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Javier
2015-06-06 00:36:47 +02:00
parent b8d3f293f1
commit 8630cf2fbe
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94
src/algorithms/observables/adapters/mixed_observables.cc Normal file
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/*!
* \file mixed_observables.cc
* \brief Implementation of an adapter of a mixed observables block (muti-frequency and multi-system)
* to a ObservablesInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "mixed_observables.h"
#include "configuration_interface.h"
#include "mixed_observables_cc.h"
#include <glog/logging.h>
using google::LogMessage;
MixedObservables::MixedObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
int output_rate_ms;
output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
std::string default_dump_filename = "./observables.dat";
DLOG(INFO) << "role " << role;
bool flag_averaging;
flag_averaging = configuration->property(role + ".flag_averaging", false);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
//fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
observables_ = mixed_make_observables_cc(in_streams_, queue_, dump_, dump_filename_, output_rate_ms, flag_averaging);
//observables_->set_fs_in(fs_in_);
DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
}
MixedObservables::~MixedObservables()
{}
void MixedObservables::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void MixedObservables::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr MixedObservables::get_left_block()
{
return observables_;
}
gr::basic_block_sptr MixedObservables::get_right_block()
{
return observables_;
}

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src/algorithms/observables/adapters/mixed_observables.h Normal file
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/*!
* \file mixed_observables.h
* \brief Implementation of an adapter of a mixed observables block (muti-frequency and multi-system)
* to a ObservablesInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_MIXED_OBSERVABLES_H_
#define GNSS_SDR_MIXED_OBSERVABLES_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "observables_interface.h"
#include "mixed_observables_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements an ObservablesInterface for mixed observables block (muti-frequency and multi-system)
*/
class MixedObservables : public ObservablesInterface
{
public:
MixedObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~MixedObservables();
std::string role()
{
return role_;
}
//! Returns "Mixed_Observables"
std::string implementation()
{
return "Mixed_Observables";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation
size_t item_size()
{
return sizeof(gr_complex);
}
private:
mixed_observables_cc_sptr observables_;
bool dump_;
//unsigned int fs_in_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif

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src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc Normal file
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/*!
* \file mixed_observables_cc.cc
* \brief Implementation of the pseudorange computation block for MIXED observables (Multi-frequency and Multi-system)
* \author Javier Arribas, 2015. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "mixed_observables_cc.h"
#include <algorithm>
#include <bitset>
#include <cmath>
#include <iostream>
#include <map>
#include <sstream>
#include <vector>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "control_message_factory.h"
#include "gnss_synchro.h"
using google::LogMessage;
mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
{
return mixed_observables_cc_sptr(new mixed_observables_cc(nchannels, queue, dump, dump_filename, output_rate_ms, flag_averaging));
}
mixed_observables_cc::mixed_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
gr::block("mixed_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_nchannels = nchannels;
d_output_rate_ms = output_rate_ms;
d_dump_filename = dump_filename;
d_flag_averaging = flag_averaging;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what() << std::endl;
}
}
}
}
mixed_observables_cc::~mixed_observables_cc()
{
d_dump_file.close();
}
bool MixedPairCompare_gnss_synchro_Prn_delay_ms(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms);
}
bool MixedPairCompare_gnss_synchro_d_TOW_at_current_symbol(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
}
int mixed_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
Gnss_Synchro current_gnss_synchro[d_nchannels];
std::map<int,Gnss_Synchro> current_gnss_synchro_map;
std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
/*
* 1. Read the GNSS SYNCHRO objects from available channels
*/
for (unsigned int i = 0; i < d_nchannels; i++)
{
//Copy the telemetry decoder data to local copy
current_gnss_synchro[i] = in[i][0];
/*
* 1.2 Assume no valid pseudoranges
*/
current_gnss_synchro[i].Flag_valid_pseudorange = false;
current_gnss_synchro[i].Pseudorange_m = 0.0;
if(current_gnss_synchro[i].Signal[0]=='2'){
if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
{
//record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
}
}
/*
* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
*/
if(current_gnss_synchro_map.size() > 0)
{
/*
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), MixedPairCompare_gnss_synchro_d_TOW_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
double pseudorange_m;
double delta_rx_time_ms;
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{
// compute the required symbol history shift in order to match the reference symbol
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
//compute the pseudorange
traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000)/1000 + GPS_STARTOFFSET_ms/1000.0;
std::cout<<"Pseudorange_m="<<current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m<<std::endl;
std::cout<<"Signal="<<current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Signal<<std::endl;
}
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what() << std::endl;
}
}
consume_each(1); //one by one
for (unsigned int i = 0; i < d_nchannels; i++)
{
*out[i] = current_gnss_synchro[i];
}
return 1; // Output the observables
}

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src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.h Normal file
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/*!
* \file mixed_observables_cc.h
* \brief Interface of the pseudorange computation block for MIXED observables (Multi-frequency and Multi-system)
* \author Javier Arribas, 2015. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_MIXED_OBSERVABLES_CC_H_
#define GNSS_SDR_MIXED_OBSERVABLES_CC_H_
#include <fstream>
#include <queue>
#include <string>
#include <utility>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
#include "gps_navigation_message.h"
#include "rinex_printer.h"
#include "GPS_L1_CA.h"
#include "gnss_synchro.h"
class mixed_observables_cc;
typedef boost::shared_ptr<mixed_observables_cc> mixed_observables_cc_sptr;
mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int n_channels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
/*!
* \brief This class implements a block that computes MIXED observables (Multi-frequency and Multi-system)
*/
class mixed_observables_cc : public gr::block
{
public:
~mixed_observables_cc ();
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
private:
friend mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
mixed_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
// class private vars
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool d_flag_averaging;
unsigned int d_nchannels;
int d_output_rate_ms;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif