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Fix NMEA GPGSV message for GPS L1

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This commit is contained in:
Carles Fernandez 2018-11-05 15:39:56 +01:00
parent 40efd08b56
commit 99989d472c
3 changed files with 57 additions and 82 deletions
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88
src/algorithms/PVT/libs/nmea_printer.cc
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@ -34,6 +34,7 @@
*/ */
#include "nmea_printer.h" #include "nmea_printer.h"
#include "rtklib_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists #include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<< #include <boost/filesystem/path.hpp> // for path, operator<<
@ -560,88 +561,13 @@ std::string Nmea_Printer::get_GPGSA()
std::string Nmea_Printer::get_GPGSV() std::string Nmea_Printer::get_GPGSV()
{ {
// GSV-GNSS Satellites in View // GSV-GNSS Satellites in View
// Notice that NMEA 2.1 only supports 12 channels
int n_sats_used = d_PVT_data->get_num_valid_observations();
std::stringstream sentence_str;
std::stringstream frame_str;
std::string sentence_header;
sentence_header = "$GPGSV,";
char checksum;
std::string tmpstr;
// 1st step: How many GPGSV frames we need? (up to 3)
// Each frame contains up to 4 satellites
int n_frames;
n_frames = std::ceil((static_cast<double>(n_sats_used)) / 4.0);
// generate the frames
int current_satellite = 0;
for (int i = 1; i < (n_frames + 1); i++)
{
frame_str.str("");
frame_str << sentence_header;
// number of messages
frame_str << n_frames;
// message number
frame_str << ",";
frame_str << i;
// total number of satellites in view
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << n_sats_used;
// satellites info
for (int j = 0; j < 4; j++)
{
// write satellite info
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << d_PVT_data->get_visible_satellites_ID(current_satellite);
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_El(current_satellite));
frame_str << ",";
frame_str.width(3);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_Az(current_satellite));
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_CN0_dB(current_satellite));
current_satellite++;
if (current_satellite == n_sats_used)
{
break;
}
}
// frame checksum
tmpstr = frame_str.str();
checksum = checkSum(tmpstr.substr(1));
frame_str << "*";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::hex << static_cast<int>(checksum);
// end NMEA sentence
frame_str << "\r\n";
//add frame to sentence
sentence_str << frame_str.str();
}
return sentence_str.str();
// $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 // $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
// Notice that NMEA 2.1 only supports 12 channels
std::stringstream sentence_str;
unsigned char buff[200];
outnmea_gsv(buff, &d_PVT_data->pvt_sol, *d_PVT_data->pvt_ssat);
sentence_str << buff;
return sentence_str.str();
} }

50
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -53,6 +53,7 @@
#include "rtklib_solver.h" #include "rtklib_solver.h"
#include "rtklib_conversions.h" #include "rtklib_conversions.h"
#include "rtklib_solution.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "GLONASS_L1_L2_CA.h" #include "GLONASS_L1_L2_CA.h"
@ -809,8 +810,55 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
index_aux++; index_aux++;
} }
} }
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system
{
switch (gnss_observables_iter->second.System)
{
case 'E':
break;
case 'G':
{
// GPS L1
std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0)
{
unsigned int snr = static_cast<unsigned int>(std::round(gnss_observables_iter->second.CN0_dB_hz / 0.25));
rtk_.ssat[gnss_observables_iter->second.PRN - 1].snr[0] = snr; //newobs.SNR[0];
pvt_ssat[gnss_observables_iter->second.PRN - 1] = &rtk_.ssat[gnss_observables_iter->second.PRN - 1];
}
// GPS L2
if (sig_.compare("2S") == 0)
{
}
// GPS L5
if (sig_.compare("L5") == 0)
{
}
break;
}
case 'R':
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if (sig_.compare("1G") == 0)
{
}
// GLONASS GNAV L2
if (sig_.compare("2G") == 0)
{
}
break;
}
default:
break;
}
}
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
this->set_valid_position(true); this->set_valid_position(true);
arma::vec rx_position_and_time(4); arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0]; // [m] rx_position_and_time(0) = pvt_sol.rr[0]; // [m]

1
src/algorithms/PVT/libs/rtklib_solver.h
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@ -86,6 +86,7 @@ private:
public: public:
sol_t pvt_sol; sol_t pvt_sol;
ssat_t* pvt_ssat[MAXSAT];
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t& rtk); rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t& rtk);
~rtklib_solver(); ~rtklib_solver();