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https://github.com/gnss-sdr/gnss-sdr
synced 2024-10-31 23:26:22 +00:00
Added a method in gps_navigation message that computes UTC time.
Experimental creation of RINEX headers. git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@112 64b25241-fba3-4117-9849-534c7e92360d
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@ -40,7 +40,7 @@
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#include <glog/logging.h>
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#include "gps_l1_ca_pvt_cc.h"
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#include "control_message_factory.h"
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#include "rinex_2_1_printer.h"
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using google::LogMessage;
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@ -78,11 +78,20 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
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d_ephemeris_clock_s=0.0;
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d_sample_counter=0;
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b_rinex_header_writen = false;
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rp = new rinex_printer();
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//rp->navFile.open(rp->createFilename("RINEX_FILE_TYPE_GPS_NAV"), std::ios::out | std::ios::app);
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//rp->obsFile.open(rp->createFilename("RINEX_FILE_TYPE_OBS"), std::ios::out | std::ios::app);
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//Rinex_Nav_File=rp.getNavFileStream();
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//Rinex_Obs_File=rp.getObsFileStream();
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}
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gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc() {
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d_kml_dump.close_file();
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delete d_ls_pvt;
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delete rp;
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}
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bool pseudoranges_pairCompare_min( std::pair<int,gnss_pseudorange> a, std::pair<int,gnss_pseudorange> b)
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@ -146,12 +155,19 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
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{
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//d_rinex_printer.LogRinex2Obs(d_last_nav_msg,d_ephemeris_clock_s+((double)pseudoranges_timestamp_ms-d_ephemeris_timestamp_ms)/1000.0,pseudoranges);
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// compute on the fly PVT solution
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//std::cout<<"diff_clock_ephemerids="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
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//std::cout<<"diff_clock_ephemeris="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
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if (d_ls_pvt->get_PVT(gnss_pseudoranges_map,
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d_ephemeris_clock_s+(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0,
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d_flag_averaging)==true)
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{
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d_kml_dump.print_position(d_ls_pvt,d_flag_averaging);
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if (!b_rinex_header_writen) // & we have utc data in nav message!
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{
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// rinex_printer rinex_printer(d_last_nav_msg);
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rp->Rinex2NavHeader(rp->navFile, d_last_nav_msg);
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rp->Rinex2ObsHeader(rp->obsFile, d_last_nav_msg);
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b_rinex_header_writen=true; // do not write header anymore
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}
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}
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}
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@ -63,6 +63,10 @@ private:
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// class private vars
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gr_msg_queue_sptr d_queue;
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bool d_dump;
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bool b_rinex_header_writen;
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//std::ofstream Rinex_Nav_File;
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//std::ofstream Rinex_Obs_File;
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rinex_printer *rp;
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unsigned int d_nchannels;
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@ -33,7 +33,7 @@
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#include "GPS_L1_CA.h"
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include "boost/date_time/posix_time/posix_time.hpp"
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using google::LogMessage;
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@ -211,6 +211,10 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
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arma::vec obs=arma::zeros(d_nchannels); // pseudoranges observation vector
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arma::mat satpos=arma::zeros(3,d_nchannels); //satellite positions matrix
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int GPS_week;
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double GPS_corrected_time;
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double utc;
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int valid_obs=0; //valid observations counter
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for (int i=0; i<d_nchannels; i++)
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{
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@ -227,9 +231,13 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
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// d_ephemeris[i].master_clock(GPS_current_time); ?????
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// compute the clock error including relativistic effects
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d_ephemeris[i].sv_clock_correction(GPS_current_time);
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GPS_corrected_time = d_ephemeris[i].sv_clock_correction(GPS_current_time);
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GPS_week = d_ephemeris[i].i_GPS_week;
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utc =d_ephemeris[i].utc_time(GPS_corrected_time);
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// compute the satellite current ECEF position
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d_ephemeris[i].satellitePosition(GPS_current_time);
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d_ephemeris[i].satellitePosition(GPS_corrected_time);
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satpos(0,i)=d_ephemeris[i].d_satpos_X;
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satpos(1,i)=d_ephemeris[i].d_satpos_Y;
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@ -256,7 +264,11 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
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mypos=leastSquarePos(satpos,obs,W);
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LOG_AT_LEVEL(INFO) << "Position at TOW="<<GPS_current_time<<" in ECEF (X,Y,Z) = " << mypos << std::endl;
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cart2geo(mypos(0), mypos(1), mypos(2), 4);
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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;
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// Compute UTC time and print PVT solution
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc + 604800*(double)GPS_week);
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boost::posix_time::ptime p_time(boost::gregorian::date(1999,8,22),t);
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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;
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// ######## LOG FILE #########
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if(d_flag_dump_enabled==true) {
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// MULTIPLEXED FILE RECORDING - Record results to file
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@ -36,6 +36,7 @@
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#include <iostream>
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#include <fstream>
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#include "gps_l1_ca_ls_pvt.h"
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#include "gps_navigation_message.h"
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/*!
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* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
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@ -46,12 +46,23 @@
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using google::LogMessage;
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//std::ofstream getNavFileStream() {
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// return navFile;
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//}
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//std::ofstream getObsFileStream() {
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// return obsFile;
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//}
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std::ofstream getObsFileStream() ;
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rinex_printer::rinex_printer()
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{
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rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"));
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rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"));
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//rinex_printer::Rinex2NavHeader(rinex_printer::navFile, gps_navigation_message nav);
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rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"), std::ios::out | std::ios::app);
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rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"), std::ios::out | std::ios::app);
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//rinex_printer::Rinex2NavHeader(rinex_printer::navFile, nav);
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//rinex_printer::Rinex2ObsHeader(rinex_printer::navFile, nav);
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satelliteSystem["GPS"]="G";
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satelliteSystem["GLONASS"]="R";
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@ -62,7 +73,7 @@ rinex_printer::rinex_printer()
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observationCode["GPS_L1_CA"] = "1C"; //!< "1C" GPS L1 C/A
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observationCode["GPS_L1_P"] = "1P"; //!< "1P" GPS L1 P
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observationCode["GPS_L1_Z_TRACKING"] = "1W"; //!< "1W" GPS L1 Z-tracking and similar (AS on)
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observationCode["RINEX_GPS_L1_Y"] = "1Y"; //!< "1Y" GPS L1 Y
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observationCode["GPS_L1_Y"] = "1Y"; //!< "1Y" GPS L1 Y
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observationCode["GPS_L1_M "]= "1M"; //!< "1M" GPS L1 M
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observationCode["GPS_L1_CODELESS"] = "1N"; //!< "1N" GPS L1 codeless
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observationCode["GPS_L2_CA"]= "2C"; //!< "2C" GPS L2 C/A
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@ -529,7 +540,7 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
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out << line << std::endl;
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// -------- Line 6
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// -------- Line OBSERVER / AGENCY
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line.clear();
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std::string username=getenv("USER");
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line += leftJustify(username,20);
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@ -540,7 +551,7 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
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// -------- Line 6 REC / TYPE VERS
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// -------- Line REC / TYPE VERS
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line.clear();
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line += rinex_printer::leftJustify("GNSS-SDR",20); // add flag and property
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line += rinex_printer::leftJustify("Software Receiver",20); // add flag and property
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@ -608,23 +619,22 @@ void rinex_printer::Rinex2ObsHeader(std::ofstream& out, gps_navigation_message n
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// -------- TIME OF FIRST OBS
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line.clear();
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line += std::string("GPS");
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line += std::string(5,' ');
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///////////////////////////////////////////
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// 4-digit-year, month,day,hour,min,sec
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double year=2012;
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double month=1;
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double day=4;
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double hour=8;
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double minute =43;
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double second = GPS_PI;
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line += rightJustify(asString<short>(year), 6);
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line += rightJustify(asString<short>(month), 6);
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line += rightJustify(asString<short>(day), 6);
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line += rightJustify(asString<short>(hour), 6);
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line += rightJustify(asString<short>(minute), 6);
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line += rightJustify(asString(second,7), 13);
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boost::posix_time::ptime p_utc_time = rinex_printer::computeTime(nav_msg);
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tm pt_utc_tm=boost::posix_time::to_tm(p_utc_time);
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double seconds =(double)(pt_utc_tm.tm_sec);
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line += rightJustify(asString<short>(pt_utc_tm.tm_year+1900), 6);
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line += rightJustify(asString<short>(pt_utc_tm.tm_mon), 6);
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line += rightJustify(asString<short>(pt_utc_tm.tm_mday), 6);
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line += rightJustify(asString<short>(pt_utc_tm.tm_hour), 6);
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line += rightJustify(asString<short>(pt_utc_tm.tm_min), 6);
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line += rightJustify(asString(seconds,7), 13);
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line += rightJustify(std::string("GPS"), 8);
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line += rinex_printer::leftJustify("TIME OF FIRST OBS",20);
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@ -770,7 +780,15 @@ int rinex_printer::signalStrength(double snr)
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}
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boost::posix_time::ptime rinex_printer::computeTime(gps_navigation_message nav_msg)
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{
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// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
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//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
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double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc_t+ 604800*(double)(nav_msg.i_GPS_week));// should be i_WN_T?
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boost::posix_time::ptime p_time(boost::gregorian::date(1999,8,22),t);
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return p_time;
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}
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/*
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#include <sstream> // for stringstream
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#include <iomanip> // for setprecision
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#include "gps_navigation_message.h"
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#include "boost/date_time/posix_time/posix_time.hpp"
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/*!
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* \brief Class that handles the generation of Receiver
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@ -45,18 +46,9 @@
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class rinex_printer
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{
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private:
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std::ofstream navFile ;
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std::ofstream obsFile ;
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/*
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* Generates the Navigation Data header
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*/
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void Rinex2NavHeader(std::ofstream& out, gps_navigation_message nav);
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/*
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* Generates the Observation data header
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*/
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void Rinex2ObsHeader(std::ofstream& out, gps_navigation_message nav);
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/*
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* Generation of RINEX signal strength indicators
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@ -262,13 +254,28 @@ private:
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public:
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/*!
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* \brief Default constructor. Creates GPS Navigation and Observables RINEX files and their headers
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*/
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rinex_printer();
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std::ofstream obsFile ;
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std::ofstream navFile ;
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/*!
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* \brief Generates the Navigation Data header
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*/
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void Rinex2NavHeader(std::ofstream& out, gps_navigation_message nav);
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/*!
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* \brief Generates the Observation data header
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*/
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void Rinex2ObsHeader(std::ofstream& out, gps_navigation_message nav);
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boost::posix_time::ptime computeTime(gps_navigation_message nav_msg);
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/*!
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* \brief Default destructor. Closes GPS Navigation and Observables RINEX files
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*/
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@ -230,7 +230,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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for(gps_words_iter = gps_words.begin(); gps_words_iter != gps_words.end(); gps_words_iter++)
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{
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// #### compute the pseudorrange for this satellite ###
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// #### compute the pseudorange for this satellite ###
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current_prn_delay_ms=current_prn_timestamps_ms.at(gps_words_iter->second.channel_ID);
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traveltime_ms=current_prn_delay_ms-actual_min_prn_delay_ms+GPS_STARTOFFSET_ms; //[ms]
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@ -271,6 +271,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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}
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}
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consume_each(1); //one by one
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if ((d_sample_counter%d_output_rate_ms)==0)
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{
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return 1; //Output the observables
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@ -122,26 +122,26 @@ gps_l1_ca_dll_fll_pll_tracking_cc::gps_l1_ca_dll_fll_pll_tracking_cc(unsigned in
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void gps_l1_ca_dll_fll_pll_tracking_cc::start_tracking(){
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/*
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* correct the code phase according to the delay between acq and trk
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*/
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unsigned long int acq_trk_diff_samples;
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float acq_trk_diff_seconds;
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acq_trk_diff_samples=d_sample_counter-d_acq_sample_stamp;//-d_vector_length;
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//std::cout<<"acq_trk_diff_samples="<<acq_trk_diff_samples<<"\r\n";
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acq_trk_diff_seconds=(float)acq_trk_diff_samples/(float)d_fs_in;
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//doppler effect
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// Fd=(C/(C+Vr))*F
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float radial_velocity;
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radial_velocity=(GPS_L1_FREQ_HZ+d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
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// new chip and prn sequence periods based on acq Doppler
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float T_chip_mod_seconds;
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float T_prn_mod_seconds;
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float T_prn_mod_samples;
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d_code_freq_hz=radial_velocity*GPS_L1_CA_CODE_RATE_HZ;
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T_chip_mod_seconds=1/d_code_freq_hz;
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T_prn_mod_seconds=T_chip_mod_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
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T_prn_mod_samples=T_prn_mod_seconds*(float)d_fs_in;
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/*
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* correct the code phase according to the delay between acq and trk
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*/
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unsigned long int acq_trk_diff_samples;
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float acq_trk_diff_seconds;
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acq_trk_diff_samples=d_sample_counter-d_acq_sample_stamp;//-d_vector_length;
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//std::cout<<"acq_trk_diff_samples="<<acq_trk_diff_samples<<"\r\n";
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acq_trk_diff_seconds=(float)acq_trk_diff_samples/(float)d_fs_in;
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//doppler effect
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// Fd=(C/(C+Vr))*F
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float radial_velocity;
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radial_velocity=(GPS_L1_FREQ_HZ+d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
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// new chip and prn sequence periods based on acq Doppler
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float T_chip_mod_seconds;
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float T_prn_mod_seconds;
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float T_prn_mod_samples;
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d_code_freq_hz=radial_velocity*GPS_L1_CA_CODE_RATE_HZ;
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T_chip_mod_seconds=1/d_code_freq_hz;
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T_prn_mod_seconds=T_chip_mod_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
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T_prn_mod_samples=T_prn_mod_seconds*(float)d_fs_in;
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d_next_prn_length_samples=round(T_prn_mod_samples);
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@ -155,66 +155,66 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::start_tracking(){
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corrected_acq_phase_samples=fmod((d_acq_code_phase_samples+T_prn_diff_seconds*N_prn_diff*(float)d_fs_in),T_prn_true_samples);
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if (corrected_acq_phase_samples<0)
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{
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corrected_acq_phase_samples=T_prn_mod_samples+corrected_acq_phase_samples;
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}
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delay_correction_samples=d_acq_code_phase_samples-corrected_acq_phase_samples;
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d_acq_code_phase_samples=corrected_acq_phase_samples;
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{
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corrected_acq_phase_samples=T_prn_mod_samples+corrected_acq_phase_samples;
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}
|
||||
delay_correction_samples=d_acq_code_phase_samples-corrected_acq_phase_samples;
|
||||
d_acq_code_phase_samples=corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_doppler_hz=d_acq_carrier_doppler_hz;
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz);
|
||||
d_FLL_wait=1;
|
||||
d_carrier_doppler_hz=d_acq_carrier_doppler_hz;
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz);
|
||||
d_FLL_wait=1;
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
code_gen_conplex(&d_ca_code[1],d_satellite,0);
|
||||
d_ca_code[0]=d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
|
||||
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+1]=d_ca_code[1];
|
||||
|
||||
d_carrier_lock_fail_counter=0;
|
||||
d_Prompt_prev=0;
|
||||
d_rem_code_phase_samples=0;
|
||||
d_rem_carr_phase=0;
|
||||
d_FLL_discriminator_hz=0;
|
||||
d_rem_code_phase_samples=0;
|
||||
d_next_rem_code_phase_samples=0;
|
||||
d_acc_carrier_phase_rad=0;
|
||||
d_carrier_lock_fail_counter=0;
|
||||
d_Prompt_prev=0;
|
||||
d_rem_code_phase_samples=0;
|
||||
d_rem_carr_phase=0;
|
||||
d_FLL_discriminator_hz=0;
|
||||
d_rem_code_phase_samples=0;
|
||||
d_next_rem_code_phase_samples=0;
|
||||
d_acc_carrier_phase_rad=0;
|
||||
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout<<"Tracking start on channel "<<d_channel<<" for satellite ID* "<< this->d_satellite<< std::endl;
|
||||
DLOG(INFO) << "Start tracking for satellite "<<this->d_satellite<<" received ";
|
||||
// DEBUG OUTPUT
|
||||
std::cout<<"Tracking start on channel "<<d_channel<<" for satellite ID* "<< this->d_satellite<< std::endl;
|
||||
DLOG(INFO) << "Start tracking for satellite "<<this->d_satellite<<" received ";
|
||||
|
||||
// enable tracking
|
||||
d_pull_in=true;
|
||||
d_enable_tracking=true;
|
||||
// enable tracking
|
||||
d_pull_in=true;
|
||||
d_enable_tracking=true;
|
||||
|
||||
std::cout<<"PULL-IN Doppler [Hz]= "<<d_carrier_doppler_hz<<" Code Phase correction [samples]="<<delay_correction_samples<<" PULL-IN Code Phase [samples]= "<<d_acq_code_phase_samples<<"\r\n";
|
||||
std::cout<<"PULL-IN Doppler [Hz]= "<<d_carrier_doppler_hz<<" Code Phase correction [samples]="<<delay_correction_samples<<" PULL-IN Code Phase [samples]= "<<d_acq_code_phase_samples<<"\r\n";
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_code()
|
||||
{
|
||||
float tcode_chips;
|
||||
float rem_code_phase_chips;
|
||||
float code_phase_step_chips;
|
||||
int associated_chip_index;
|
||||
int code_length_chips=(int)GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
code_phase_step_chips=d_code_freq_hz/((float)d_fs_in);
|
||||
rem_code_phase_chips=d_rem_code_phase_samples*(d_code_freq_hz/d_fs_in);
|
||||
// unified loop for E, P, L code vectors
|
||||
tcode_chips=-rem_code_phase_chips;
|
||||
float tcode_chips;
|
||||
float rem_code_phase_chips;
|
||||
float code_phase_step_chips;
|
||||
int associated_chip_index;
|
||||
int code_length_chips=(int)GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
code_phase_step_chips=d_code_freq_hz/((float)d_fs_in);
|
||||
rem_code_phase_chips=d_rem_code_phase_samples*(d_code_freq_hz/d_fs_in);
|
||||
// unified loop for E, P, L code vectors
|
||||
tcode_chips=-rem_code_phase_chips;
|
||||
for (int i=0;i<d_current_prn_length_samples;i++)
|
||||
{
|
||||
associated_chip_index=1+round(fmod(tcode_chips-d_early_late_spc_chips,code_length_chips));
|
||||
d_early_code[i] = d_ca_code[associated_chip_index];
|
||||
associated_chip_index = 1+round(fmod(tcode_chips, code_length_chips));
|
||||
d_prompt_code[i] = d_ca_code[associated_chip_index];
|
||||
associated_chip_index = 1+round(fmod(tcode_chips+d_early_late_spc_chips, code_length_chips));
|
||||
d_late_code[i] = d_ca_code[associated_chip_index];
|
||||
tcode_chips=tcode_chips+code_phase_step_chips;
|
||||
}
|
||||
//d_code_phase_samples=d_code_phase_samples+(float)d_fs_in*GPS_L1_CA_CODE_LENGTH_CHIPS*(1/d_code_freq_hz-1/GPS_L1_CA_CODE_RATE_HZ);
|
||||
{
|
||||
associated_chip_index=1+round(fmod(tcode_chips-d_early_late_spc_chips,code_length_chips));
|
||||
d_early_code[i] = d_ca_code[associated_chip_index];
|
||||
associated_chip_index = 1+round(fmod(tcode_chips, code_length_chips));
|
||||
d_prompt_code[i] = d_ca_code[associated_chip_index];
|
||||
associated_chip_index = 1+round(fmod(tcode_chips+d_early_late_spc_chips, code_length_chips));
|
||||
d_late_code[i] = d_ca_code[associated_chip_index];
|
||||
tcode_chips=tcode_chips+code_phase_step_chips;
|
||||
}
|
||||
//d_code_phase_samples=d_code_phase_samples+(float)d_fs_in*GPS_L1_CA_CODE_LENGTH_CHIPS*(1/d_code_freq_hz-1/GPS_L1_CA_CODE_RATE_HZ);
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_carrier()
|
||||
@ -223,15 +223,15 @@ void gps_l1_ca_dll_fll_pll_tracking_cc::update_local_carrier()
|
||||
phase_step = (float)TWO_PI*d_carrier_doppler_hz/(float)d_fs_in;
|
||||
phase=d_rem_carr_phase;
|
||||
for(int i = 0; i < d_current_prn_length_samples; i++) {
|
||||
d_carr_sign[i] = gr_complex(cos(phase),sin(phase));
|
||||
phase += phase_step;
|
||||
d_carr_sign[i] = gr_complex(cos(phase),sin(phase));
|
||||
phase += phase_step;
|
||||
}
|
||||
d_rem_carr_phase=fmod(phase,TWO_PI);
|
||||
d_acc_carrier_phase_rad=d_acc_carrier_phase_rad+d_rem_carr_phase;
|
||||
}
|
||||
|
||||
gps_l1_ca_dll_fll_pll_tracking_cc::~gps_l1_ca_dll_fll_pll_tracking_cc() {
|
||||
d_dump_file.close();
|
||||
d_dump_file.close();
|
||||
delete[] d_ca_code;
|
||||
delete[] d_early_code;
|
||||
delete[] d_prompt_code;
|
||||
@ -245,323 +245,323 @@ gps_l1_ca_dll_fll_pll_tracking_cc::~gps_l1_ca_dll_fll_pll_tracking_cc() {
|
||||
*/
|
||||
|
||||
int gps_l1_ca_dll_fll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
|
||||
|
||||
// if ((unsigned int)ninput_items[0]<(d_vector_length*2))
|
||||
// {
|
||||
// std::cout<<"End of signal detected\r\n";
|
||||
// const int samples_available = ninput_items[0];
|
||||
// consume_each(samples_available);
|
||||
// return 0;
|
||||
// }
|
||||
// process vars
|
||||
float code_error_chips=0;
|
||||
float correlation_time_s=0;
|
||||
float PLL_discriminator_hz=0;
|
||||
float carr_nco_hz=0;
|
||||
// if ((unsigned int)ninput_items[0]<(d_vector_length*2))
|
||||
// {
|
||||
// std::cout<<"End of signal detected\r\n";
|
||||
// const int samples_available = ninput_items[0];
|
||||
// consume_each(samples_available);
|
||||
// return 0;
|
||||
// }
|
||||
// process vars
|
||||
float code_error_chips=0;
|
||||
float correlation_time_s=0;
|
||||
float PLL_discriminator_hz=0;
|
||||
float carr_nco_hz=0;
|
||||
|
||||
d_Prompt_prev=d_Prompt; // for the FLL discriminator
|
||||
d_Early=gr_complex(0,0);
|
||||
d_Prompt=gr_complex(0,0);
|
||||
d_Late=gr_complex(0,0);
|
||||
d_Prompt_prev=d_Prompt; // for the FLL discriminator
|
||||
d_Early=gr_complex(0,0);
|
||||
d_Prompt=gr_complex(0,0);
|
||||
d_Late=gr_complex(0,0);
|
||||
|
||||
if (d_enable_tracking==true){
|
||||
/*
|
||||
* Receiver signal alignment
|
||||
*/
|
||||
if (d_pull_in==true)
|
||||
{
|
||||
int samples_offset;
|
||||
if (d_enable_tracking==true){
|
||||
/*
|
||||
* Receiver signal alignment
|
||||
*/
|
||||
if (d_pull_in==true)
|
||||
{
|
||||
int samples_offset;
|
||||
|
||||
// 28/11/2011 ACQ to TRK transition BUG CORRECTION
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples=d_sample_counter-d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples=d_next_prn_length_samples-fmod((float)acq_to_trk_delay_samples,(float)d_next_prn_length_samples);
|
||||
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
|
||||
// 28/11/2011 ACQ to TRK transition BUG CORRECTION
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples=d_sample_counter-d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples=d_next_prn_length_samples-fmod((float)acq_to_trk_delay_samples,(float)d_next_prn_length_samples);
|
||||
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
|
||||
|
||||
samples_offset=round(d_acq_code_phase_samples+acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset)/(double)d_fs_in);
|
||||
d_sample_counter=d_sample_counter+samples_offset; //count for the processed samples
|
||||
d_pull_in=false;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
consume_each(samples_offset); //shift input to perform alignement with local replica
|
||||
return 1;
|
||||
}
|
||||
// get the sample in and out pointers
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //block input samples pointer
|
||||
double **out = (double **) &output_items[0]; //block output streams pointer
|
||||
samples_offset=round(d_acq_code_phase_samples+acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset)/(double)d_fs_in);
|
||||
d_sample_counter=d_sample_counter+samples_offset; //count for the processed samples
|
||||
d_pull_in=false;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
consume_each(samples_offset); //shift input to perform alignement with local replica
|
||||
return 1;
|
||||
}
|
||||
// get the sample in and out pointers
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //block input samples pointer
|
||||
double **out = (double **) &output_items[0]; //block output streams pointer
|
||||
|
||||
// check for samples consistency
|
||||
for(int i=0;i<d_current_prn_length_samples;i++) {
|
||||
if (std::isnan(in[i].real())==true or std::isnan(in[i].imag())==true)// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
const int samples_available= ninput_items[0];
|
||||
d_sample_counter=d_sample_counter+samples_available;
|
||||
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number "<<d_sample_counter;
|
||||
consume_each(samples_available);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
// Update the prn length based on code freq (variable) and
|
||||
// sampling frequency (fixed)
|
||||
// variable code PRN sample block size
|
||||
d_current_prn_length_samples=d_next_prn_length_samples;
|
||||
// check for samples consistency
|
||||
for(int i=0;i<d_current_prn_length_samples;i++) {
|
||||
if (std::isnan(in[i].real())==true or std::isnan(in[i].imag())==true)// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
const int samples_available= ninput_items[0];
|
||||
d_sample_counter=d_sample_counter+samples_available;
|
||||
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number "<<d_sample_counter;
|
||||
consume_each(samples_available);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
// Update the prn length based on code freq (variable) and
|
||||
// sampling frequency (fixed)
|
||||
// variable code PRN sample block size
|
||||
d_current_prn_length_samples=d_next_prn_length_samples;
|
||||
|
||||
update_local_code();
|
||||
update_local_carrier();
|
||||
update_local_code();
|
||||
update_local_carrier();
|
||||
|
||||
gr_complex bb_signal_sample(0,0);
|
||||
gr_complex bb_signal_sample(0,0);
|
||||
|
||||
// perform Early, Prompt and Late correlation
|
||||
/*!
|
||||
* \todo Use SIMD-enabled correlators
|
||||
*/
|
||||
for(int i=0;i<d_current_prn_length_samples;i++) {
|
||||
//Perform the carrier wipe-off
|
||||
bb_signal_sample = in[i] * d_carr_sign[i];
|
||||
// Now get early, late, and prompt values for each
|
||||
d_Early += bb_signal_sample*d_early_code[i];
|
||||
d_Prompt += bb_signal_sample*d_prompt_code[i];
|
||||
d_Late += bb_signal_sample*d_late_code[i];
|
||||
}
|
||||
// perform Early, Prompt and Late correlation
|
||||
/*!
|
||||
* \todo Use SIMD-enabled correlators
|
||||
*/
|
||||
for(int i=0;i<d_current_prn_length_samples;i++) {
|
||||
//Perform the carrier wipe-off
|
||||
bb_signal_sample = in[i] * d_carr_sign[i];
|
||||
// Now get early, late, and prompt values for each
|
||||
d_Early += bb_signal_sample*d_early_code[i];
|
||||
d_Prompt += bb_signal_sample*d_prompt_code[i];
|
||||
d_Late += bb_signal_sample*d_late_code[i];
|
||||
}
|
||||
|
||||
/*
|
||||
* DLL, FLL, and PLL discriminators
|
||||
*/
|
||||
// Compute DLL error
|
||||
code_error_chips=dll_nc_e_minus_l_normalized(d_Early,d_Late);
|
||||
/*
|
||||
* DLL, FLL, and PLL discriminators
|
||||
*/
|
||||
// Compute DLL error
|
||||
code_error_chips=dll_nc_e_minus_l_normalized(d_Early,d_Late);
|
||||
|
||||
//compute FLL error
|
||||
correlation_time_s=((float)d_current_prn_length_samples)/(float)d_fs_in;
|
||||
if (d_FLL_wait==1)
|
||||
{
|
||||
d_Prompt_prev=d_Prompt;
|
||||
d_FLL_wait=0;
|
||||
}else{
|
||||
d_FLL_discriminator_hz=fll_four_quadrant_atan(d_Prompt_prev, d_Prompt, 0, correlation_time_s)/(float)TWO_PI;
|
||||
d_Prompt_prev=d_Prompt;
|
||||
d_FLL_wait=1;
|
||||
}
|
||||
//compute FLL error
|
||||
correlation_time_s=((float)d_current_prn_length_samples)/(float)d_fs_in;
|
||||
if (d_FLL_wait==1)
|
||||
{
|
||||
d_Prompt_prev=d_Prompt;
|
||||
d_FLL_wait=0;
|
||||
}else{
|
||||
d_FLL_discriminator_hz=fll_four_quadrant_atan(d_Prompt_prev, d_Prompt, 0, correlation_time_s)/(float)TWO_PI;
|
||||
d_Prompt_prev=d_Prompt;
|
||||
d_FLL_wait=1;
|
||||
}
|
||||
|
||||
// Compute PLL error
|
||||
PLL_discriminator_hz=pll_cloop_two_quadrant_atan(d_Prompt)/(float)TWO_PI;
|
||||
// Compute PLL error
|
||||
PLL_discriminator_hz=pll_cloop_two_quadrant_atan(d_Prompt)/(float)TWO_PI;
|
||||
|
||||
/*!
|
||||
* \todo Update FLL assistance algorithm!
|
||||
*/
|
||||
if (((float)d_sample_counter-(float)d_acq_sample_stamp)/(float)d_fs_in>3)
|
||||
{
|
||||
d_FLL_discriminator_hz=0; //disconnect the FLL after the initial lock
|
||||
}
|
||||
/*!
|
||||
* DLL and FLL+PLL filter and get current carrier Doppler and code frequency
|
||||
*/
|
||||
carr_nco_hz=d_carrier_loop_filter.get_carrier_error(d_FLL_discriminator_hz,PLL_discriminator_hz,correlation_time_s);
|
||||
d_carrier_doppler_hz = (float)d_if_freq + carr_nco_hz;
|
||||
d_code_freq_hz= GPS_L1_CA_CODE_RATE_HZ- (((d_carrier_doppler_hz - (float)d_if_freq)*GPS_L1_CA_CODE_RATE_HZ)/GPS_L1_FREQ_HZ)-code_error_chips;
|
||||
/*!
|
||||
* \todo Update FLL assistance algorithm!
|
||||
*/
|
||||
if (((float)d_sample_counter-(float)d_acq_sample_stamp)/(float)d_fs_in>3)
|
||||
{
|
||||
d_FLL_discriminator_hz=0; //disconnect the FLL after the initial lock
|
||||
}
|
||||
/*!
|
||||
* DLL and FLL+PLL filter and get current carrier Doppler and code frequency
|
||||
*/
|
||||
carr_nco_hz=d_carrier_loop_filter.get_carrier_error(d_FLL_discriminator_hz,PLL_discriminator_hz,correlation_time_s);
|
||||
d_carrier_doppler_hz = (float)d_if_freq + carr_nco_hz;
|
||||
d_code_freq_hz= GPS_L1_CA_CODE_RATE_HZ- (((d_carrier_doppler_hz - (float)d_if_freq)*GPS_L1_CA_CODE_RATE_HZ)/GPS_L1_FREQ_HZ)-code_error_chips;
|
||||
|
||||
/*!
|
||||
* \todo Improve the lock detection algorithm!
|
||||
*/
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter<CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter]=d_Prompt;
|
||||
d_cn0_estimation_counter++;
|
||||
}else{
|
||||
d_cn0_estimation_counter=0;
|
||||
d_CN0_SNV_dB_Hz=gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES,d_fs_in);
|
||||
d_carrier_lock_test=carrier_lock_detector(d_Prompt_buffer,CN0_ESTIMATION_SAMPLES);
|
||||
// ###### TRACKING UNLOCK NOTIFICATION #####
|
||||
int tracking_message;
|
||||
if (d_carrier_lock_test<d_carrier_lock_threshold or d_carrier_lock_test>MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}else{
|
||||
if (d_carrier_lock_fail_counter>0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter>MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout<<"Channel "<<d_channel << " loss of lock!\r\n";
|
||||
tracking_message=3; //loss of lock
|
||||
d_channel_internal_queue->push(tracking_message);
|
||||
d_carrier_lock_fail_counter=0;
|
||||
d_enable_tracking=false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
/*!
|
||||
* \todo Improve the lock detection algorithm!
|
||||
*/
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter<CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter]=d_Prompt;
|
||||
d_cn0_estimation_counter++;
|
||||
}else{
|
||||
d_cn0_estimation_counter=0;
|
||||
d_CN0_SNV_dB_Hz=gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES,d_fs_in);
|
||||
d_carrier_lock_test=carrier_lock_detector(d_Prompt_buffer,CN0_ESTIMATION_SAMPLES);
|
||||
// ###### TRACKING UNLOCK NOTIFICATION #####
|
||||
int tracking_message;
|
||||
if (d_carrier_lock_test<d_carrier_lock_threshold or d_carrier_lock_test>MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}else{
|
||||
if (d_carrier_lock_fail_counter>0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter>MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout<<"Channel "<<d_channel << " loss of lock!\r\n";
|
||||
tracking_message=3; //loss of lock
|
||||
d_channel_internal_queue->push(tracking_message);
|
||||
d_carrier_lock_fail_counter=0;
|
||||
d_enable_tracking=false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
|
||||
}
|
||||
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
|
||||
}
|
||||
}
|
||||
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
|
||||
}
|
||||
|
||||
/*!
|
||||
* \todo Output the CN0
|
||||
*/
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
// Output channel 0: Prompt correlator output Q
|
||||
*out[0]=(double)d_Prompt.real();
|
||||
// Output channel 1: Prompt correlator output I
|
||||
*out[1]=(double)d_Prompt.imag();
|
||||
// Output channel 2: PRN absolute delay [s]
|
||||
*out[2]=d_sample_counter_seconds;
|
||||
// Output channel 3: d_acc_carrier_phase_rad [rad]
|
||||
*out[3]=(double)d_acc_carrier_phase_rad;
|
||||
// Output channel 4: PRN code phase [s]
|
||||
*out[4]=(double)d_code_phase_samples*(1/(float)d_fs_in);
|
||||
/*!
|
||||
* \todo Output the CN0
|
||||
*/
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
// Output channel 0: Prompt correlator output Q
|
||||
*out[0]=(double)d_Prompt.real();
|
||||
// Output channel 1: Prompt correlator output I
|
||||
*out[1]=(double)d_Prompt.imag();
|
||||
// Output channel 2: PRN absolute delay [s]
|
||||
*out[2]=d_sample_counter_seconds;
|
||||
// Output channel 3: d_acc_carrier_phase_rad [rad]
|
||||
*out[3]=(double)d_acc_carrier_phase_rad;
|
||||
// Output channel 4: PRN code phase [s]
|
||||
*out[4]=(double)d_code_phase_samples*(1/(float)d_fs_in);
|
||||
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
*/
|
||||
// debug: Second counter in channel 0
|
||||
if (d_channel==0)
|
||||
{
|
||||
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
||||
{
|
||||
d_last_seg=floor(d_sample_counter/d_fs_in);
|
||||
std::cout<<"Current input signal time="<<d_last_seg<<" [s]"<<std::endl;
|
||||
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||
}
|
||||
}else
|
||||
{
|
||||
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
||||
{
|
||||
d_last_seg=floor(d_sample_counter/d_fs_in);
|
||||
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
}
|
||||
}
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
*/
|
||||
// debug: Second counter in channel 0
|
||||
if (d_channel==0)
|
||||
{
|
||||
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
||||
{
|
||||
d_last_seg=floor(d_sample_counter/d_fs_in);
|
||||
std::cout<<"Current input signal time="<<d_last_seg<<" [s]"<<std::endl;
|
||||
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||
}
|
||||
}else
|
||||
{
|
||||
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
||||
{
|
||||
d_last_seg=floor(d_sample_counter/d_fs_in);
|
||||
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
//predict the next loop PRN period length prediction
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
T_chip_seconds=1/d_code_freq_hz;
|
||||
T_prn_seconds=T_chip_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples=T_prn_seconds*(float)d_fs_in;
|
||||
d_rem_code_phase_samples=d_next_rem_code_phase_samples;
|
||||
K_blk_samples=T_prn_samples+d_rem_code_phase_samples;
|
||||
//predict the next loop PRN period length prediction
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
T_chip_seconds=1/d_code_freq_hz;
|
||||
T_prn_seconds=T_chip_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples=T_prn_seconds*(float)d_fs_in;
|
||||
d_rem_code_phase_samples=d_next_rem_code_phase_samples;
|
||||
K_blk_samples=T_prn_samples+d_rem_code_phase_samples;
|
||||
|
||||
// Update the current PRN delay (code phase in samples)
|
||||
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS/GPS_L1_CA_CODE_RATE_HZ;
|
||||
float T_prn_true_samples = T_prn_true_seconds*(float)d_fs_in;
|
||||
d_code_phase_samples=d_code_phase_samples+T_prn_samples-T_prn_true_samples;
|
||||
if (d_code_phase_samples<0)
|
||||
{
|
||||
d_code_phase_samples=T_prn_true_samples+d_code_phase_samples;
|
||||
}
|
||||
// Update the current PRN delay (code phase in samples)
|
||||
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS/GPS_L1_CA_CODE_RATE_HZ;
|
||||
float T_prn_true_samples = T_prn_true_seconds*(float)d_fs_in;
|
||||
d_code_phase_samples=d_code_phase_samples+T_prn_samples-T_prn_true_samples;
|
||||
if (d_code_phase_samples<0)
|
||||
{
|
||||
d_code_phase_samples=T_prn_true_samples+d_code_phase_samples;
|
||||
}
|
||||
|
||||
d_code_phase_samples=fmod(d_code_phase_samples,T_prn_true_samples);
|
||||
d_next_prn_length_samples=round(K_blk_samples);//round to a discrete samples
|
||||
d_next_rem_code_phase_samples=K_blk_samples-d_next_prn_length_samples; //rounding error
|
||||
d_code_phase_samples=fmod(d_code_phase_samples,T_prn_true_samples);
|
||||
d_next_prn_length_samples=round(K_blk_samples);//round to a discrete samples
|
||||
d_next_rem_code_phase_samples=K_blk_samples-d_next_prn_length_samples; //rounding error
|
||||
|
||||
|
||||
}else{
|
||||
double **out = (double **) &output_items[0]; //block output streams pointer
|
||||
*out[0]=0;
|
||||
*out[1]=0;
|
||||
*out[2]=0;
|
||||
*out[3]=0;
|
||||
*out[4]=0;
|
||||
}
|
||||
}else{
|
||||
double **out = (double **) &output_items[0]; //block output streams pointer
|
||||
*out[0]=0;
|
||||
*out[1]=0;
|
||||
*out[2]=0;
|
||||
*out[3]=0;
|
||||
*out[4]=0;
|
||||
}
|
||||
|
||||
|
||||
if(d_dump) {
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E,tmp_P,tmp_L;
|
||||
float tmp_float;
|
||||
prompt_I=d_Prompt.imag();
|
||||
prompt_Q=d_Prompt.real();
|
||||
tmp_E=std::abs<float>(d_Early);
|
||||
tmp_P=std::abs<float>(d_Prompt);
|
||||
tmp_L=std::abs<float>(d_Late);
|
||||
try {
|
||||
// EPR
|
||||
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
||||
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
||||
if(d_dump) {
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E,tmp_P,tmp_L;
|
||||
float tmp_float;
|
||||
prompt_I=d_Prompt.imag();
|
||||
prompt_Q=d_Prompt.real();
|
||||
tmp_E=std::abs<float>(d_Early);
|
||||
tmp_P=std::abs<float>(d_Prompt);
|
||||
tmp_L=std::abs<float>(d_Late);
|
||||
try {
|
||||
// EPR
|
||||
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
||||
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
||||
|
||||
// carrier and code frequency
|
||||
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write((char*)&PLL_discriminator_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
|
||||
//PLL commands
|
||||
d_dump_file.write((char*)&PLL_discriminator_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write((char*)&code_error_chips, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_phase_samples, sizeof(float));
|
||||
//DLL commands
|
||||
d_dump_file.write((char*)&code_error_chips, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_phase_samples, sizeof(float));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float=0;
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e) {
|
||||
std::cout << "Exception writing trk dump file "<<e.what()<<"\r\n";
|
||||
}
|
||||
}
|
||||
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float=0;
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e) {
|
||||
std::cout << "Exception writing trk dump file "<<e.what()<<"\r\n";
|
||||
}
|
||||
}
|
||||
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
||||
d_sample_counter_seconds = d_sample_counter_seconds + (((double)d_current_prn_length_samples)/(double)d_fs_in);
|
||||
d_sample_counter+=d_current_prn_length_samples; //count for the processed samples
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_code_phase(float code_phase) {
|
||||
d_acq_code_phase_samples=code_phase;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
|
||||
d_acq_code_phase_samples=code_phase;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_doppler(float doppler) {
|
||||
d_acq_carrier_doppler_hz = doppler;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
|
||||
d_acq_carrier_doppler_hz = doppler;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::set_satellite(unsigned int satellite) {
|
||||
d_satellite = satellite;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
|
||||
d_satellite = satellite;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::set_channel(unsigned int channel) {
|
||||
d_channel = channel;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump==true)
|
||||
{
|
||||
if (d_dump_file.is_open()==false)
|
||||
{
|
||||
try {
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
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);
|
||||
std::cout<<"Tracking dump enabled on channel "<<d_channel<<" Log file: "<<d_dump_filename.c_str()<<std::endl;
|
||||
}
|
||||
catch (std::ifstream::failure e) {
|
||||
std::cout << "channel "<<d_channel <<" Exception opening trk dump file "<<e.what()<<"\r\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
d_channel = channel;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump==true)
|
||||
{
|
||||
if (d_dump_file.is_open()==false)
|
||||
{
|
||||
try {
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
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);
|
||||
std::cout<<"Tracking dump enabled on channel "<<d_channel<<" Log file: "<<d_dump_filename.c_str()<<std::endl;
|
||||
}
|
||||
catch (std::ifstream::failure e) {
|
||||
std::cout << "channel "<<d_channel <<" Exception opening trk dump file "<<e.what()<<"\r\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void gps_l1_ca_dll_fll_pll_tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
|
||||
|
@ -1,6 +1,6 @@
|
||||
/*!
|
||||
* \file gps_navigation_message.cc
|
||||
* \brief Implementation of a GPS NAV Data message decoder
|
||||
* \brief Implementation of a GPS NAV Data message decoder as described in IS-GPS-200E
|
||||
*
|
||||
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
|
||||
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
@ -31,6 +31,8 @@
|
||||
*/
|
||||
|
||||
#include "gps_navigation_message.h"
|
||||
#include <math.h>
|
||||
#include "boost/date_time/posix_time/posix_time.hpp"
|
||||
|
||||
#define num_of_slices(x) sizeof(x)/sizeof(bits_slice)
|
||||
|
||||
@ -252,11 +254,13 @@ void gps_navigation_message::master_clock(double transmitTime)
|
||||
*/
|
||||
|
||||
// 20.3.3.3.3.1 User Algorithm for SV Clock Correction.
|
||||
void gps_navigation_message::sv_clock_correction(double transmitTime)
|
||||
double gps_navigation_message::sv_clock_correction(double transmitTime)
|
||||
{
|
||||
double dt;
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 + d_dtr;
|
||||
double correctedTime = transmitTime - d_satClkCorr;
|
||||
return correctedTime;
|
||||
}
|
||||
|
||||
|
||||
@ -285,18 +289,19 @@ void gps_navigation_message::satellitePosition(double transmitTime)
|
||||
// Restore semi-major axis
|
||||
a = d_sqrt_A*d_sqrt_A;
|
||||
|
||||
// Time correction
|
||||
// Time from ephemeris reference epoch
|
||||
tk = check_t(transmitTime - d_Toe);
|
||||
|
||||
// Initial mean motion
|
||||
// Computed mean motion
|
||||
n0 = sqrt(GM / (a*a*a));
|
||||
// Mean motion
|
||||
|
||||
// Corrected mean motion
|
||||
n = n0 + d_Delta_n;
|
||||
|
||||
// Mean anomaly
|
||||
M = d_M_0 + n * tk;
|
||||
// Reduce mean anomaly to between 0 and 360 deg
|
||||
|
||||
// Reduce mean anomaly to between 0 and 2pi
|
||||
M = fmod((M + 2*GPS_PI),(2*GPS_PI));
|
||||
|
||||
// Initial guess of eccentric anomaly
|
||||
@ -318,12 +323,12 @@ void gps_navigation_message::satellitePosition(double transmitTime)
|
||||
// Compute relativistic correction term
|
||||
d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
|
||||
|
||||
// Calculate the true anomaly
|
||||
// Compute the true anomaly
|
||||
double tmp_Y=sqrt(1.0 - d_e_eccentricity*d_e_eccentricity) * sin(E);
|
||||
double tmp_X=cos(E)-d_e_eccentricity;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
|
||||
// Compute angle phi
|
||||
// Compute angle phi (argument of Latitude)
|
||||
phi = nu + d_OMEGA;
|
||||
|
||||
// Reduce phi to between 0 and 2*pi rad
|
||||
@ -337,10 +342,11 @@ void gps_navigation_message::satellitePosition(double transmitTime)
|
||||
|
||||
|
||||
// Correct inclination
|
||||
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2*phi) +d_Cis * sin(2*phi);
|
||||
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2*phi) + d_Cis * sin(2*phi);
|
||||
|
||||
// Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = d_OMEGA0 + (d_OMEGA_DOT - OMEGA_EARTH_DOT)*tk - OMEGA_EARTH_DOT * d_Toe;
|
||||
|
||||
// Reduce to between 0 and 2*pi rad
|
||||
Omega = fmod((Omega + 2*GPS_PI),(2*GPS_PI));
|
||||
|
||||
@ -359,7 +365,7 @@ void gps_navigation_message::satellitePosition(double transmitTime)
|
||||
}
|
||||
*/
|
||||
|
||||
// --- Compute satellite coordinates ------------------------------------
|
||||
// --- Compute satellite coordinates in Earth-fixed coordinates
|
||||
d_satpos_X = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
||||
d_satpos_Y = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
||||
d_satpos_Z = sin(u)*r * sin(i);
|
||||
@ -654,6 +660,79 @@ int gps_navigation_message::subframe_decoder(char *subframe)
|
||||
}
|
||||
|
||||
|
||||
double gps_navigation_message::utc_time(double gpstime_corrected)
|
||||
{
|
||||
double t_utc;
|
||||
double t_utc_daytime;
|
||||
double Delta_t_UTC = d_DeltaT_LS + d_A0 + d_A1 * (gpstime_corrected - d_t_OT + 604800 *(double)(i_GPS_week - i_WN_T));
|
||||
|
||||
// Determine if the effectivity time of the leap second event is in the past
|
||||
int weeksToLeapSecondEvent = i_WN_LSF-i_GPS_week;
|
||||
|
||||
if ((weeksToLeapSecondEvent) >= 0) // is not in the past
|
||||
{
|
||||
//Detect if the effectivity time and user's time is within six hours = 6 * 60 *60 = 21600 s
|
||||
int secondOfLeapSecondEvent = i_DN * 24 * 60 * 60;
|
||||
|
||||
if (weeksToLeapSecondEvent > 0)
|
||||
{
|
||||
t_utc_daytime=fmod(gpstime_corrected-Delta_t_UTC,86400);
|
||||
}
|
||||
else //we are in the same week than the leap second event
|
||||
{
|
||||
|
||||
|
||||
if (abs(gpstime_corrected-secondOfLeapSecondEvent) > 21600)
|
||||
{
|
||||
/* 20.3.3.5.2.4a
|
||||
* Whenever the effectivity time indicated by the WN_LSF and the DN values
|
||||
* is not in the past (relative to the user's present time), and the user's
|
||||
* present time does not fall in the time span which starts at six hours prior
|
||||
* to the effectivity time and ends at six hours after the effectivity time,
|
||||
* the UTC/GPS-time relationship is given by
|
||||
*/
|
||||
|
||||
t_utc_daytime=fmod(gpstime_corrected-Delta_t_UTC,86400);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 20.3.3.5.2.4b
|
||||
* Whenever the user's current time falls within the time span of six hours
|
||||
* prior to the effectivity time to six hours after the effectivity time,
|
||||
* proper accommodation of the leap second event with a possible week number
|
||||
* transition is provided by the following expression for UTC:
|
||||
*/
|
||||
|
||||
int W = fmod(gpstime_corrected-Delta_t_UTC-43200,86400)+43200;
|
||||
t_utc_daytime =fmod(W,86400+d_DeltaT_LSF-d_DeltaT_LS);
|
||||
|
||||
//implement something to handle a leap second event!
|
||||
}
|
||||
if ( (gpstime_corrected - secondOfLeapSecondEvent ) > 21600)
|
||||
{
|
||||
Delta_t_UTC = d_DeltaT_LSF + d_A0 + d_A1 * (gpstime_corrected - d_t_OT + 604800 *(double)(i_GPS_week - i_WN_T));
|
||||
t_utc_daytime=fmod(gpstime_corrected-Delta_t_UTC,86400);
|
||||
}
|
||||
}
|
||||
}
|
||||
else // the effectivity time is in the past
|
||||
{
|
||||
/* 20.3.3.5.2.4c
|
||||
* Whenever the effectivity time of the leap second event, as indicated by the
|
||||
* WNLSF and DN values, is in the "past" (relative to the user's current time),
|
||||
* and the userÕs current time does not fall in the time span as given above
|
||||
* in 20.3.3.5.2.4b,*/
|
||||
Delta_t_UTC = d_DeltaT_LSF + d_A0 + d_A1 * (gpstime_corrected - d_t_OT + 604800 *(double)(i_GPS_week - i_WN_T));
|
||||
t_utc_daytime=fmod(gpstime_corrected-Delta_t_UTC,86400);
|
||||
}
|
||||
|
||||
double secondsOfWeekBeforeToday= 43200*floor(gpstime_corrected/43200);
|
||||
t_utc = secondsOfWeekBeforeToday+t_utc_daytime;
|
||||
return t_utc;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
@ -118,7 +118,7 @@ public:
|
||||
// Almanac
|
||||
double d_Toa; //!< Almanac reference time [s]
|
||||
int i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
std::map<int,int> almanacHealth;
|
||||
std::map<int,int> almanacHealth; //!< Map that stores the health information stored in the almanac
|
||||
|
||||
// Flags
|
||||
|
||||
@ -139,7 +139,7 @@ public:
|
||||
|
||||
|
||||
// clock terms
|
||||
//double d_master_clock; // GPS transmission time
|
||||
//double d_master_clock; // GPS transmission time
|
||||
double d_satClkCorr; // GPS clock error
|
||||
double d_dtr; // relativistic clock correction term
|
||||
|
||||
@ -187,12 +187,6 @@ public:
|
||||
*/
|
||||
int subframe_decoder(char *subframe);
|
||||
|
||||
/*
|
||||
* User Algorithm for SV Clock Correction
|
||||
*
|
||||
* Implementation of paragraph 20.3.3.3.3.1 (IS-GPS-200E)
|
||||
*/
|
||||
//void master_clock(double transmitTime);
|
||||
|
||||
/*!
|
||||
* \brief Computes the position of the satellite
|
||||
@ -202,10 +196,16 @@ public:
|
||||
void satellitePosition(double transmitTime);
|
||||
|
||||
/*!
|
||||
* \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction (IS-GPS-200E, 20.3.3.3.3.1)
|
||||
* \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction
|
||||
* and returns the corrected clock (IS-GPS-200E, 20.3.3.3.3.1)
|
||||
*/
|
||||
void sv_clock_correction(double transmitTime);
|
||||
double sv_clock_correction(double transmitTime);
|
||||
|
||||
/*!
|
||||
* \brief Computes the Coordinated Universal Time (UTC) and
|
||||
* returns it in [s] (IS-GPS-200E, 20.3.3.5.2.4)
|
||||
*/
|
||||
double utc_time(double gpstime_corrected);
|
||||
|
||||
bool satellite_validation();
|
||||
|
||||
|
@ -62,7 +62,7 @@ int main(int argc, char** argv)
|
||||
const std::string intro_help(
|
||||
std::string("\nGNSS-SDR is an Open Source GNSS Software Defined Receiver\n")
|
||||
+
|
||||
"Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)\n"
|
||||
"Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)\n"
|
||||
+
|
||||
"This program comes with ABSOLUTELY NO WARRANTY;\n"
|
||||
+
|
||||
@ -78,9 +78,9 @@ int main(int argc, char** argv)
|
||||
google::InitGoogleLogging(argv[0]);
|
||||
if (FLAGS_log_dir.empty())
|
||||
{
|
||||
// temp_directory_path() is only available from Boost 1.45. Ubuntu 10.10 ships with 1.42
|
||||
//std::cout << "Logging will be done at " << boost::filesystem::temp_directory_path() << std::endl
|
||||
// << "Use gnss-sdr --log_dir=/path/to/log to change that."<< std::endl;
|
||||
// temp_directory_path() is only available from Boost 1.45. Ubuntu 10.10 ships with 1.42
|
||||
// std::cout << "Logging will be done at " << boost::filesystem::temp_directory_path() << std::endl
|
||||
// << "Use gnss-sdr --log_dir=/path/to/log to change that."<< std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
Loading…
Reference in New Issue
Block a user