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Improving PVT system test. Extending the rtklib_solver binary dumps and removing old dumps

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This commit is contained in:
Javier Arribas
2018-08-29 18:53:03 +02:00
parent 3e901da669
commit a3dc0f564c
12 changed files with 828 additions and 181 deletions
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61
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@@ -364,8 +364,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_rinexobs_rate_ms = rinexobs_rate_ms;
d_rinexnav_rate_ms = rinexnav_rate_ms;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
dump_ls_pvt_filename.append("_pvt.dat");
d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
d_ls_pvt->set_averaging_depth(1);
@@ -374,23 +373,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_last_status_print_seg = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT dump file " << e.what();
}
}
}
// Create Sys V message queue
first_fix = true;
@@ -500,18 +482,6 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
}
if (d_dump_file.is_open() == true)
{
try
{
d_dump_file.close();
}
catch (const std::exception& ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
@@ -2102,7 +2072,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
DLOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
// 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);
@@ -2110,36 +2080,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// 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())
<< " 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]";
DLOG(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()
<< " [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())
<< " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
<< d_ls_pvt->get_vdop()
<< " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
}
// MULTIPLEXED FILE RECORDING - Record results to file
if (d_dump == true)
{
try
{
double tmp_double;
for (uint32_t i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][epoch].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = 0;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_rx_time), sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
}
}

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@@ -122,7 +122,6 @@ private:
uint32_t d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;

51
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -86,7 +86,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
}
}
}
@@ -103,7 +103,7 @@ rtklib_solver::~rtklib_solver()
}
catch (const std::exception& ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
}
}
}
@@ -556,34 +556,55 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
try
{
double tmp_double;
uint32_t tmp_uint32;
// TOW
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// WEEK
tmp_uint32 = adjgpsweek(nav_data.eph[0].week);
d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.rr[0]), sizeof(pvt_sol.rr));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.qr[0]), sizeof(pvt_sol.qr));
// GEO user position Latitude [deg]
tmp_double = this->get_latitude();
tmp_double = get_latitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Longitude [deg]
tmp_double = this->get_longitude();
tmp_double = get_longitude();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Height [m]
tmp_double = this->get_height();
tmp_double = get_height();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// NUMBER OF VALID SATS
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ns), sizeof(uint8_t));
// RTKLIB solution status
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
//AR ratio factor for validation
tmp_double = pvt_sol.ratio;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
//AR ratio threshold for validation
tmp_double = pvt_sol.thres;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
//GDOP//PDOP//HDOP//VDOP
d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(dop_));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
LOG(WARNING) << "Exception writing RTKLIB dump file " << e.what();
}
}
}