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Added a method in gps_navigation message that computes UTC time.

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Experimental creation of RINEX headers.

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@112 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
2012-01-07 05:21:11 +00:00
parent 03d6999225
commit 8738498691
11 changed files with 542 additions and 404 deletions
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20
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@@ -40,7 +40,7 @@
#include <glog/logging.h>
#include "gps_l1_ca_pvt_cc.h"
#include "control_message_factory.h"
#include "rinex_2_1_printer.h"
using google::LogMessage;
@@ -78,11 +78,20 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
d_ephemeris_clock_s=0.0;
d_sample_counter=0;
b_rinex_header_writen = false;
rp = new rinex_printer();
//rp->navFile.open(rp->createFilename("RINEX_FILE_TYPE_GPS_NAV"), std::ios::out | std::ios::app);
//rp->obsFile.open(rp->createFilename("RINEX_FILE_TYPE_OBS"), std::ios::out | std::ios::app);
//Rinex_Nav_File=rp.getNavFileStream();
//Rinex_Obs_File=rp.getObsFileStream();
}
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc() {
d_kml_dump.close_file();
delete d_ls_pvt;
delete rp;
}
bool pseudoranges_pairCompare_min( std::pair<int,gnss_pseudorange> a, std::pair<int,gnss_pseudorange> b)
@@ -146,12 +155,19 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
{
//d_rinex_printer.LogRinex2Obs(d_last_nav_msg,d_ephemeris_clock_s+((double)pseudoranges_timestamp_ms-d_ephemeris_timestamp_ms)/1000.0,pseudoranges);
// compute on the fly PVT solution
//std::cout<<"diff_clock_ephemerids="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
//std::cout<<"diff_clock_ephemeris="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
if (d_ls_pvt->get_PVT(gnss_pseudoranges_map,
d_ephemeris_clock_s+(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0,
d_flag_averaging)==true)
{
d_kml_dump.print_position(d_ls_pvt,d_flag_averaging);
if (!b_rinex_header_writen) // & we have utc data in nav message!
{
// rinex_printer rinex_printer(d_last_nav_msg);
rp->Rinex2NavHeader(rp->navFile, d_last_nav_msg);
rp->Rinex2ObsHeader(rp->obsFile, d_last_nav_msg);
b_rinex_header_writen=true; // do not write header anymore
}
}
}

4
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
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@@ -63,6 +63,10 @@ private:
// class private vars
gr_msg_queue_sptr d_queue;
bool d_dump;
bool b_rinex_header_writen;
//std::ofstream Rinex_Nav_File;
//std::ofstream Rinex_Obs_File;
rinex_printer *rp;
unsigned int d_nchannels;

20
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@@ -33,7 +33,7 @@
#include "GPS_L1_CA.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "boost/date_time/posix_time/posix_time.hpp"
using google::LogMessage;
@@ -211,6 +211,10 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
arma::vec obs=arma::zeros(d_nchannels); // pseudoranges observation vector
arma::mat satpos=arma::zeros(3,d_nchannels); //satellite positions matrix
int GPS_week;
double GPS_corrected_time;
double utc;
int valid_obs=0; //valid observations counter
for (int i=0; i<d_nchannels; i++)
{
@@ -227,9 +231,13 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
// d_ephemeris[i].master_clock(GPS_current_time); ?????
// compute the clock error including relativistic effects
d_ephemeris[i].sv_clock_correction(GPS_current_time);
GPS_corrected_time = d_ephemeris[i].sv_clock_correction(GPS_current_time);
GPS_week = d_ephemeris[i].i_GPS_week;
utc =d_ephemeris[i].utc_time(GPS_corrected_time);
// compute the satellite current ECEF position
d_ephemeris[i].satellitePosition(GPS_current_time);
d_ephemeris[i].satellitePosition(GPS_corrected_time);
satpos(0,i)=d_ephemeris[i].d_satpos_X;
satpos(1,i)=d_ephemeris[i].d_satpos_Y;
@@ -256,7 +264,11 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
mypos=leastSquarePos(satpos,obs,W);
LOG_AT_LEVEL(INFO) << "Position at TOW="<<GPS_current_time<<" in ECEF (X,Y,Z) = " << mypos << std::endl;
cart2geo(mypos(0), mypos(1), mypos(2), 4);
std::cout << "Position at TOW="<<GPS_current_time<<" is Lat = " << d_latitude_d << " [deg] Long = "<< d_longitude_d <<" [deg] Height= "<<d_height_m<<" [m]" <<std::endl;
// Compute UTC time and print PVT solution
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + 604800*(double)GPS_week);
boost::posix_time::ptime p_time(boost::gregorian::date(1999,8,22),t);
std::cout << "Position at "<<boost::posix_time::to_simple_string(p_time)<<" is Lat = " << d_latitude_d << " [deg] Long = "<< d_longitude_d <<" [deg] Height= "<<d_height_m<<" [m]" <<std::endl;
// ######## LOG FILE #########
if(d_flag_dump_enabled==true) {
// MULTIPLEXED FILE RECORDING - Record results to file

1
src/algorithms/PVT/libs/kml_printer.h
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@@ -36,6 +36,7 @@
#include <iostream>
#include <fstream>
#include "gps_l1_ca_ls_pvt.h"
#include "gps_navigation_message.h"
/*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)

60
src/algorithms/PVT/libs/rinex_2_1_printer.cc
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@@ -46,12 +46,23 @@
using google::LogMessage;
//std::ofstream getNavFileStream() {
// return navFile;
//}
//std::ofstream getObsFileStream() {
// return obsFile;
//}
std::ofstream getObsFileStream() ;
rinex_printer::rinex_printer()
{
rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"));
rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"));
//rinex_printer::Rinex2NavHeader(rinex_printer::navFile, gps_navigation_message nav);
rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"), std::ios::out | std::ios::app);
rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"), std::ios::out | std::ios::app);
//rinex_printer::Rinex2NavHeader(rinex_printer::navFile, nav);
//rinex_printer::Rinex2ObsHeader(rinex_printer::navFile, nav);
satelliteSystem["GPS"]="G";
satelliteSystem["GLONASS"]="R";
@@ -62,7 +73,7 @@ rinex_printer::rinex_printer()
observationCode["GPS_L1_CA"] = "1C"; //!< "1C" GPS L1 C/A
observationCode["GPS_L1_P"] = "1P"; //!< "1P" GPS L1 P
observationCode["GPS_L1_Z_TRACKING"] = "1W"; //!< "1W" GPS L1 Z-tracking and similar (AS on)
observationCode["RINEX_GPS_L1_Y"] = "1Y"; //!< "1Y" GPS L1 Y
observationCode["GPS_L1_Y"] = "1Y"; //!< "1Y" GPS L1 Y
observationCode["GPS_L1_M "]= "1M"; //!< "1M" GPS L1 M
observationCode["GPS_L1_CODELESS"] = "1N"; //!< "1N" GPS L1 codeless
observationCode["GPS_L2_CA"]= "2C"; //!< "2C" GPS L2 C/A
@@ -529,7 +540,7 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
out << line << std::endl;
// -------- Line 6
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username=getenv("USER");
line += leftJustify(username,20);
@@ -540,7 +551,7 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
// -------- Line 6 REC / TYPE VERS
// -------- Line REC / TYPE VERS
line.clear();
line += rinex_printer::leftJustify("GNSS-SDR",20); // add flag and property
line += rinex_printer::leftJustify("Software Receiver",20); // add flag and property
@@ -608,23 +619,22 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
// -------- TIME OF FIRST OBS
line.clear();
line += std::string("GPS");
line += std::string(5,' ');
///////////////////////////////////////////
// 4-digit-year, month,day,hour,min,sec
double year=2012;
double month=1;
double day=4;
double hour=8;
double minute =43;
double second = GPS_PI;
line += rightJustify(asString<short>(year), 6);
line += rightJustify(asString<short>(month), 6);
line += rightJustify(asString<short>(day), 6);
line += rightJustify(asString<short>(hour), 6);
line += rightJustify(asString<short>(minute), 6);
line += rightJustify(asString(second,7), 13);
boost::posix_time::ptime p_utc_time = rinex_printer::computeTime(nav_msg);
tm pt_utc_tm=boost::posix_time::to_tm(p_utc_time);
double seconds =(double)(pt_utc_tm.tm_sec);
line += rightJustify(asString<short>(pt_utc_tm.tm_year+1900), 6);
line += rightJustify(asString<short>(pt_utc_tm.tm_mon), 6);
line += rightJustify(asString<short>(pt_utc_tm.tm_mday), 6);
line += rightJustify(asString<short>(pt_utc_tm.tm_hour), 6);
line += rightJustify(asString<short>(pt_utc_tm.tm_min), 6);
line += rightJustify(asString(seconds,7), 13);
line += rightJustify(std::string("GPS"), 8);
line += rinex_printer::leftJustify("TIME OF FIRST OBS",20);
@@ -770,7 +780,15 @@ int rinex_printer::signalStrength(double snr)
}
boost::posix_time::ptime rinex_printer::computeTime(gps_navigation_message nav_msg)
{
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
boost::posix_time::time_duration t = boost::posix_time::seconds(utc_t+ 604800*(double)(nav_msg.i_GPS_week));// should be i_WN_T?
boost::posix_time::ptime p_time(boost::gregorian::date(1999,8,22),t);
return p_time;
}
/*

29
src/algorithms/PVT/libs/rinex_2_1_printer.h
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@@ -37,6 +37,7 @@
#include <sstream> // for stringstream
#include <iomanip> // for setprecision
#include "gps_navigation_message.h"
#include "boost/date_time/posix_time/posix_time.hpp"
/*!
* \brief Class that handles the generation of Receiver
@@ -45,18 +46,9 @@
class rinex_printer
{
private:
std::ofstream navFile ;
std::ofstream obsFile ;
/*
* Generates the Navigation Data header
*/
void Rinex2NavHeader(std::ofstream& out, gps_navigation_message nav);
/*
* Generates the Observation data header
*/
void Rinex2ObsHeader(std::ofstream& out, gps_navigation_message nav);
/*
* Generation of RINEX signal strength indicators
@@ -262,13 +254,28 @@ private:
public:
/*!
* \brief Default constructor. Creates GPS Navigation and Observables RINEX files and their headers
*/
rinex_printer();
std::ofstream obsFile ;
std::ofstream navFile ;
/*!
* \brief Generates the Navigation Data header
*/
void Rinex2NavHeader(std::ofstream& out, gps_navigation_message nav);
/*!
* \brief Generates the Observation data header
*/
void Rinex2ObsHeader(std::ofstream& out, gps_navigation_message nav);
boost::posix_time::ptime computeTime(gps_navigation_message nav_msg);
/*!
* \brief Default destructor. Closes GPS Navigation and Observables RINEX files
*/