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GLONASS bugfix: Fixes settings with rtklib obs_t and nav_t members

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Adds settings in rtklib code to parse GLONASS measurements in `obs_t`
and 'nav_t' structures. It also adds the time of day field in gnav eph
to keep track as of when ephemeris are reported.
This commit is contained in:
Damian Miralles 2017-10-11 08:22:45 -06:00
parent ea675b4baa
commit 93640ffd46
6 changed files with 97 additions and 77 deletions
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142
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -115,7 +115,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -123,6 +123,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************ // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS]; obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
@ -278,76 +279,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
break; break;
} }
case 'R': //TODO This should be using rtk lib nomenclature case 'R': //TODO This should be using rtk lib nomenclature
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if(sig_.compare("1G") == 0) if(sig_.compare("1G") == 0)
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//TODO are THESE VALUES OK 0);//Band 0 (L1)
valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
// GLONASS GNAV L2 // GLONASS GNAV L2
if(sig_.compare("2G") == 0) if(sig_.compare("2G") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
bool found_L1_obs=false; bool found_L1_obs=false;
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < glo_valid_obs; i++)
{ {
// TODO what is this? if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO))) {
{ obs_data[i] = insert_obs_to_rtklib(obs_data[i],
obs_data[i] = insert_obs_to_rtklib(obs_data[i], gnss_observables_iter->second,
gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN,
glonass_gnav_ephemeris_iter->second.d_WN, 1);//Band 1 (L2)
2);//Band 3 (L5/E5) found_L1_obs=true;
found_L1_obs=true; break;
break; }
} }
} if (!found_L1_obs)
if (!found_L1_obs) {
{ //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //convert ephemeris from GNSS-SDR class to RTKLIB structure
//convert ephemeris from GNSS-SDR class to RTKLIB structure geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); //convert observation from GNSS-SDR class to RTKLIB structure
//convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second,
gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN,
galileo_ephemeris_iter->second.WN_5, 1); //Band 1 (L2)
2); //Band 3 (L5/E5) glo_valid_obs++;
valid_obs++; }
} }
} else // the ephemeris are not available for this SV
else // the ephemeris are not available for this SV {
{ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; }
}
} }
break; break;
} }
default : default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
@ -359,13 +359,15 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ********************************************************************** // **********************************************************************
this->set_valid_position(false); this->set_valid_position(false);
if (valid_obs > 0) if (valid_obs > 0 || glo_valid_obs > 0)
{ {
int result = 0; int result = 0;
nav_t nav_data; nav_t nav_data;
nav_data.eph = eph_data; nav_data.eph = eph_data;
nav_data.geph = geph_data; nav_data.geph = geph_data;
nav_data.n = valid_obs; nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
for (int i = 0; i < MAXSAT; i++) for (int i = 0; i < MAXSAT; i++)
{ {
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */ nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
@ -373,7 +375,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */ nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
} }
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0) if(result == 0)
{ {
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;

7
src/algorithms/libs/rtklib/rtklib.h
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@ -182,6 +182,7 @@ const int SYS_ALL = 0xFF; //!< navigation system: all
#define ENAGLO
#ifdef ENAGLO #ifdef ENAGLO
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
@ -194,6 +195,12 @@ const int NSATGLO = 0;
const int NSYSGLO = 0; const int NSYSGLO = 0;
#endif #endif
/*
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!< number of GLONASS satellites
const int NSYSGLO = 1;
*/
const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo
const int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo const int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo
const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites

13
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -52,7 +52,7 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO; rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break; break;
case 'R': case 'R':
rtklib_obs.sat = gnss_synchro.PRN; rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
break; break;
default: default:
@ -66,12 +66,13 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{ {
int week;
geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0, geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0}; 0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
gtime_t t_utc; gtime_t t_utc;
struct tm utcinfo; struct tm utcinfo;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */ rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */ rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */ rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/ rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
@ -93,17 +94,17 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
utcinfo.tm_mon = 0; utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T; utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h) utcinfo.tm_hour = -6;
utcinfo.tm_min = 0; utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_b; utcinfo.tm_sec = glonass_gnav_eph.d_tod;
t_utc.time = mktime(&utcinfo); t_utc.time = mktime(&utcinfo);
t_utc.sec = glonass_gnav_eph.d_tau_c; t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.toe = utc2gpst(t_utc); /* epoch of epherides (gpst) */ rtklib_sat.toe = utc2gpst(t_utc); /* message frame time (gpst) */
utcinfo.tm_mon = 0; utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T; utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6; utcinfo.tm_hour = -6;
utcinfo.tm_min = 0; utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_k; utcinfo.tm_sec = glonass_gnav_eph.d_t_k;
t_utc.time = mktime(&utcinfo); t_utc.time = mktime(&utcinfo);

8
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
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@ -350,6 +350,12 @@ int decoderaw(rtksvr_t *svr, int index)
/* decode download file ------------------------------------------------------*/ /* decode download file ------------------------------------------------------*/
void decodefile(rtksvr_t *svr, int index) void decodefile(rtksvr_t *svr, int index)
{ {
int i = 0;
char glo_fcn[MAXPRNGLO+1];
// Allocate space for GLONASS frequency channels depending on availability
for(i=0; i < MAXPRNGLO+1; i++)
glo_fcn[i]='0';
pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } }; pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } };
sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0}; sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0};
sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0}; sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0};
@ -366,7 +372,7 @@ void decodefile(rtksvr_t *svr, int index)
nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
{0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
{0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0},{0.0},{0.0}}, {0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0},{0.0}}, {{0.0},{0.0}}, {{0.0},{0.0},{0.0}},
{0.0}, {0.0}, '0', {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0}, {0.0}, {0.0}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
{{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ; {{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;
char file[1024]; char file[1024];

1
src/core/system_parameters/glonass_gnav_ephemeris.h
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@ -102,6 +102,7 @@ public:
double d_tau_c; double d_tau_c;
double d_TOW; // tow of the start of frame double d_TOW; // tow of the start of frame
double d_WN; // week number of the start of frame double d_WN; // week number of the start of frame
double d_tod;
template<class Archive> template<class Archive>

3
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -521,6 +521,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
flag_TOW_new = true; flag_TOW_new = true;
} }
// 4) Set time of day (tod) when ephemeris data is complety decoded
gnav_ephemeris.d_tod = gnav_ephemeris.d_t_k + 2*d_string_ID;
} }