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Code Issues Releases Wiki Activity

Make RINEX (nav & obs) annotation rate configurable

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This commit is contained in:
Carles Fernandez 2018-06-05 21:41:13 +02:00
parent 8b72c8f940
commit a2a9fef7f7
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 107 additions and 79 deletions
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10
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -94,6 +94,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{ {
rinex_version = 2; rinex_version = 2;
} }
int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
// RTCM Printer settings // RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false); bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
@ -471,10 +473,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
0, /* initialize by restart */ 0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */ 1, /* output single by dgps/float/fix/ppp outage */
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */ {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */ 0, /* solution sync mode (0:off,1:on) */
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
}; };
@ -482,7 +484,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
rtkinit(&rtk, &rtklib_configuration_options); rtkinit(&rtk, &rtklib_configuration_options);
// make PVT object // make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk); pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, rinexobs_rate_ms, rinexnav_rate_ms, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")"; DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0) if (out_streams_ > 0)
{ {

167
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -57,6 +57,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -75,6 +77,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
nmea_dump_filename, nmea_dump_filename,
nmea_dump_devname, nmea_dump_devname,
rinex_version, rinex_version,
rinexobs_rate_ms,
rinexnav_rate_ms,
flag_rtcm_server, flag_rtcm_server,
flag_rtcm_tty_port, flag_rtcm_tty_port,
rtcm_tcp_port, rtcm_tcp_port,
@ -90,7 +94,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
{ {
try try
{ {
//************* GPS telemetry ***************** // ************* GPS telemetry *****************
if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>)) if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>))
{ {
// ### GPS EPHEMERIS ### // ### GPS EPHEMERIS ###
@ -146,7 +150,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
DLOG(INFO) << "New CNAV UTC record has arrived "; DLOG(INFO) << "New CNAV UTC record has arrived ";
} }
//**************** Galileo telemetry ******************** // **************** Galileo telemetry ********************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
{ {
// ### Galileo EPHEMERIS ### // ### Galileo EPHEMERIS ###
@ -185,7 +189,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
DLOG(INFO) << "New Galileo Almanac has arrived "; DLOG(INFO) << "New Galileo Almanac has arrived ";
} }
//**************** GLONASS GNAV Telemetry ************************** // **************** GLONASS GNAV Telemetry **************************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
{ {
// ### GLONASS GNAV EPHEMERIS ### // ### GLONASS GNAV EPHEMERIS ###
@ -235,13 +239,27 @@ std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_GPS_L1_ephemeris_map()
} }
rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, bool dump,
std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version, std::string dump_filename,
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, int output_rate_ms,
unsigned short rtcm_station_id, std::map<int, int> rtcm_msg_rate_ms, std::string rtcm_dump_devname, const unsigned int type_of_receiver, rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc", int display_rate_ms,
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), bool flag_nmea_tty_port,
gr::io_signature::make(0, 0, 0)) std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{ {
d_output_rate_ms = output_rate_ms; d_output_rate_ms = output_rate_ms;
d_display_rate_ms = display_rate_ms; d_display_rate_ms = display_rate_ms;
@ -255,28 +273,28 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
this->message_port_register_in(pmt::mp("telemetry")); this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1)); this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1));
//initialize kml_printer // initialize kml_printer
std::string kml_dump_filename; std::string kml_dump_filename;
kml_dump_filename = d_dump_filename; kml_dump_filename = d_dump_filename;
d_kml_dump = std::make_shared<Kml_Printer>(); d_kml_dump = std::make_shared<Kml_Printer>();
d_kml_dump->set_headers(kml_dump_filename); d_kml_dump->set_headers(kml_dump_filename);
//initialize gpx_printer // initialize gpx_printer
std::string gpx_dump_filename; std::string gpx_dump_filename;
gpx_dump_filename = d_dump_filename; gpx_dump_filename = d_dump_filename;
d_gpx_dump = std::make_shared<Gpx_Printer>(); d_gpx_dump = std::make_shared<Gpx_Printer>();
d_gpx_dump->set_headers(gpx_dump_filename); d_gpx_dump->set_headers(gpx_dump_filename);
//initialize geojson_printer // initialize geojson_printer
std::string geojson_dump_filename; std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename; geojson_dump_filename = d_dump_filename;
d_geojson_printer = std::make_shared<GeoJSON_Printer>(); d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename); d_geojson_printer->set_headers(geojson_dump_filename);
//initialize nmea_printer // initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname); d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer // initialize rtcm_printer
std::string rtcm_dump_filename; std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename; rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname); d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
@ -332,6 +350,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
} }
b_rtcm_writing_started = false; b_rtcm_writing_started = false;
// initialize RINEX printer
b_rinex_header_written = false;
b_rinex_header_updated = false;
d_rinex_version = rinex_version;
rp = std::make_shared<Rinex_Printer>(d_rinex_version);
d_rinexobs_rate_ms = rinexobs_rate_ms;
d_rinexnav_rate_ms = rinexnav_rate_ms;
d_dump_filename.append("_raw.dat"); d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat"); dump_ls_pvt_filename.append("_ls_pvt.dat");
@ -340,11 +366,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
d_rx_time = 0.0; d_rx_time = 0.0;
b_rinex_header_written = false;
b_rinex_header_updated = false;
d_rinex_version = rinex_version;
rp = std::make_shared<Rinex_Printer>(d_rinex_version);
d_last_status_print_seg = 0; d_last_status_print_seg = 0;
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
@ -382,7 +403,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{ {
msgctl(sysv_msqid, IPC_RMID, NULL); msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file // save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_CNAV.xml"; std::string file_name = "eph_GPS_CNAV.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0) if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
@ -405,7 +426,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty"; LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
} }
//save GPS L1 CA ephemeris to XML file // save GPS L1 CA ephemeris to XML file
file_name = "eph_GPS_L1CA.xml"; file_name = "eph_GPS_L1CA.xml";
if (d_ls_pvt->gps_ephemeris_map.size() > 0) if (d_ls_pvt->gps_ephemeris_map.size() > 0)
@ -428,7 +449,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty"; LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty";
} }
//save Galileo E1 ephemeris to XML file // save Galileo E1 ephemeris to XML file
file_name = "eph_Galileo_E1.xml"; file_name = "eph_Galileo_E1.xml";
if (d_ls_pvt->galileo_ephemeris_map.size() > 0) if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
@ -451,7 +472,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty"; LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
} }
//save GLONASS GNAV ephemeris to XML file // save GLONASS GNAV ephemeris to XML file
file_name = "eph_GLONASS_GNAV.xml"; file_name = "eph_GLONASS_GNAV.xml";
if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0) if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
@ -473,6 +494,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{ {
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty"; LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
} }
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
try try
@ -495,15 +517,15 @@ bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchr
bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff) bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
{ {
/* Fill Sys V message structures */ // Fill Sys V message structures
int msgsend_size; int msgsend_size;
ttff_msgbuf msg; ttff_msgbuf msg;
msg.ttff = ttff.ttff; msg.ttff = ttff.ttff;
msgsend_size = sizeof(msg.ttff); msgsend_size = sizeof(msg.ttff);
msg.mtype = 1; /* default message ID */ msg.mtype = 1; // default message ID
/* SEND SOLUTION OVER A MESSAGE QUEUE */ // SEND SOLUTION OVER A MESSAGE QUEUE
/* non-blocking Sys V message send */ // non-blocking Sys V message send
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT); msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
return true; return true;
} }
@ -596,18 +618,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
flag_compute_pvt_output = true; flag_compute_pvt_output = true;
d_rx_time = current_RX_time; d_rx_time = current_RX_time;
//std::cout.precision(17); // std::cout.precision(17);
//std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl; // std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
} }
// compute on the fly PVT solution // compute on the fly PVT solution
if (flag_compute_pvt_output == true) if (flag_compute_pvt_output == true)
{ {
// receiver clock correction is disabled to be coherent with the RINEX and RTCM standard // receiver clock correction is disabled to be coherent with the RINEX and RTCM standard
//std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl; // std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
//for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it) // for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
// { // {
//todo: check if it has effect to correct the receiver time for the internal pvt solution // todo: check if it has effect to correct the receiver time for the internal pvt solution
// take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time // take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time
// it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s; // it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
// } // }
@ -631,29 +653,29 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
flag_write_RTCM_1045_output = true; flag_write_RTCM_1045_output = true;
} }
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates // TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0) // if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
// { // {
// last_RTCM_1077_output_time = current_RX_time; // last_RTCM_1077_output_time = current_RX_time;
// } // }
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0) // if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
// { // {
// last_RTCM_1087_output_time = current_RX_time; // last_RTCM_1087_output_time = current_RX_time;
// } // }
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0) // if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
// { // {
// last_RTCM_1097_output_time = current_RX_time; // last_RTCM_1097_output_time = current_RX_time;
// } // }
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0) if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0)
{ {
flag_write_RTCM_MSM_output = true; flag_write_RTCM_MSM_output = true;
} }
if (current_RX_time_ms % 1000 == 0) // TODO: Make it configurable if (current_RX_time_ms % static_cast<unsigned int>(d_rinexobs_rate_ms) == 0)
{ {
flag_write_RINEX_obs_output = true; flag_write_RINEX_obs_output = true;
} }
if (current_RX_time_ms % 6000 == 0) // TODO: Make it configurable if (current_RX_time_ms % static_cast<unsigned int>(d_rinexnav_rate_ms) == 0)
{ {
flag_write_RINEX_nav_output = true; flag_write_RINEX_nav_output = true;
} }
@ -1511,8 +1533,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (flag_write_RTCM_MSM_output == true) if (flag_write_RTCM_MSM_output == true)
{ {
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
@ -1576,8 +1598,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (flag_write_RTCM_MSM_output == true) if (flag_write_RTCM_MSM_output == true)
{ {
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{ {
@ -1641,8 +1663,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (flag_write_RTCM_MSM_output == true) if (flag_write_RTCM_MSM_output == true)
{ {
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
@ -1828,8 +1850,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
@ -1943,8 +1965,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
@ -2060,36 +2082,31 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// DEBUG MESSAGE: Display position in console output // DEBUG MESSAGE: Display position in console output
if (d_ls_pvt->is_valid_position() and flag_display_pvt) if (d_ls_pvt->is_valid_position() and flag_display_pvt)
{ {
std::streamsize ss = std::cout.precision(); //save current precision std::streamsize ss = std::cout.precision(); // save current precision
std::cout << TEXT_BOLD_GREEN std::cout << TEXT_BOLD_GREEN
<< std::fixed
<< "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< std::setprecision(ss)
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " UTC using " << d_ls_pvt->get_num_valid_observations()
<< std::setprecision(10) << std::setprecision(10)
<< " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< std::setprecision(3) << std::setprecision(4)
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl; << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << TEXT_RED
<< std::setprecision(10)
<< "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss); std::cout << std::setprecision(ss);
//boost::posix_time::ptime p_time; LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
//gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
//p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
//p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
//std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
// boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude() << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]"; << " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using "<< d_ls_pvt->get_num_valid_observations()<<" observations is HDOP = " << d_ls_pvt->get_HDOP() << " VDOP = " << " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
<< d_ls_pvt->get_VDOP() <<" TDOP = " << d_ls_pvt->get_TDOP() << d_ls_pvt->get_vdop()
<< " GDOP = " << d_ls_pvt->get_GDOP() << std::endl; */ << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
} }
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -62,6 +62,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -86,6 +88,8 @@ private:
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -101,6 +105,9 @@ private:
bool b_rinex_header_written; bool b_rinex_header_written;
bool b_rinex_header_updated; bool b_rinex_header_updated;
double d_rinex_version; double d_rinex_version;
int d_rinexobs_rate_ms;
int d_rinexnav_rate_ms;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits) int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
@ -154,6 +161,8 @@ public:
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,