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Attempt to generate hybrid GPS L1 / Galileo E1 RTCM messages

This commit is contained in:
Carles Fernandez 2016-05-10 22:16:50 +02:00
parent fc7d3118c5
commit 94855ffa06
2 changed files with 117 additions and 3 deletions
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1
src/algorithms/PVT/adapters/hybrid_pvt.cc
View File

@ -87,6 +87,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{

119
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -230,7 +230,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
{
d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
}
@ -405,6 +405,75 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
}
if(b_rtcm_writing_started)
{
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4)) == 0) && (d_rtcm_MT1045_rate_ms != 0))
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) || ((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0))
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_pseudoranges_iter = gnss_pseudoranges_map.begin(); gnss_pseudoranges_iter != gnss_pseudoranges_map.end(); gnss_pseudoranges_iter++)
{
std::string system(&gnss_pseudoranges_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_channel = i;
}
}
}
if(gal_channel == 0)
{
if(system.compare("E") == 0)
{
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
gal_channel = i;
}
}
}
i++;
}
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) && (d_rtcm_MT1097_rate_ms != 0) )
{
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
}
if(((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (d_rtcm_MT1077_rate_ms != 0) )
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
}
}
}
if(!b_rtcm_writing_started) // the first time
{
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
@ -421,8 +490,52 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
}
// TODO: print observables...
// b_rtcm_writing_started = true;
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_pseudoranges_iter = gnss_pseudoranges_map.begin(); gnss_pseudoranges_iter != gnss_pseudoranges_map.end(); gnss_pseudoranges_iter++)
{
std::string system(&gnss_pseudoranges_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_channel = i;
}
}
}
if(gal_channel == 0)
{
if(system.compare("E") == 0)
{
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_pseudoranges_iter->second.PRN);
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
gal_channel = i;
}
}
}
i++;
}
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) )
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
}
}