC_RTCM_CHECK.checksum());
if (read_crc == computed_crc)
{
return true;
@ -414,7 +414,7 @@ std::string Rtcm::build_message(const std::string& data) const
{
uint32_t msg_length_bits = data.length();
uint32_t msg_length_bytes = std::ceil(static_cast<float>(msg_length_bits) / 8.0);
std::bitset<10> message_length = std::bitset<10>(msg_length_bytes);
auto message_length = std::bitset<10>(msg_length_bytes);
uint32_t zeros_to_fill = 8 * msg_length_bytes - msg_length_bits;
std::string b(zeros_to_fill, '0');
std::string msg_content = data + b;
@ -691,7 +691,7 @@ std::bitset<101> Rtcm::get_MT1003_sat_content(const Gps_Ephemeris& ephL1, const
Rtcm::set_DF011(gnss_synchroL1);
Rtcm::set_DF012(gnss_synchroL1);
Rtcm::set_DF013(ephL1, obs_time, gnss_synchroL1);
std::bitset<2> DF016_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
auto DF016_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
Rtcm::set_DF017(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF018(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF019(ephL2, obs_time, gnss_synchroL2);
@ -802,7 +802,7 @@ std::bitset<125> Rtcm::get_MT1004_sat_content(const Gps_Ephemeris& ephL1, const
Rtcm::set_DF013(ephL1, obs_time, gnss_synchroL1);
Rtcm::set_DF014(gnss_synchroL1);
Rtcm::set_DF015(gnss_synchroL1);
std::bitset<2> DF016_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
auto DF016_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
Rtcm::set_DF017(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF018(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF019(ephL2, obs_time, gnss_synchroL2);
@ -1058,7 +1058,7 @@ std::string Rtcm::print_MT1006(uint32_t ref_id, double ecef_x, double ecef_y, do
std::string Rtcm::print_MT1008(uint32_t ref_id, const std::string& antenna_descriptor, uint32_t antenna_setup_id, const std::string& antenna_serial_number)
{
uint32_t msg_number = 1008;
std::bitset<12> DF002_ = std::bitset<12>(msg_number);
auto DF002_ = std::bitset<12>(msg_number);
Rtcm::set_DF003(ref_id);
std::string ant_descriptor = antenna_descriptor;
uint32_t len = ant_descriptor.length();
@ -1072,7 +1072,7 @@ std::string Rtcm::print_MT1008(uint32_t ref_id, const std::string& antenna_descr
std::string DF030_str_;
for (char c : ant_descriptor)
{
std::bitset<8> character = std::bitset<8>(c);
auto character = std::bitset<8>(c);
DF030_str_ += character.to_string();
}
@ -1090,7 +1090,7 @@ std::string Rtcm::print_MT1008(uint32_t ref_id, const std::string& antenna_descr
std::string DF033_str_;
for (char c : ant_sn)
{
std::bitset<8> character = std::bitset<8>(c);
auto character = std::bitset<8>(c);
DF033_str_ += character.to_string();
}
@ -1375,7 +1375,7 @@ std::bitset<107> Rtcm::get_MT1011_sat_content(const Glonass_Gnav_Ephemeris& ephL
Rtcm::set_DF041(gnss_synchroL1);
Rtcm::set_DF042(gnss_synchroL1);
Rtcm::set_DF043(ephL1, obs_time, gnss_synchroL1);
std::bitset<2> DF046_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
auto DF046_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
Rtcm::set_DF047(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF048(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF049(ephL2, obs_time, gnss_synchroL2);
@ -1488,7 +1488,7 @@ std::bitset<130> Rtcm::get_MT1012_sat_content(const Glonass_Gnav_Ephemeris& ephL
Rtcm::set_DF043(ephL1, obs_time, gnss_synchroL1);
Rtcm::set_DF044(gnss_synchroL1);
Rtcm::set_DF045(gnss_synchroL1);
std::bitset<2> DF046_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
auto DF046_ = std::bitset<2>(0); // code indicator 0: C/A or L2C code 1: P(Y) code direct 2:P(Y) code cross-correlated 3: Correlated P/Y
Rtcm::set_DF047(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF048(gnss_synchroL1, gnss_synchroL2);
Rtcm::set_DF049(ephL2, obs_time, gnss_synchroL2);
@ -2039,12 +2039,12 @@ std::string Rtcm::print_MT1029(uint32_t ref_id, const Gps_Ephemeris& gps_eph, do
first = false;
}
}
std::bitset<8> character = std::bitset<8>(c);
auto character = std::bitset<8>(c);
text_binary += character.to_string();
}
std::bitset<7> DF138_ = std::bitset<7>(i);
std::bitset<8> DF139_ = std::bitset<8>(message.length());
auto DF138_ = std::bitset<7>(i);
auto DF139_ = std::bitset<8>(message.length());
std::string data = DF002.to_string() +
DF003.to_string() +
@ -2101,7 +2101,7 @@ std::string Rtcm::print_MT1045(const Galileo_Ephemeris& gal_eph)
Rtcm::set_DF314(gal_eph);
Rtcm::set_DF315(gal_eph);
uint32_t seven_zero = 0;
std::bitset<7> DF001_ = std::bitset<7>(seven_zero);
auto DF001_ = std::bitset<7>(seven_zero);
std::string data;
data.clear();
@ -2357,7 +2357,7 @@ std::string Rtcm::get_MSM_header(uint32_t msg_number,
Rtcm::set_DF003(ref_id);
Rtcm::set_DF393(more_messages);
Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
std::bitset<7> DF001_ = std::bitset<7>("0000000");
auto DF001_ = std::bitset<7>("0000000");
Rtcm::set_DF411(clock_steering_indicator);
Rtcm::set_DF412(external_clock_indicator);
Rtcm::set_DF417(divergence_free);
@ -2956,7 +2956,7 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
Rtcm::set_DF397(ordered_by_PRN_pos.at(nsat).second);
Rtcm::set_DF398(ordered_by_PRN_pos.at(nsat).second);
Rtcm::set_DF399(ordered_by_PRN_pos.at(nsat).second);
std::bitset<4> reserved = std::bitset<4>("0000");
auto reserved = std::bitset<4>("0000");
first_data_type += DF397.to_string();
second_data_type += reserved.to_string();
third_data_type += DF398.to_string();

13
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -1072,6 +1072,19 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
arma::vec rx_vel_enu(3);
rx_vel_enu(0) = enuv[0];
rx_vel_enu(1) = enuv[1];
rx_vel_enu(2) = enuv[2];
this->set_rx_vel(rx_vel_enu);
double clock_drift_ppm = pvt_sol.dtr[5] / GPS_C_M_S * 1e6;
this->set_clock_drift_ppm(clock_drift_ppm);
// User clock drift [ppm]
monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)
{

2
src/algorithms/PVT/libs/serdes_monitor_pvt.h
View File

@ -116,6 +116,7 @@ public:
monitor_.set_pdop(monitor->pdop);
monitor_.set_hdop(monitor->hdop);
monitor_.set_vdop(monitor->vdop);
monitor_.set_user_clk_drift_ppm(monitor->user_clk_drift_ppm);
monitor_.SerializeToString(&data);
return data;
@ -153,6 +154,7 @@ public:
monitor.pdop = mon.pdop();
monitor.hdop = mon.hdop();
monitor.vdop = mon.vdop();
monitor.user_clk_drift_ppm = mon.user_clk_drift_ppm();
return monitor;
}

1
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -972,6 +972,7 @@ void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
{
sol->rr[i + 3] = x[i];
}
sol->dtr[5] = x[3];
break;
}
}

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -37,10 +37,10 @@
#ifndef GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_CC_H_
#define GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_CC_H_
#include "cpu_multicorrelator.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_FLL_PLL_filter.h"
#include "cpu_multicorrelator.h"
#include <gnuradio/block.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h
View File

@ -49,9 +49,9 @@
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector
#include <armadillo>
#include <gnuradio/block.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector
#include <fstream>
#include <map>
#include <string>

72
src/core/system_parameters/gnss_satellite.cc
View File

@ -654,94 +654,106 @@ std::string Gnss_Satellite::what_block(const std::string& system_, uint32_t PRN_
switch (PRN_)
{
case 1:
block_ = std::string("Compass-G1"); // GEO 140.0°E; launched 2010/01/16
block_ = std::string("BeiDou-2 GEO01"); // GEO 140.0°E; launched 2010/01/16
break;
case 2:
block_ = std::string("Compass-G6"); // GEO 80°E; launched 2012/10/25
block_ = std::string("BeiDou-2 GEO06"); // GEO 80°E; launched 2012/10/25
break;
case 3:
block_ = std::string("Compass-G7"); // GEO 110.5°E; launched 2016/06/12
block_ = std::string("BeiDou-2 GEO07"); // GEO 110.5°E; launched 2016/06/12
break;
case 4:
block_ = std::string("Compass-G4"); // GEO 160.0°E; launched 2010/10/31
block_ = std::string("BeiDou-2 GEO04"); // GEO 160.0°E; launched 2010/10/31
break;
case 5:
block_ = std::string("Compass-G5"); // GEO 58.75°E; launched 2012/02/24
block_ = std::string("BeiDou-2 GEO05"); // GEO 58.75°E; launched 2012/02/24
break;
case 6:
block_ = std::string("Compass-IGS01"); // 55° inclination IGSO 118°E; launched 2010/07/31
block_ = std::string("BeiDou-2 IGSO01"); // 55° inclination IGSO 118°E; launched 2010/07/31
break;
case 7:
block_ = std::string("Compass-IGS02"); // 55° inclination IGSO 118°E; launched 2010/12/17
block_ = std::string("BeiDou-2 IGSO02"); // 55° inclination IGSO 118°E; launched 2010/12/17
break;
case 8:
block_ = std::string("Compass-IGS03"); // 55° inclination IGSO 118°E; launched 2011/04/09
block_ = std::string("BeiDou-2 IGSO03"); // 55° inclination IGSO 118°E; launched 2011/04/09
break;
case 9:
block_ = std::string("Compass-IGS04"); // 55° inclination IGSO 95°E; launched 2011/07/27
block_ = std::string("BeiDou-2 IGSO04"); // 55° inclination IGSO 95°E; launched 2011/07/27
break;
case 10:
block_ = std::string("Compass-IGS05"); // 55° inclination IGSO 118°E; launched 2011/12/01
block_ = std::string("BeiDou-2 IGSO05"); // 55° inclination IGSO 118°E; launched 2011/12/01
break;
case 11:
block_ = std::string("Compass-M3"); // Slot A07; launched 2012/04/29
block_ = std::string("BeiDou-2 MEO03"); // Slot A07; launched 2012/04/29
break;
case 12:
block_ = std::string("Compass-M4"); // Slot A08; launched 2012/04/29
block_ = std::string("BeiDou-2 MEO04"); // Slot A08; launched 2012/04/29
break;
case 13:
block_ = std::string("BeiDou-2 IGSO06"); // launched 2016/03/30
break;
case 14:
block_ = std::string("BeiDou-2 MEO06"); // launched 2012/09/19
break;
case 16:
block_ = std::string("BeiDou-2 IGSO07"); // launched 2018/07/10
break;
case 19:
block_ = std::string("BEIDOU-3 M1"); // Slot B-7; launched 2017/11/05
block_ = std::string("BeiDou-3 MEO01"); // Slot B-7; launched 2017/11/05
break;
case 20:
block_ = std::string("BEIDOU-3 M2"); // Slot B-5; launched 2017/11/05
block_ = std::string("BeiDou-3 MEO02"); // Slot B-5; launched 2017/11/05
break;
case 21:
block_ = std::string("BEIDOU 3M5"); // Slot B-?; launched 2018/02/12
block_ = std::string("BeiDou-3 MEO03"); // Slot B-?; launched 2018/02/12
break;
case 22:
block_ = std::string("BEIDOU 3M6"); // Slot B-6; launched 2018/02/12
block_ = std::string("BeiDou-3 MEO04"); // Slot B-6; launched 2018/02/12
break;
case 23:
block_ = std::string("BEIDOU 3M9"); // Slot C-7; launched 2018/07/29
block_ = std::string("BeiDou-3 MEO05"); // Slot C-7; launched 2018/07/29
break;
case 24:
block_ = std::string("BEIDOU 3M10"); // Slot C-1; launched 2018/07/29
block_ = std::string("BeiDou-3 MEO06"); // Slot C-1; launched 2018/07/29
break;
case 25:
block_ = std::string("BEIDOU 3M12"); // Slot C-8; launched 2018/08/24
block_ = std::string("BeiDou-3 MEO11"); // Slot C-8; launched 2018/08/24
break;
case 26:
block_ = std::string("BEIDOU 3M11"); // Slot C-2; launched 2018/08/24
block_ = std::string("BeiDou-3 MEO12"); // Slot C-2; launched 2018/08/24
break;
case 27:
block_ = std::string("BEIDOU 3M3"); // Slot A-?; launched 2018/01/11
block_ = std::string("BeiDou-3 3M3"); // Slot A-?; launched 2018/01/11
break;
case 28:
block_ = std::string("BEIDOU 3M4"); // Slot A-?; launched 2018/01/11
block_ = std::string("BeiDou-3 3M4"); // Slot A-?; launched 2018/01/11
break;
case 29:
block_ = std::string("BEIDOU 3M7"); // Slot A-?; launched 2018/03/29
block_ = std::string("BeiDou-3 3M7"); // Slot A-?; launched 2018/03/29
break;
case 30:
block_ = std::string("BEIDOU 3M8"); // Slot A-?; launched 2018/03/29
block_ = std::string("BeiDou-3 3M8"); // Slot A-?; launched 2018/03/29
break;
case 32:
block_ = std::string("BEIDOU 3M13"); // Slot B-1?; launched 2018/09/19
block_ = std::string("BeiDou-3 MEO13"); // Slot B-1?; launched 2018/09/19
break;
case 33:
block_ = std::string("BEIDOU 3M14"); // Slot B-3; launched 2018/09/19
block_ = std::string("BeiDou-3 MEO14"); // Slot B-3; launched 2018/09/19
break;
case 34:
block_ = std::string("BEIDOU 3M15"); // Slot B-3; launched 2018/10/15
block_ = std::string("BeiDou-3 MEO15"); // Slot B-3; launched 2018/10/15
break;
case 35:
block_ = std::string("BEIDOU 3M16"); // Slot B-3; launched 2018/10/15
block_ = std::string("BeiDou-3 MEO16"); // Slot B-3; launched 2018/10/15
break;
case 36:
block_ = std::string("BEIDOU 3M17"); // Slot B-3; launched 2018/11/18
block_ = std::string("BeiDou-3 MEO17"); // Slot B-3; launched 2018/11/18
break;
case 37:
block_ = std::string("BEIDOU 3M18"); // Slot B-3; launched 2018/11/18
block_ = std::string("BeiDou-3 MEO18"); // Slot B-3; launched 2018/11/18
break;
case 38:
block_ = std::string("BeiDou-3 IGSO01"); // Slot B-3; launched 2019/04/20
break;
default:
block_ = std::string("Unknown(Simulated)");