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Code Issues Releases Wiki Activity

Do not repeat annotations in RINEX navigation files

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This commit is contained in:
Carles Fernandez 2019-05-07 16:39:06 +02:00
parent c6ca9f2d2c
commit 950b4b607a
4 changed files with 445 additions and 268 deletions
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1
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -106,7 +106,6 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.rinex_version = 2;
}
pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.rinexnav_rate_ms = bc::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), pvt_output_parameters.output_rate_ms);
// RTCM Printer settings
pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);

710
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -299,7 +299,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
rp = nullptr;
}
d_rinexobs_rate_ms = conf_.rinexobs_rate_ms;
d_rinexnav_rate_ms = conf_.rinexnav_rate_ms;
// XML printer
d_xml_storage = conf_.xml_output_enabled;
@ -973,6 +972,69 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
<< "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
<< gps_eph->i_GPS_week;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_pvt_solver->gps_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toc != gps_eph->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
rp->log_rinex_nav(rp->navFile, new_eph);
break;
case 8: // L1+L5
rp->log_rinex_nav(rp->navFile, new_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, new_glo_eph);
}
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, new_eph);
}
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
default:
break;
}
}
}
d_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>))
@ -997,171 +1059,362 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
{
// ### GPS CNAV IONO ###
std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
DLOG(INFO) << "New CNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
{
// ### GPS CNAV UTC MODEL ###
std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
DLOG(INFO) << "New CNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
{
// ### GPS ALMANAC ###
std::shared_ptr<Gps_Almanac> gps_almanac;
gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
DLOG(INFO) << "New GPS almanac record has arrived ";
}
// **************** Galileo telemetry ********************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
{
// ### Galileo EPHEMERIS ###
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
{
// ### Galileo IONO ###
std::shared_ptr<Galileo_Iono> galileo_iono;
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
d_pvt_solver->galileo_iono = *galileo_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
{
// ### Galileo UTC MODEL ###
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->galileo_utc_model = *galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
if (sv1.i_satellite_PRN != 0)
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
bool new_annotation = false;
if (d_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_pvt_solver->gps_cnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toc != gps_cnav_ephemeris->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_cnav_eph[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
switch (type_of_rx)
{
case 2: // GPS L2C only
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 3: // GPS L5 only
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 7: // GPS L1 C/A + GPS L2C
rp->log_rinex_nav(rp->navFile, new_cnav_eph);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
}
}
d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
if (sv2.i_satellite_PRN != 0)
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
{
d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
// ### GPS CNAV IONO ###
std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
DLOG(INFO) << "New CNAV IONO record has arrived ";
}
if (sv3.i_satellite_PRN != 0)
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
{
d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
// ### GPS CNAV UTC MODEL ###
std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
DLOG(INFO) << "New CNAV UTC record has arrived ";
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_alm;
galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
}
// **************** GLONASS GNAV Telemetry **************************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
{
// ### GLONASS GNAV EPHEMERIS ###
std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
<< ", Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map
d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
{
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
{
// ### GPS ALMANAC ###
std::shared_ptr<Gps_Almanac> gps_almanac;
gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
DLOG(INFO) << "New GPS almanac record has arrived ";
}
// ************* BeiDou telemetry *****************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>))
{
// ### Beidou EPHEMERIS ###
std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph;
bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< bds_dnav_eph->i_satellite_PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week;
// update/insert new ephemeris record to the global ephemeris map
d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
{
// ### BeiDou IONO ###
std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
{
// ### BeiDou UTC MODEL ###
std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
{
// ### BeiDou ALMANAC ###
std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
// **************** Galileo telemetry ********************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
{
// ### Galileo EPHEMERIS ###
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
switch (type_of_rx)
{
case 6: // Galileo E5b only
rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
break;
case 15: // Galileo E1B + Galileo E5b
rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
}
}
}
d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
{
// ### Galileo IONO ###
std::shared_ptr<Galileo_Iono> galileo_iono;
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
d_pvt_solver->galileo_iono = *galileo_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
{
// ### Galileo UTC MODEL ###
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->galileo_utc_model = *galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
if (sv1.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
}
if (sv2.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
}
if (sv3.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_alm;
galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
}
// **************** GLONASS GNAV Telemetry **************************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
{
// ### GLONASS GNAV EPHEMERIS ###
std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
<< ", Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
switch (type_of_rx)
{
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
}
}
}
d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
{
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
}
// ************* BeiDou telemetry *****************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>))
{
// ### Beidou EPHEMERIS ###
std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph;
bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< bds_dnav_eph->i_satellite_PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
switch (type_of_rx)
{
case 50: // BDS B1I only
rp->log_rinex_nav(rp->navFile, new_bds_eph);
break;
default:
break;
}
}
}
d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
{
// ### BeiDou IONO ###
std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
{
// ### BeiDou UTC MODEL ###
std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
{
// ### BeiDou ALMANAC ###
std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
}
}
}
catch (boost::bad_any_cast& e)
@ -1336,7 +1589,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
bool flag_write_RTCM_1045_output = false;
bool flag_write_RTCM_MSM_output = false;
bool flag_write_RINEX_obs_output = false;
bool flag_write_RINEX_nav_output = false;
gnss_observables_map.clear();
const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
@ -1506,13 +1758,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_write_RINEX_obs_output = true;
}
}
if (d_rinexnav_rate_ms != 0)
{
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
{
flag_write_RINEX_nav_output = true;
}
}
if (first_fix == true)
{
@ -1553,17 +1798,17 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
@ -1611,6 +1856,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1620,6 +1866,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("2S");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1629,6 +1876,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1655,6 +1903,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1664,6 +1913,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1C 2S");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1673,6 +1923,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1700,6 +1951,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1710,6 +1962,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gps_signal("L5");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1728,6 +1981,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B 7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1755,6 +2009,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string signal("1G 2G");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1766,11 +2021,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rinex_version == 3)
{
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
b_rinex_header_written = true; // do not write header anymore
}
@ -1782,6 +2040,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1791,6 +2050,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1802,11 +2062,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rinex_version == 3)
{
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
b_rinex_header_written = true; // do not write header anymore
}
@ -1818,6 +2081,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1827,6 +2091,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string glo_signal("2G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1839,6 +2104,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gps_signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1849,6 +2115,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -1857,6 +2124,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
@ -1876,94 +2144,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
if (flag_write_RINEX_nav_output)
{
switch (type_of_rx)
{
case 1: // GPS L1 C/A only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
break;
case 2: // GPS L2C only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 3: // GPS L5 only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 4:
case 5:
case 6:
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
break;
case 7: // GPS L1 C/A + GPS L2C
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
break;
case 8: // L1+L5
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
break;
case 9:
case 10:
case 11:
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 13: // L5+E5a
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 14:
case 15:
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
break;
case 23:
case 24:
case 25:
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 50: // BDS B1I only
rp->log_rinex_nav(rp->navFile, d_pvt_solver->beidou_dnav_ephemeris_map);
break;
default:
break;
}
}
galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();

1
src/algorithms/PVT/libs/pvt_conf.cc
View File

@ -38,7 +38,6 @@ Pvt_Conf::Pvt_Conf()
rinex_version = 0;
rinexobs_rate_ms = 0;
rinexnav_rate_ms = 0;
dump = false;
dump_mat = true;

1
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -44,7 +44,6 @@ public:
int32_t rinex_version;
int32_t rinexobs_rate_ms;
int32_t rinexnav_rate_ms;
std::map<int, int> rtcm_msg_rate_ms;
bool dump;