Debugging GLONASS code to obtain position solution

CMakeLists.txt

@@ -271,7 +271,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 
 # Append -O2 optimization flag for Debug builds
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
 
 # allow 'large' files in 32 bit builds
 if(UNIX)

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -190,8 +190,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t 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
-                               << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
+                               << ", Week Number =" << glonass_gnav_eph->d_WN
-                               << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
+                               << " 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_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
@@ -542,7 +542,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
                             std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
                             std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
-							std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
+                            std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
                             if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
                                     || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
                                     || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -116,6 +116,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
     std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
     std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
     std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
+    const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
 
     this->set_averaging_flag(flag_averaging);
 
@@ -290,7 +291,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 											if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
 											{
 													//convert ephemeris from GNSS-SDR class to RTKLIB structure
-													geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+													geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 													//convert observation from GNSS-SDR class to RTKLIB structure
 													obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
 													obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
@@ -329,7 +330,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
 													{
 															//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
 															//convert ephemeris from GNSS-SDR class to RTKLIB structure
-															geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
+															geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
 															//convert observation from GNSS-SDR class to RTKLIB structure
 															obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
 															obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,

src/algorithms/PVT/libs/rtklib_solver.h

@@ -87,7 +87,7 @@ public:
     std::map<int,Galileo_Ephemeris> galileo_ephemeris_map;   //!< Map storing new Galileo_Ephemeris
     std::map<int,Gps_Ephemeris> gps_ephemeris_map;           //!< Map storing new GPS_Ephemeris
     std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
-	std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;    //!< Map storing new GLONASS GNAV Ephmeris
+    std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;    //!< Map storing new GLONASS GNAV Ephmeris
 
     Galileo_Utc_Model galileo_utc_model;
     Galileo_Iono galileo_iono;

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -30,10 +30,11 @@
 
 #include "rtklib_conversions.h"
 #include "rtklib_rtkcmn.h"
+#include <boost/date_time/posix_time/posix_time.hpp>
 
 obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band)
 {
-    rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
+		rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
     rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
     rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI);
 
@@ -64,13 +65,12 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
     return rtklib_obs;
 }
 
-geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model)
 {
-		int week;
+		double week, sec;
+		int adj_week;
     geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
         0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
-    gtime_t t_utc;
-    struct tm utcinfo;
 
     rtklib_sat.sat    = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
     rtklib_sat.iode   = static_cast<int>(glonass_gnav_eph.d_t_b);           /* IODE (0-6 bit of tb field) */
@@ -91,26 +91,15 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
     rtklib_sat.gamn   = glonass_gnav_eph.d_gamma_n;                         /* SV relative freq bias */
     rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
 
-    utcinfo.tm_mon  = 0;
+    // Time expressed in GPS Time but using RTKLib format
-    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
-    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
+    adj_week = adjgpsweek(static_cast<int>(week));
-    utcinfo.tm_hour = -6;
+    rtklib_sat.toe = gpst2time(adj_week, sec);
-    utcinfo.tm_min  = 0;
-    utcinfo.tm_sec  = glonass_gnav_eph.d_tod;
-    t_utc.time = mktime(&utcinfo);
-    t_utc.sec = glonass_gnav_eph.d_tau_c;
-    rtklib_sat.toe    = utc2gpst(t_utc);      /* message frame time (gpst) */
-
-    utcinfo.tm_mon  = 0;
-    utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
-    utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
-    utcinfo.tm_hour = -6;
-    utcinfo.tm_min  = 0;
-    utcinfo.tm_sec  = glonass_gnav_eph.d_t_k;
-    t_utc.time = mktime(&utcinfo);
-    t_utc.sec = glonass_gnav_eph.d_tau_c;
-    rtklib_sat.tof    = utc2gpst(t_utc);      /* message frame time (gpst) */
 
+    // Time expressed in GPS Time but using RTKLib format
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
+    adj_week = adjgpsweek(static_cast<int>(week));
+    rtklib_sat.tof = gpst2time(adj_week, sec);
 
     return rtklib_sat;
 }

src/algorithms/libs/rtklib/rtklib_conversions.h

@@ -37,6 +37,7 @@
 #include "gps_ephemeris.h"
 #include "gps_cnav_ephemeris.h"
 #include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_utc_model.h"
 
 eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
 eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
@@ -46,7 +47,7 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
  * \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
  * \return Ephemeris structure for RTKLIB parsing
  */
-geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
+geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model);
 
 obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);
 

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -221,7 +221,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     if(d_nav.flag_update_slot_number == true)
         {
             LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
-            d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
+            d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n);
+            d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n);
             d_nav.flag_update_slot_number = false;
         }
 }

src/core/system_parameters/GLONASS_L1_CA.h

@@ -91,8 +91,6 @@ const int GLONASS_L1_CA_NBR_SATS             = 24; // STRING DATA WITHOUT PREAMB
 
 //FIXME Probably should use leap seconds definitions of rtklib
 const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */
-        {2019, 1, 1, 0, 0, 0, -20},
-        {2018, 1, 1, 0, 0, 0, -19},
         {2017, 1, 1, 0, 0, 0, -18},
         {2015, 7, 1, 0, 0, 0, -17},
         {2012, 7, 1, 0, 0, 0, -16},

src/core/system_parameters/glonass_gnav_ephemeris.cc

@@ -79,20 +79,87 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
 	d_tau_c = 0.0;
 	d_TOW = 0.0; // tow of the start of frame
 	d_WN = 0.0; //  week number of the start of frame
+	d_tod = 0.0;
 }
 
 
 boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
 {
-    boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c);
+    boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
     boost::gregorian::date d1(d_yr, 1, 1);
-    boost::gregorian::days d2(d_N_T);
+    boost::gregorian::days d2(d_N_T - 1);
     boost::posix_time::ptime glonass_time(d1+d2, t);
 
     return glonass_time;
 }
 
 
+boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
+{
+		double tod = 0.0;
+		double utcsu2utc = 3*3600;
+		double glot2utcsu = 3*3600;
+
+		tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n;
+		boost::posix_time::time_duration t(0, 0, tod);
+		boost::gregorian::date d1(d_yr, 1, 1);
+		boost::gregorian::days d2(d_N_T - 1);
+		boost::posix_time::ptime utc_time(d1+d2, t);
+
+		return utc_time;
+}
+
+void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
+{
+			double tod = 0.0;
+	    double dayofweek = 0.0;
+	    double utcsu2utc = 3*3600;
+	    double glot2utcsu = 3*3600;
+	    double days = 0.0;
+	    double total_sec = 0.0, sec_of_day = 0.0;
+	    int i = 0;
+
+	    boost::gregorian::date gps_epoch { 1980, 1, 6 };
+
+	    // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
+	    // tk plus 10 sec is the true tod since get_TOW is called when in str5
+	    tod = tod_offset - glot2utcsu - utcsu2utc ;
+
+
+	    boost::posix_time::time_duration t(0, 0, tod);
+	    boost::gregorian::date d1(d_yr, 1, 1);
+	    boost::gregorian::days d2(d_N_T - 1);
+	    boost::posix_time::ptime glonass_time(d1+d2, t);
+	    boost::gregorian::date utc_date = glonass_time.date();
+
+	    // Total number of days
+	    days =  static_cast<double>((utc_date - gps_epoch).days());
+
+	    // Total number of seconds
+	    sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
+	    total_sec = days*86400 + sec_of_day;
+
+	    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
+	    {
+	        if (GLONASS_LEAP_SECONDS[i][0] == d_yr)
+	        {
+	            // We add the leap second when going from utc to gpst
+	            total_sec += abs(GLONASS_LEAP_SECONDS[i][6]);
+	        }
+	    }
+
+	    // Compute Week number
+	    *wn = floor(total_sec/604800);
+
+	    // Compute day of week
+	    dayofweek = modf (total_sec/604800 , wn);
+	    dayofweek = round(7*dayofweek);
+	    // Compute the arithmetic modules to wrap around range
+	    *tow = total_sec - 604800*floor(total_sec/604800);
+	    *tow = dayofweek*86400 + tod_offset + glot2utc_corr + glot2gpst_corr + d_tau_n;
+
+}
+
 double Glonass_Gnav_Ephemeris::check_t(double time)
 {
     double corrTime;

src/core/system_parameters/glonass_gnav_ephemeris.h

@@ -159,6 +159,17 @@ public:
      */
     boost::posix_time::ptime compute_GLONASS_time(const double offset_time) const;
 
+    /*!
+     * \brief Converts from GLONASST to UTC
+     * \ param [I]
+     * \ param offset_time Is the start of day offset to compute the time
+     * \ returns UTC time as a boost::posix_time::ptime object
+     */
+    boost::posix_time::ptime glot_to_utc(const double offset_time, const double glot2utc_corr) const;
+
+
+    void glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * WN, double * TOW) const;
+
     /*!
      * Default constructor
      */

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -43,6 +43,7 @@
 void Glonass_Gnav_Navigation_Message::reset()
 {
     //!< Satellite Identification
+		i_satellite_PRN = 0;
     i_alm_satellite_slot_number = 0;    //!< SV Orbit Slot Number
     flag_update_slot_number = false;
 
@@ -325,7 +326,7 @@ double Glonass_Gnav_Navigation_Message::get_WN()
     boost::gregorian::date gps_epoch { 1980, 1, 6 };
     // Map to UTC
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
     glo_date = glo_date + d2;
 
 
@@ -367,7 +368,7 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
 
 
     boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
+    boost::gregorian::days d2(gnav_ephemeris.d_N_T-1);
     glo_date = glo_date + d2;
 
     dayofweek = static_cast<double>(glo_date.day_of_week());
@@ -514,9 +515,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                     // 3). Set TOW once the year has been defined, it helps with leap second determination
                     if (flag_ephemeris_str_1 == true)
                     {
-                        d_TOW = get_TOW();
+                        //d_TOW = get_TOW();
-                        gnav_ephemeris.d_TOW = d_TOW;
+                        gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW);
-                        gnav_ephemeris.d_WN = get_WN();
+                        d_TOW = gnav_ephemeris.d_TOW;
+                        //gnav_ephemeris.d_WN = d_WN();
                         flag_TOW_set = true;
                         flag_TOW_new = true;
                     }

src/core/system_parameters/glonass_gnav_navigation_message.h

@@ -65,6 +65,10 @@ public:
     unsigned int d_string_ID;
     bool flag_update_slot_number;
 
+    // satellite identification info
+    int i_channel_ID;
+    unsigned int i_satellite_PRN;
+
     Glonass_Gnav_Ephemeris gnav_ephemeris;    //!< Ephemeris information decoded
     Glonass_Gnav_Utc_Model gnav_utc_model;    //!< UTC model information
     Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS];    //!< Almanac information for all 24 satellites

src/core/system_parameters/gnss_satellite.cc

@@ -135,6 +135,26 @@ void Gnss_Satellite::set_system(const std::string& system_)
 }
 
 
+void Gnss_Satellite::update_PRN(unsigned int PRN_)
+{
+    if (system.compare("Glonass") != 0)
+				{
+						DLOG(INFO) << "Trying to update PRN for not GLONASS system";
+						PRN = 0;
+				}
+    else
+    		{
+				 if (PRN_ < 1 or PRN_ > 24)
+						 {
+								 DLOG(INFO) << "This PRN is not defined";
+								 PRN = 0;
+						 }
+				 else
+						 {
+								 PRN = PRN_;
+						 }
+    		}
+}
 
 
 void Gnss_Satellite::set_PRN(unsigned int PRN_)

src/core/system_parameters/gnss_satellite.h

@@ -50,6 +50,7 @@ public:
     Gnss_Satellite();                          //!< Default Constructor.
     Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor.
     ~Gnss_Satellite();                         //!< Default Destructor.
+    void update_PRN(unsigned int PRN);       	 //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
     unsigned int get_PRN() const;              //!< Gets satellite's PRN
     std::string get_system() const;            //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
     std::string get_system_short() const;      //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}

src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc

@@ -80,6 +80,38 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
     ASSERT_FALSE(test_result);
 }
 
+/*!
+ * \brief Testing string decoding for GLONASS GNAV messages
+ * \test The provided string (str1.....str15) was generated with a version of
+ * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
+ * GNAV signals. The same assumption is to be applied for ephemeris and almanac
+ * data provided.
+ */
+TEST(GlonassGnavNavigationMessageTest, ComputeTOWandWN1)
+{
+    // Variable declarations
+		double tow, wn;
+    Glonass_Gnav_Navigation_Message gnav_nav_message;
+    Glonass_Gnav_Ephemeris gnav_ephemeris;
+
+    // Fill out ephemeris values for truth
+    gnav_nav_message.gnav_ephemeris.d_t_k    = 70200;
+    gnav_nav_message.gnav_ephemeris.d_tau_c  = 9.6391886472702e-08;
+    gnav_nav_message.gnav_ephemeris.d_yr     = 2005;
+    gnav_nav_message.gnav_ephemeris.d_N_T    = 28;
+
+    // Call target test method
+    tow = gnav_nav_message.get_TOW();
+    wn = gnav_nav_message.get_WN();
+
+    // Perform assertions of decoded fields
+    ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < FLT_EPSILON );
+    ASSERT_TRUE(gnav_ephemeris.d_Xn -  gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON );
+}
+
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages
  * \test The provided string (str1.....str15) was generated with a version of

src/utils/matlab/hybrid_observables_plot_sample.m

@@ -41,76 +41,76 @@ title('Doppler frequency')
 xlabel('TOW [s]')
 ylabel('[Hz]');
 
-
+% 
-%read true obs from simulator (optional)
+% %read true obs from simulator (optional)
-GPS_STARTOFFSET_s = 68.802e-3;
+% GPS_STARTOFFSET_s = 68.802e-3;
-
+% 
-true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
+% true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin';
-GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
+% GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path);
-
+% 
-%correct the clock error using true values (it is not possible for a receiver to correct
+% %correct the clock error using true values (it is not possible for a receiver to correct
-%the receiver clock offset error at the observables level because it is required the
+% %the receiver clock offset error at the observables level because it is required the
-%decoding of the ephemeris data and solve the PVT equations)
+% %decoding of the ephemeris data and solve the PVT equations)
-
+% 
-SPEED_OF_LIGHT_M_S = 299792458.0; 
+% SPEED_OF_LIGHT_M_S = 299792458.0; 
-
+% 
-%find the reference satellite
+% %find the reference satellite
-[~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
+% [~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1));
-shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
+% shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s;
-
+% 
-
+% 
-%Compute deltas if required and interpolate to measurement time
+% %Compute deltas if required and interpolate to measurement time
-delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
+% delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:);
-delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+% delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
+%     delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
-true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+% true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
+%     GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap');
-true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
+% true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ...
-    GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
+%     GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap');
-
+% 
-%Compute measurement errors
+% %Compute measurement errors
-
+% 
-delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
+% delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end);
-psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
+% psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m;
-psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
+% psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m))
-
+% 
-acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
+% acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz...
-    -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
+%     -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1);
-
+% 
-acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
+% acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz))
-
+% 
-acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
+% acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz...
-    -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
+%     -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1);
-acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
+% acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz))
-
+% 
-
+% 
-%plot results
+% %plot results
-figure;
+% figure;
-plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
+% plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g');
-hold on;
+% hold on;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b');
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b');
-title('TRUE vs. measured Pseudoranges [m]')
+% title('TRUE vs. measured Pseudoranges [m]')
-xlabel('TOW [s]')
+% xlabel('TOW [s]')
-ylabel('[m]');
+% ylabel('[m]');
-
+% 
-figure;
+% figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m)
-title('Pseudoranges error [m]')
+% title('Pseudoranges error [m]')
-xlabel('TOW [s]')
+% xlabel('TOW [s]')
-ylabel('[m]');
+% ylabel('[m]');
-
+% 
-figure;
+% figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz)
-title('Accumulated carrier phase error CH1 [hz]')
+% title('Accumulated carrier phase error CH1 [hz]')
-xlabel('TOW [s]')
+% xlabel('TOW [s]')
-ylabel('[hz]');
+% ylabel('[hz]');
-
+% 
-figure;
+% figure;
-plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
+% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz)
-title('Accumulated carrier phase error CH2 [hz]')
+% title('Accumulated carrier phase error CH2 [hz]')
-xlabel('TOW [s]')
+% xlabel('TOW [s]')
-ylabel('[hz]');
+% ylabel('[hz]');
-
+% 
-
+% 
-
+% 
-
+%