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Observables and all PVT products now are referenced to the uncorrected RX clock, that is guaranteed to be integer multiple of 1 ms

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This commit is contained in:
Javier Arribas
2018-06-02 12:55:00 +02:00
parent 03c7278b27
commit 908aa1515f
16 changed files with 116 additions and 127 deletions
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5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
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@@ -456,8 +456,9 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
current_symbol.Flag_valid_word = false;
}
current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
current_symbol.TOW_at_current_symbol_s -= delta_t; //Galileo to GPS TOW
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
//todo: Galileo to GPS time conversion should be moved to observable block.
//current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW
if (d_dump == true)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
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@@ -470,7 +470,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
current_sample.Flag_valid_word = false;
}
current_sample.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
current_sample.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
if (d_dump)
{

5
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
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@@ -413,8 +413,9 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
}
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.TOW_at_current_symbol_s -= delta_t; // Galileo to GPS TOW
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
//todo: glonass time to gps time should be done in observables block
//current_symbol.TOW_at_current_symbol_s -= delta_t; // Galileo to GPS TOW
if (d_dump == true)
{

5
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
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@@ -413,8 +413,9 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
}
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.TOW_at_current_symbol_s -= delta_t; // Galileo to GPS TOW
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
//todo: glonass time to gps time should be done in observables block
//current_symbol.TOW_at_current_symbol_s -= delta_t;
if (d_dump == true)
{

13
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@@ -91,7 +91,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_prev_GPS_frame_4bytes = 0;
d_flag_parity = false;
d_TOW_at_Preamble = 0.0;
d_TOW_at_current_symbol = 0.0;
flag_TOW_set = false;
d_average_count = 0;
d_flag_preamble = false;
@@ -396,25 +395,17 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
{
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency)
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2.0 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_GPS_FSM.d_nav.d_TOW) * 1000 + 161;
//d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
d_TOW_at_current_symbol = d_TOW_at_Preamble;
flag_TOW_set = true;
d_flag_new_tow_available = false;
}
else
{
d_TOW_at_current_symbol += GPS_L1_CA_CODE_PERIOD;
d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS;
}
current_symbol.TOW_at_current_symbol_s = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
//current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true)
@@ -430,7 +421,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));

1
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
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@@ -112,7 +112,6 @@ private:
unsigned long int d_preamble_time_samples;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
unsigned int d_TOW_at_current_symbol_ms;
bool flag_TOW_set;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
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@@ -201,7 +201,7 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
d_flag_valid_word = false;
}
}
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_synchro_data.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
current_synchro_data.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc
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@@ -253,7 +253,7 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
d_flag_valid_word = false;
}
}
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_synchro_data.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
current_synchro_data.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)