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https://github.com/gnss-sdr/gnss-sdr
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Add work on Galileo observables RINEX printer
This commit is contained in:
Carles Fernandez
parent
abc2139ca6
commit
9a3d5950ba
@ -587,7 +587,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
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}
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if( (type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) ) // Galileo
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if( (type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) ) // Galileo
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{
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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}
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@ -599,10 +599,10 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
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}
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if((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a
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{
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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}
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d_last_sample_nav_output = d_sample_counter;
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}
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@ -610,6 +610,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
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gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
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// Log observables into the RINEX file
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if(type_of_rx == 1) // GPS L1 C/A only
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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@ -636,11 +637,37 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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b_rinex_header_updated = true;
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}
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}
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if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo single freq
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if(type_of_rx == 4) // Galileo E1B only
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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b_rinex_header_updated = true;
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}
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}
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if(type_of_rx == 5) // Galileo E5a only
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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b_rinex_header_updated = true;
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}
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}
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if(type_of_rx == 6) // Galileo E5b only
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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@ -675,7 +702,32 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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b_rinex_header_updated = true;
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}
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}
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if(type_of_rx == 14) // Galileo E1B + Galileo E5a
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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b_rinex_header_updated = true;
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}
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}
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if(type_of_rx == 15) // Galileo E1B + Galileo E5b
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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b_rinex_header_updated = true;
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}
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}
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}
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// ####################### RTCM MESSAGES #################
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@ -856,5 +908,3 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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consume_each(1); //one by one
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return 1;
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}
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@ -4191,7 +4191,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
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}
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void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
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void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges, const std::string galileo_bands)
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{
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// RINEX observations timestamps are Galileo timestamps.
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// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
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@ -4260,49 +4260,105 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
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pseudorangesE5B.insert(std::pair<int, Gnss_Synchro>(pseudoranges_iter->first, pseudoranges_iter->second));
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}
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}
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std::size_t found_1B = galileo_bands.find("1B");
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std::size_t found_E5a = galileo_bands.find("5X");
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std::size_t found_E5b = galileo_bands.find("7X");
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std::multimap<unsigned int, Gnss_Synchro> total_map;
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std::set<unsigned int> available_prns;
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std::set<unsigned int>::iterator it;
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for(pseudoranges_iter = pseudorangesE1B.begin();
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pseudoranges_iter != pseudorangesE1B.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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}
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}
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for(pseudoranges_iter = pseudorangesE5A.begin();
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pseudoranges_iter != pseudorangesE5A.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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}
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}
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for(pseudoranges_iter = pseudorangesE5B.begin();
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pseudoranges_iter != pseudorangesE5B.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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}
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}
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if(found_1B != std::string::npos)
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{
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for(pseudoranges_iter = pseudorangesE1B.begin();
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pseudoranges_iter != pseudorangesE1B.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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}
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}
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}
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if(found_E5a != std::string::npos)
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{
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for(pseudoranges_iter = pseudorangesE5A.begin();
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pseudoranges_iter != pseudorangesE5A.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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if(found_1B != std::string::npos)
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{
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Gnss_Synchro gs = Gnss_Synchro();
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std::string sys = "E";
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gs.System = *sys.c_str();
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std::string sig = "1B";
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std::memcpy((void*)gs.Signal, sig.c_str(), 3);
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gs.PRN = prn_;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
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}
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}
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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}
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}
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if(found_E5b != std::string::npos)
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{
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for(pseudoranges_iter = pseudorangesE5B.begin();
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pseudoranges_iter != pseudorangesE5B.end();
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pseudoranges_iter++)
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{
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unsigned int prn_ = pseudoranges_iter->second.PRN;
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it = available_prns.find(prn_);
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if(it == available_prns.end())
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{
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available_prns.insert(prn_);
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if(found_1B != std::string::npos)
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{
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Gnss_Synchro gs = Gnss_Synchro();
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std::string sys = "E";
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gs.System = *sys.c_str();
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std::string sig = "1B";
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std::memcpy((void*)gs.Signal, sig.c_str(), 3);
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gs.PRN = prn_;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
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}
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if(found_E5a != std::string::npos)
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{
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Gnss_Synchro gs = Gnss_Synchro();
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std::string sys = "E";
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gs.System = *sys.c_str();
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std::string sig = "5X";
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std::memcpy((void*)gs.Signal, sig.c_str(), 3);
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gs.PRN = prn_;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
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}
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}
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else
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{
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// if 5X is listed but empty
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if(found_E5a != std::string::npos)
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{
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if( (total_map.count(prn_)) == 1)
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{
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Gnss_Synchro gs = Gnss_Synchro();
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std::string sys = "E";
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gs.System = *sys.c_str();
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std::string sig = "5X";
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std::memcpy((void*)gs.Signal, sig.c_str(), 3);
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gs.PRN = prn_;
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
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}
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}
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}
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total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
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}
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}
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int numSatellitesObserved = available_prns.size();
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
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// Receiver clock offset (optional)
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@ -197,9 +197,9 @@ public:
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void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
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/*!
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* \brief Writes Galileo observables into the RINEX file
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* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
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*/
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void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
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void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges, const std::string galileo_bands = "1B");
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/*!
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* \brief Writes Mixed GPS / Galileo observables into the RINEX file
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@ -326,6 +326,11 @@ TEST(Rinex_Printer_Test, GalileoObsLogDualBand)
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gs2.Carrier_Doppler_hz = 321;
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gs2.CN0_dB_hz = 39;
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gs3.Pseudorange_m = 22000003.3;
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gs3.Carrier_phase_rads = 43.3;
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gs3.Carrier_Doppler_hz = -321;
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gs3.CN0_dB_hz = 40;
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gs4.Pseudorange_m = 22000000;
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gs4.Carrier_phase_rads = 23.4;
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gs4.Carrier_Doppler_hz = 1534;
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@ -336,7 +341,7 @@ TEST(Rinex_Printer_Test, GalileoObsLogDualBand)
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
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rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map);
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rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map, bands);
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rp->obsFile.seekp(0);
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while(!rp->obsFile.eof())
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