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Add work on Galileo observables RINEX printer

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This commit is contained in:
Carles Fernandez
2016-11-03 10:49:10 +01:00
parent abc2139ca6
commit 9a3d5950ba
4 changed files with 164 additions and 53 deletions
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68
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@@ -599,10 +599,10 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
}
if((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a
{
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
}
d_last_sample_nav_output = d_sample_counter;
}
@@ -610,6 +610,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
// Log observables into the RINEX file
if(type_of_rx == 1) // GPS L1 C/A only
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
@@ -636,11 +637,37 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo single freq
if(type_of_rx == 4) // Galileo E1B only
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 5) // Galileo E5a only
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 6) // Galileo E5b only
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@@ -675,7 +702,32 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
if(type_of_rx == 14) // Galileo E1B + Galileo E5a
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 15) // Galileo E1B + Galileo E5b
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
b_rinex_header_updated = true;
}
}
}
// ####################### RTCM MESSAGES #################
@@ -856,5 +908,3 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
consume_each(1); //one by one
return 1;
}

68
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -4191,7 +4191,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph,
}
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
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)
{
// RINEX observations timestamps are Galileo timestamps.
// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
@@ -4260,10 +4260,15 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
pseudorangesE5B.insert(std::pair<int, Gnss_Synchro>(pseudoranges_iter->first, pseudoranges_iter->second));
}
}
std::size_t found_1B = galileo_bands.find("1B");
std::size_t found_E5a = galileo_bands.find("5X");
std::size_t found_E5b = galileo_bands.find("7X");
std::multimap<unsigned int, Gnss_Synchro> total_map;
std::set<unsigned int> available_prns;
std::set<unsigned int>::iterator it;
if(found_1B != std::string::npos)
{
for(pseudoranges_iter = pseudorangesE1B.begin();
pseudoranges_iter != pseudorangesE1B.end();
pseudoranges_iter++)
@@ -4276,33 +4281,84 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
available_prns.insert(prn_);
}
}
}
if(found_E5a != std::string::npos)
{
for(pseudoranges_iter = pseudorangesE5A.begin();
pseudoranges_iter != pseudorangesE5A.end();
pseudoranges_iter++)
{
unsigned int prn_ = pseudoranges_iter->second.PRN;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
it = available_prns.find(prn_);
if(it == available_prns.end())
{
available_prns.insert(prn_);
if(found_1B != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "1B";
std::memcpy((void*)gs.Signal, sig.c_str(), 3);
gs.PRN = prn_;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
}
}
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
}
}
if(found_E5b != std::string::npos)
{
for(pseudoranges_iter = pseudorangesE5B.begin();
pseudoranges_iter != pseudorangesE5B.end();
pseudoranges_iter++)
{
unsigned int prn_ = pseudoranges_iter->second.PRN;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
it = available_prns.find(prn_);
if(it == available_prns.end())
{
available_prns.insert(prn_);
if(found_1B != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "1B";
std::memcpy((void*)gs.Signal, sig.c_str(), 3);
gs.PRN = prn_;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
}
if(found_E5a != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "5X";
std::memcpy((void*)gs.Signal, sig.c_str(), 3);
gs.PRN = prn_;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
}
}
else
{
// if 5X is listed but empty
if(found_E5a != std::string::npos)
{
if( (total_map.count(prn_)) == 1)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "5X";
std::memcpy((void*)gs.Signal, sig.c_str(), 3);
gs.PRN = prn_;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, gs));
}
}
}
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
}
}
int numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
// Receiver clock offset (optional)

4
src/algorithms/PVT/libs/rinex_printer.h
View File

@@ -197,9 +197,9 @@ public:
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);
/*!
* \brief Writes Galileo observables into the RINEX file
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
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");
/*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file

7
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
View File

@@ -326,6 +326,11 @@ TEST(Rinex_Printer_Test, GalileoObsLogDualBand)
gs2.Carrier_Doppler_hz = 321;
gs2.CN0_dB_hz = 39;
gs3.Pseudorange_m = 22000003.3;
gs3.Carrier_phase_rads = 43.3;
gs3.Carrier_Doppler_hz = -321;
gs3.CN0_dB_hz = 40;
gs4.Pseudorange_m = 22000000;
gs4.Carrier_phase_rads = 23.4;
gs4.Carrier_Doppler_hz = 1534;
@@ -336,7 +341,7 @@ TEST(Rinex_Printer_Test, GalileoObsLogDualBand)
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map);
rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map, bands);
rp->obsFile.seekp(0);
while(!rp->obsFile.eof())