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Code Issues Releases Wiki Activity

Improve handling of E6 and 7X signals

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This commit is contained in:
Carles Fernandez
2022-06-08 16:20:01 +02:00
parent 96803c1d0f
commit 9ff323f2f2
7 changed files with 131 additions and 92 deletions
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145
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -45,14 +45,99 @@
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const std::string &dump_filename,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat) : d_rtk(rtk),
d_dump_filename(dump_filename),
bool flag_dump_to_mat) : d_dump_filename(dump_filename),
d_rtk(rtk),
d_type_of_rx(type_of_rx),
d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(flag_dump_to_mat)
{
this->set_averaging_flag(false);
// see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
// function: satwavelen
d_rtklib_freq_index[0] = 0;
d_rtklib_freq_index[1] = 1;
d_rtklib_freq_index[2] = 2;
d_rtklib_band_index["1G"] = 0;
d_rtklib_band_index["1C"] = 0;
d_rtklib_band_index["1B"] = 0;
d_rtklib_band_index["B1"] = 0;
d_rtklib_band_index["B3"] = 2;
d_rtklib_band_index["2G"] = 1;
d_rtklib_band_index["2S"] = 1;
d_rtklib_band_index["7X"] = 2;
d_rtklib_band_index["5X"] = 2;
d_rtklib_band_index["L5"] = 2;
d_rtklib_band_index["E6"] = 0;
if (d_type_of_rx == 6) // E5b only
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 15) // Galileo E1B + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 18) // GPS L2C + Galileo E5b
{
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 19) // Galileo E5a + Galileo E5b
{
d_rtklib_band_index["5X"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 20) // GPS L5 + Galileo E5b
{
d_rtklib_band_index["L5"] = 0;
d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 100) // E6B only
{
d_rtklib_freq_index[0] = 3;
}
if (d_type_of_rx == 101) // E1 + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 102) // E5a + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 103) // E5b + E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
d_rtklib_freq_index[2] = 4;
}
if (d_type_of_rx == 104) // Galileo E1B + Galileo E5a + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 105) // Galileo E1B + Galileo E5b + Galileo E6B
{
d_rtklib_freq_index[2] = 4;
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
if (d_type_of_rx == 106) // GPS L1 C/A + Galileo E1B + Galileo E6B
{
d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3;
}
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
@@ -406,8 +491,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool gps_dual_band = false;
bool band1 = false;
bool band2 = false;
bool gal_e5_is_e5b = false;
bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
@@ -460,7 +544,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0);
d_rtklib_band_index[sig_]);
valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -484,7 +568,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
d_rtklib_band_index[sig_]);
found_E1_obs = true;
break;
}
@@ -502,7 +586,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@@ -510,14 +594,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
if (sig_ == "7X")
{
gal_e5_is_e5b = true;
}
}
if (sig_ == "E6")
{
gal_e6 = true;
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{
@@ -529,7 +608,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band E6
d_rtklib_band_index[sig_]);
found_E1_obs = true;
break;
}
@@ -547,8 +626,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band E6
// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@@ -576,7 +654,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.WN,
0,
d_rtklib_band_index[sig_],
this->is_pre_2009());
valid_obs++;
}
@@ -606,7 +684,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
eph_data[i].week,
1); // Band 2 (L2)
d_rtklib_band_index[sig_]);
break;
}
}
@@ -625,7 +703,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@@ -654,7 +732,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
d_rtklib_band_index[sig_]);
break;
}
}
@@ -672,7 +750,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@@ -700,7 +778,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1)
d_rtklib_band_index[sig_]);
glo_valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -723,7 +801,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
d_rtklib_band_index[sig_]);
found_L1_obs = true;
break;
}
@@ -738,7 +816,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
d_rtklib_band_index[sig_]);
glo_valid_obs++;
}
}
@@ -766,7 +844,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0);
d_rtklib_band_index[sig_]);
valid_obs++;
}
else // the ephemeris are not available for this SV
@@ -788,7 +866,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3)
d_rtklib_band_index[sig_]);
found_B1I_obs = true;
break;
}
@@ -806,7 +884,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2)
d_rtklib_band_index[sig_]);
valid_obs++;
}
}
@@ -922,20 +1000,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
if (j == 2 && gal_e6)
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
}
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function
nav_data.lam[i][j] = satwavelen(i + 1, 4, &nav_data);
}
else
{
nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
}
nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
}
}