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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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Carles Fernandez 2018-05-26 00:24:13 +02:00
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26
AUTHORS
View File

@ -1,7 +1,7 @@
GNSS-SDR Authorship
------------------------------------------------------------------------------
The GNSS-SDR project is hosted and sponsored by the Centre Tecnologic de
The GNSS-SDR project is hosted and sponsored by the Centre Tecnològic de
Telecomunicacions de Catalunya (CTTC), a non-profit research foundation located
in Castelldefels (40.396764 N, 3.713379 E), 20 km south of Barcelona, Spain.
GNSS-SDR is the by-product of GNSS research conducted at the Communications
@ -33,24 +33,24 @@ Contact Information
List of authors
------------------------------------------------------------------------------
Carles Fernandez-Prades carles.fernandez@cttc.cat Project manager
Carles Fernández-Prades carles.fernandez@cttc.cat Project manager
Javier Arribas javier.arribas@cttc.es Developer
Luis Esteve Elfau luis@epsilon-formacion.com Developer
Antonio Ramos antonio.ramos@cttc.es Developer
Antonio Ramos antonio.ramosdet@gmail.com Developer
Marc Majoral marc.majoral@cttc.cat Developer
Jordi Vilà-Valls jordi.vila@cttc.cat Consultant
Pau Closas pau.closas@northeastern.edu Consultant
Jordi Vila-Valls jordi.vila@cttc.cat Consultant
Carlos Aviles carlos.avilesr@googlemail.com Contributor
Andres Cecilia Luque a.cecilia.luque@gmail.com Contributor
Anthony Arnold anthony.arnold@uqconnect.edu.au Contributor
Carlos Avilés carlos.avilesr@googlemail.com Contributor
Cillian O'Driscoll cillian.odriscoll@gmail.com Contributor
Damian Miralles dmiralles2009@gmail.com Contributor
Daniel Fehr daniel.co@bluewin.ch Contributor
David Pubill david.pubill@cttc.cat Contributor
Fran Fabra fabra@ice.csic.es Contributor
Gabriel Araujo gabriel.araujo.5000@gmail.com Contributor
Leonardo Tonetto tonetto.dev@gmail.com Contributor
Mara Branzanti mara.branzanti@gmail.com Contributor
Marc Molina marc.molina.pena@gmail.com Contributor
Daniel Fehr daniel.co@bluewin.ch Contributor
Marc Sales marcsales92@gmail.com Contributor
Damian Miralles dmiralles2009@gmail.com Contributor
Andres Cecilia Luque a.cecilia.luque@gmail.com Contributor
Leonardo Tonetto tonetto.dev@gmail.com Contributor
Anthony Arnold anthony.arnold@uqconnect.edu.au Contributor
Fran Fabra fabra@ice.csic.es Contributor
Cillian O'Driscoll cillian.odriscoll@gmail.com Contributor
Gabriel Araujo gabriel.araujo.5000@gmail.com Contributor
Carlos Paniego carpanie@hotmail.com Artwork

5
MANIFEST.md
View File

@ -5,17 +5,18 @@ tags:
- gnss
- gps
- Galileo
- Glonass
author:
- Carles Fernandez-Prades <carles.fernandez@cttc.es>
- Javier Arribas <javier.arribas@cttc.es>
- et altri (see AUTHORS file for a list of contributors)
copyright_owner:
- The Authors
dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls
dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls, matio
license: GPLv3+
repo: https://github.com/gnss-sdr/gnss-sdr
website: https://gnss-sdr.org
icon: https://a.fsdn.com/con/app/proj/gnss-sdr/screenshots/logo400x400.jpg
icon: https://raw.githubusercontent.com/gnss-sdr/gnss-sdr/master/docs/doxygen/images/gnss-sdr_logo.png
---
Global Navigation Satellite Systems receiver defined by software. It performs all the signal
processing from raw signal samples up to the computation of the Position-Velocity-Time solution,

26
docs/doxygen/Doxyfile.in
View File

@ -21,7 +21,7 @@
# that follow. The default is UTF-8 which is also the encoding used for all
# text before the first occurrence of this tag. Doxygen uses libiconv (or the
# iconv built into libc) for the transcoding. See
# http://www.gnu.org/software/libiconv for the list of possible encodings.
# https://www.gnu.org/software/libiconv for the list of possible encodings.
DOXYFILE_ENCODING = UTF-8
@ -551,7 +551,7 @@ LAYOUT_FILE =
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. See also \cite for info how to create references.
@ -623,7 +623,7 @@ INPUT = @top_srcdir@/src @top_srcdir@/docs/doxygen/other
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
# also the default input encoding. Doxygen uses libiconv (or the iconv built
# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
# into libc) for the transcoding. See https://www.gnu.org/software/libiconv for
# the list of possible encodings.
INPUT_ENCODING = UTF-8
@ -796,7 +796,7 @@ SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code
# will point to the HTML generated by the htags(1) tool instead of doxygen
# built-in source browser. The htags tool is part of GNU's global source
# tagging system (see http://www.gnu.org/software/global/global.html). You
# tagging system (see https://www.gnu.org/software/global/global.html). You
# will need version 4.8.6 or higher.
USE_HTAGS = NO
@ -875,7 +875,7 @@ HTML_STYLESHEET =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
# Doxygen will adjust the colors in the stylesheet and background images
# according to this color. Hue is specified as an angle on a colorwheel,
# see http://en.wikipedia.org/wiki/Hue for more information.
# see https://en.wikipedia.org/wiki/Hue for more information.
# For instance the value 0 represents red, 60 is yellow, 120 is green,
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
# The allowed range is 0 to 359.
@ -925,8 +925,6 @@ HTML_DYNAMIC_SECTIONS = NO
# directory and running "make install" will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
# it at startup.
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
GENERATE_DOCSET = NO
@ -1123,7 +1121,7 @@ FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
# (see http://www.mathjax.org) which uses client side Javascript for the
# (see https://www.mathjax.org) which uses client side Javascript for the
# rendering instead of using prerendered bitmaps. Use this if you do not
# have LaTeX installed or if you want to formulas look prettier in the HTML
# output. When enabled you also need to install MathJax separately and
@ -1133,7 +1131,7 @@ USE_MATHJAX = @GNSSSDR_USE_MATHJAX@
# When MathJax is enabled you can set the default output format to be used for
# the MathJax output. See the MathJax site (see:
# http://docs.mathjax.org/en/latest/output.html) for more details.
# https://docs.mathjax.org/en/latest/output.html) for more details.
# Possible values are: HTML-CSS (which is slower, but has the best
# compatibility), NativeMML (i.e. MathML) and SVG.
# The default value is: HTML-CSS.
@ -1149,7 +1147,7 @@ MATHJAX_FORMAT = HTML-CSS
# MathJax, but it is strongly recommended to install a local copy of MathJax
# before deployment.
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
MATHJAX_RELPATH = https://cdnjs.com/libraries/mathjax/
# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
# extension names that should be enabled during MathJax rendering. For example
@ -1160,7 +1158,7 @@ MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
# (see: https://docs.mathjax.org/en/latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
@ -1194,7 +1192,7 @@ SERVER_BASED_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
# Xapian (see: https://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
@ -1207,7 +1205,7 @@ EXTERNAL_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Xapian (see: https://xapian.org/). See the section "External Indexing and
# Searching" for details.
# This tag requires that the tag SEARCHENGINE is set to YES.
@ -1358,7 +1356,7 @@ LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.

39
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/Doxyfile.in
View File

@ -20,7 +20,7 @@
# This tag specifies the encoding used for all characters in the config file
# that follow. The default is UTF-8 which is also the encoding used for all text
# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
# built into libc) for the transcoding. See https://www.gnu.org/software/libiconv
# for the list of possible encodings.
# The default value is: UTF-8.
@ -287,7 +287,7 @@ EXTENSION_MAPPING =
# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
# according to the Markdown format, which allows for more readable
# documentation. See http://daringfireball.net/projects/markdown/ for details.
# documentation. See https://daringfireball.net/projects/markdown/ for details.
# The output of markdown processing is further processed by doxygen, so you can
# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
# case of backward compatibilities issues.
@ -320,7 +320,7 @@ BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# https://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# will parse them like normal C++ but will assume all classes use public instead
# of private inheritance when no explicit protection keyword is present.
# The default value is: NO.
@ -679,7 +679,7 @@ LAYOUT_FILE = @PROJECT_SOURCE_DIR@/DoxygenLayout.xml
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. Do not use file names with spaces, bibtex cannot handle them. See
@ -761,7 +761,7 @@ INPUT = @PROJECT_SOURCE_DIR@
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
# documentation (see: http://www.gnu.org/software/libiconv) for the list of
# documentation (see: https://www.gnu.org/software/libiconv) for the list of
# possible encodings.
# The default value is: UTF-8.
@ -994,7 +994,7 @@ SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code will
# point to the HTML generated by the htags(1) tool instead of doxygen built-in
# source browser. The htags tool is part of GNU's global source tagging system
# (see http://www.gnu.org/software/global/global.html). You will need version
# (see https://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
@ -1137,7 +1137,7 @@ HTML_EXTRA_FILES =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the stylesheet and background images according to
# this color. Hue is specified as an angle on a colorwheel, see
# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
# purple, and 360 is red again.
# Minimum value: 0, maximum value: 359, default value: 220.
@ -1195,13 +1195,12 @@ HTML_INDEX_NUM_ENTRIES = 100
# If the GENERATE_DOCSET tag is set to YES, additional index files will be
# generated that can be used as input for Apple's Xcode 3 integrated development
# environment (see: http://developer.apple.com/tools/xcode/), introduced with
# environment (see: https://developer.apple.com/xcode/), introduced with
# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
# Makefile in the HTML output directory. Running make will produce the docset in
# that directory and running make install will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
# startup.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
@ -1240,7 +1239,7 @@ DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on
# Windows.
#
# The HTML Help Workshop contains a compiler that can convert all HTML output
@ -1453,7 +1452,7 @@ FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
# http://www.mathjax.org) which uses client side Javascript for the rendering
# https://www.mathjax.org) which uses client side Javascript for the rendering
# instead of using prerendered bitmaps. Use this if you do not have LaTeX
# installed or if you want to formulas look prettier in the HTML output. When
# enabled you may also need to install MathJax separately and configure the path
@ -1465,7 +1464,7 @@ USE_MATHJAX = NO
# When MathJax is enabled you can set the default output format to be used for
# the MathJax output. See the MathJax site (see:
# http://docs.mathjax.org/en/latest/output.html) for more details.
# https://docs.mathjax.org/en/latest/output.html) for more details.
# Possible values are: HTML-CSS (which is slower, but has the best
# compatibility), NativeMML (i.e. MathML) and SVG.
# The default value is: HTML-CSS.
@ -1480,11 +1479,11 @@ MATHJAX_FORMAT = HTML-CSS
# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
# Content Delivery Network so you can quickly see the result without installing
# MathJax. However, it is strongly recommended to install a local copy of
# MathJax from http://www.mathjax.org before deployment.
# The default value is: http://cdn.mathjax.org/mathjax/latest.
# MathJax from https://www.mathjax.org before deployment.
# The default value is: https://cdnjs.com/libraries/mathjax/.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
MATHJAX_RELPATH = https://cdnjs.com/libraries/mathjax/
# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
# extension names that should be enabled during MathJax rendering. For example
@ -1495,7 +1494,7 @@ MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
# (see: https://docs.mathjax.org/en/latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
@ -1542,7 +1541,7 @@ SERVER_BASED_SEARCH = NO
#
# Doxygen ships with an example indexer ( doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
# Xapian (see: https://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
@ -1555,7 +1554,7 @@ EXTERNAL_SEARCH = NO
#
# Doxygen ships with an example indexer ( doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Xapian (see: https://xapian.org/). See the section "External Indexing and
# Searching" for details.
# This tag requires that the tag SEARCHENGINE is set to YES.
@ -1726,7 +1725,7 @@ LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.

3
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/README
View File

@ -76,8 +76,7 @@ This will put the code for the new kernel into
Other kernels must be added by hand. See the following webpages for
more information about creating VOLK kernels:
http://gnuradio.org/doc/doxygen/volk_gnsssdr_guide.html
http://gnuradio.org/redmine/projects/gnuradio/wiki/Volk
https://www.gnuradio.org/doc/doxygen/volk_guide.html
======================================================================

22
src/algorithms/signal_source/adapters/CMakeLists.txt
View File

@ -22,30 +22,10 @@ list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
# Optional drivers
if(ENABLE_RAW_UDP)
# - Try to find libpcap include dirs and libraries
#
# Usage of this module as follows:
#
# find_package(PCAP)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
#
# PCAP_ROOT_DIR Set this variable to the root installation of
# libpcap if the module has problems finding the
# proper installation path.
#
# Variables defined by this module:
#
# PCAP_FOUND System has libpcap, include and library dirs found
# PCAP_INCLUDE_DIR The libpcap include directories.
# PCAP_LIBRARY The libpcap library (possibly includes a thread
# library e.g. required by pf_ring's libpcap)
# HAVE_PF_RING If a found version of libpcap supports PF_RING
find_package(PCAP)
if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (ENABLE_RAW_UDP)")
endif()
endif(NOT PCAP_FOUND)
get_filename_component(PCAP_LIBRARY_DIRS ${PCAP_LIBRARY} DIRECTORY CACHE)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})

22
src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
View File

@ -18,30 +18,10 @@
if(ENABLE_RAW_UDP)
# - Try to find libpcap include dirs and libraries
#
# Usage of this module as follows:
#
# find_package(PCAP)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
#
# PCAP_ROOT_DIR Set this variable to the root installation of
# libpcap if the module has problems finding the
# proper installation path.
#
# Variables defined by this module:
#
# PCAP_FOUND System has libpcap, include and library dirs found
# PCAP_INCLUDE_DIR The libpcap include directories.
# PCAP_LIBRARY The libpcap library (possibly includes a thread
# library e.g. required by pf_ring's libpcap)
# HAVE_PF_RING If a found version of libpcap supports PF_RING
find_package(PCAP)
if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (ENABLE_RAW_UDP)")
endif()
endif(NOT PCAP_FOUND)
get_filename_component(PCAP_LIBRARY_DIRS ${PCAP_LIBRARY} DIRECTORY CACHE)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})

19
src/main/CMakeLists.txt
View File

@ -16,13 +16,11 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
set(GNSS_SDR_OPTIONAL_LIBS "")
set(GNSS_SDR_OPTIONAL_HEADERS "")
if(ENABLE_GPERFTOOLS)
if(GPERFTOOLS_FOUND)
#set(GNSS_SDR_OPTIONAL_LIBS "${GNSS_SDR_OPTIONAL_LIBS};${GPERFTOOLS_LIBRARIES}")
set(GNSS_SDR_OPTIONAL_LIBS "${GNSS_SDR_OPTIONAL_LIBS};${GPERFTOOLS_PROFILER};${GPERFTOOLS_TCMALLOC}")
set(GNSS_SDR_OPTIONAL_HEADERS "${GNSS_SDR_OPTIONAL_HEADERS};${GPERFTOOLS_INCLUDE_DIR}")
endif(GPERFTOOLS_FOUND)
@ -48,7 +46,6 @@ if(ORC_FOUND)
set(GNSS_SDR_OPTIONAL_HEADERS ${GNSS_SDR_OPTIONAL_HEADERS} ${ORC_INCLUDE_DIRS})
endif(ORC_FOUND)
include_directories(
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
@ -76,13 +73,11 @@ if(OS_IS_MACOSX)
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif(OS_IS_MACOSX)
add_executable(gnss-sdr ${CMAKE_CURRENT_SOURCE_DIR}/main.cc)
add_custom_command(TARGET gnss-sdr POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:gnss-sdr>
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:gnss-sdr>
)
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:gnss-sdr> )
target_link_libraries(gnss-sdr ${MAC_LIBRARIES}
${Boost_LIBRARIES}
@ -97,18 +92,14 @@ target_link_libraries(gnss-sdr ${MAC_LIBRARIES}
${GNSS_SDR_OPTIONAL_LIBS}
gnss_sp_libs
gnss_sdr_flags
gnss_rx
)
gnss_rx )
install(TARGETS gnss-sdr
RUNTIME DESTINATION bin
COMPONENT "gnss-sdr"
)
COMPONENT "gnss-sdr" )
install(DIRECTORY ${CMAKE_SOURCE_DIR}/conf DESTINATION share/gnss-sdr
FILES_MATCHING PATTERN "*.conf"
)
FILES_MATCHING PATTERN "*.conf" )
install(FILES ${CMAKE_SOURCE_DIR}/conf/gnss-sdr.conf DESTINATION share/gnss-sdr/conf
RENAME default.conf)
@ -118,7 +109,6 @@ if(NOT VOLK_GNSSSDR_FOUND)
install(PROGRAMS ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/build/apps/volk_gnsssdr-config-info DESTINATION bin COMPONENT "volk_gnsssdr")
endif(NOT VOLK_GNSSSDR_FOUND)
find_program(GZIP
gzip
/bin
@ -127,6 +117,7 @@ find_program(GZIP
/opt/local/bin
/sbin
)
if(NOT GZIP_NOTFOUND)
execute_process(COMMAND gzip -9 -c ${CMAKE_SOURCE_DIR}/docs/manpage/gnss-sdr-manpage
WORKING_DIRECTORY ${CMAKE_BINARY_DIR} OUTPUT_FILE "${CMAKE_BINARY_DIR}/gnss-sdr.1.gz")

7
src/utils/front-end-cal/main.cc
View File

@ -449,7 +449,14 @@ int main(int argc, char** argv)
{
std::cout << " . ";
}
try
{
channel_internal_queue.push(3);
}
catch (const boost::exception& e)
{
LOG(INFO) << "Exception caught while pushing to he internal queue.";
}
try
{
ch_thread.join();

49
src/utils/gpstk/gnsspvt/CMakeLists.txt
View File

@ -1,49 +0,0 @@
# CMAKE for GPSTK by Javier Arribas 2012
cmake_minimum_required (VERSION 2.6)
project (gnsspvt_project)
include_directories(${gnsspvt_project_SOURCE_DIR}/src)
add_library (kml_printer_gpstk ${gnsspvt_project_SOURCE_DIR}/src/kml_printer_gpstk.cpp)
add_executable(gnsspvt ${gnsspvt_project_SOURCE_DIR}/src/gnsspvt.cpp)
target_link_libraries (gnsspvt kml_printer_gpstk)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/CMakeModules/")
find_package(GPSTK REQUIRED)
if ( NOT GPSTK_FOUND )
message(FATAL_ERROR "GPSTK library not found!")
endif( NOT GPSTK_FOUND )
find_package(GLOG REQUIRED)
if ( NOT GLOG_FOUND )
message(FATAL_ERROR "GLOG library not found!")
endif( NOT GLOG_FOUND )
include_directories(${GLOG_INCLUDE_DIRS})
# IMPORTANT NOTICE: The GPSTK linking order is critical. First it is required to link agains libprocframe to avoid vtable errors
include_directories(${GPSTK_INCLUDE_DIR}/gpstk ${GEOMATICS_INCLUDE_DIR} ${PROCFRAME_INCLUDE_DIR} ${VDRAW_INCLUDE_DIR} ${VPLOT_INCLUDE_DIR} ${RXIO_INCLUDE_DIR})
# set(LIBS ${LIBS} ${GPSTK_LIBRARIES} ${GEOMATICS_LIBRARIES} ${VDRAW_LIBRARIES} ${VPLOT_LIBRARIES} ${RXIO_LIBRARIES})
set(LIBS ${LIBS} ${PROCFRAME_LIBRARIES} ${GPSTK_LIBRARIES} ${GEOMATICS_LIBRARIES} ${GLOG_LIBRARIES})
target_link_libraries(gnsspvt ${LIBS})
message(STATUS "GPSTK_INCLUDE_DIR="${GLOG_LIBRARIES})
#message(STATUS "GPSTK_LIBRARIES=${GPSTK_LIBRARIES}")
#message(STATUS "LIBS=${LIBS}")
# debug info: print all variables
#get_cmake_property(_variableNames VARIABLES)
#foreach (_variableName ${_variableNames})
# message(STATUS "${_variableName}=${${_variableName}}")
#endforeach()
#get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
#foreach(dir ${dirs})
# message(STATUS "INCLUDE_DIRECTORIES='${dir}'")
#endforeach()

103
src/utils/gpstk/gnsspvt/CMakeModules/FindGLOG.cmake
View File

@ -1,103 +0,0 @@
# - Try to find the Google Glog library
#
# This module defines the following variables
#
# GLOG_FOUND - Was Glog found
# GLOG_INCLUDE_DIRS - the Glog include directories
# GLOG_LIBRARIES - Link to this
#
# This module accepts the following variables
#
# GLOG_ROOT - Can be set to Glog install path or Windows build path
#
#=============================================================================
# FindGlog.cmake, adapted from FindBullet.cmake which has the following
# copyright -
#-----------------------------------------------------------------------------
# Copyright 2009 Kitware, Inc.
# Copyright 2009 Philip Lowman <philip@yhbt.com>
#
# Distributed under the OSI-approved BSD License (the "License");
# see accompanying file Copyright.txt for details.
#
# This software is distributed WITHOUT ANY WARRANTY; without even the
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
# See the License for more information.
#=============================================================================
# (To distribute this file outside of CMake, substitute the full
# License text for the above reference.)
if (NOT DEFINED GLOG_ROOT)
set (GLOG_ROOT /usr /usr/local)
endif (NOT DEFINED GLOG_ROOT)
if(MSVC)
set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/Release)
else(MSVC)
set (LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
endif(MSVC)
macro(_FIND_GLOG_LIBRARIES _var)
find_library(${_var}
NAMES
${ARGN}
PATHS
${LIB_PATHS}
PATH_SUFFIXES lib
)
mark_as_advanced(${_var})
endmacro()
macro(_GLOG_APPEND_LIBRARIES _list _release)
set(_debug ${_release}_DEBUG)
if(${_debug})
set(${_list} ${${_list}} optimized ${${_release}} debug ${${_debug}})
else()
set(${_list} ${${_list}} ${${_release}})
endif()
endmacro()
if(MSVC)
find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
PATHS
${GLOG_ROOT}/src/windows
${GLOG_ROOT}/src/windows/glog
)
else(MSVC)
# Linux/OS X builds
find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
PATHS
${GLOG_ROOT}/include/glog
)
endif(MSVC)
# Find the libraries
if(MSVC)
_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.lib)
else(MSVC)
# Linux/OS X builds
_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.so)
endif(MSVC)
message("glog library = " ${GLOG_LIBRARIES})
# handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if
# all listed variables are TRUE
include("${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake")
FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
GLOG_LIBRARIES)
if(MSVC)
string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS} "${VAR_WITHOUT}")
string(REGEX REPLACE "/libglog.lib" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
else(MSVC)
# Linux/OS X builds
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
endif(MSVC)
if(GLOG_FOUND)
# _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)
endif()

87
src/utils/gpstk/gnsspvt/CMakeModules/FindGPSTK.cmake
View File

@ -1,87 +0,0 @@
# - Find gpstk library
# Find the native gpstk includes and library
# This module defines
# GPSTK_INCLUDE_DIR, where to find tiff.h, etc.
# GPSTK_LIBRARIES, libraries to link against to use GPSTK.
# GPSTK_FOUND, If false, do not try to use GPSTK.
# also defined, but not for general use are
# GPSTK_LIBRARY, where to find the GPSTK library.
FIND_PATH(GPSTK_INCLUDE_DIR gpstk/Matrix.hpp)
FIND_PATH(GEOMATICS_INCLUDE_DIR gpstk/random.hpp)
FIND_PATH(PROCFRAME_INCLUDE_DIR gpstk/SolverWMS.hpp)
FIND_PATH(VDRAW_INCLUDE_DIR gpstk/Layout.hpp)
FIND_PATH(VPLOT_INCLUDE_DIR gpstk/ScatterPlot.hpp)
FIND_PATH(RXIO_INCLUDE_DIR gpstk/EphReader.hpp)
SET(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
FIND_LIBRARY(GPSTK_LIBRARY NAMES ${GPSTK_NAMES} )
SET(GEOMATICS_NAMES ${GEOMATICS_NAMES} geomatics libgeomatics)
FIND_LIBRARY(GEOMATICS_LIBRARY NAMES ${GEOMATICS_NAMES} )
SET(PROCFRAME_NAMES ${PROCFRAME_NAMES} procframe libprocframe)
FIND_LIBRARY(PROCFRAME_LIBRARY NAMES ${PROCFRAME_NAMES} )
SET(VDRAW_NAMES ${VDRAW_NAMES} vdraw libvdraw)
FIND_LIBRARY(VDRAW_LIBRARY NAMES ${VDRAW_NAMES} )
SET(VPLOT_NAMES ${VPLOT_NAMES} vplot libvplot)
FIND_LIBRARY(VPLOT_LIBRARY NAMES ${VPLOT_NAMES} )
SET(RXIO_NAMES ${RXIO_NAMES} rxio librxio)
FIND_LIBRARY(RXIO_LIBRARY NAMES ${RXIO_NAMES} )
# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GEOMATICS DEFAULT_MSG GEOMATICS_LIBRARY GEOMATICS_INCLUDE_DIR)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(PROCFRAME DEFAULT_MSG PROCFRAME_LIBRARY PROCFRAME_INCLUDE_DIR)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(VDRAW DEFAULT_MSG VDRAW_LIBRARY VDRAW_INCLUDE_DIR)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(VPLOT DEFAULT_MSG VPLOT_LIBRARY VPLOT_INCLUDE_DIR)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(RXIO DEFAULT_MSG RXIO_LIBRARY RXIO_INCLUDE_DIR)
IF(GPSTK_FOUND)
SET( GPSTK_LIBRARIES ${GPSTK_LIBRARY} )
ENDIF(GPSTK_FOUND)
IF(GEOMATICS_FOUND)
SET( GEOMATICS_LIBRARIES ${GEOMATICS_LIBRARY} )
ENDIF(GEOMATICS_FOUND)
IF(PROCFRAME_FOUND)
SET( PROCFRAME_LIBRARIES ${PROCFRAME_LIBRARY} )
ENDIF(PROCFRAME_FOUND)
IF(VDRAW_FOUND)
SET( VDRAW_LIBRARIES ${VDRAW_LIBRARY} )
ENDIF(VDRAW_FOUND)
IF(VPLOT_FOUND)
SET( VPLOT_LIBRARIES ${VPLOT_LIBRARY} )
ENDIF(VPLOT_FOUND)
IF(RXIO_FOUND)
SET( RXIO_LIBRARIES ${RXIO_LIBRARY} )
ENDIF(RXIO_FOUND)
MARK_AS_ADVANCED(GPSTK_INCLUDE_DIR GPSTK_LIBRARY)
MARK_AS_ADVANCED(GEOMATICS_INCLUDE_DIR GEOMATICS_LIBRARY)
MARK_AS_ADVANCED(PROCFRAME_INCLUDE_DIR PROCFRAME_LIBRARY)
MARK_AS_ADVANCED(VDRAW_INCLUDE_DIR VDRAW_LIBRARY)
MARK_AS_ADVANCED(VPLOT_INCLUDE_DIR VPLOT_LIBRARY)
MARK_AS_ADVANCED(RXIO_INCLUDE_DIR RXIO_LIBRARY)

62
src/utils/gpstk/gnsspvt/README
View File

@ -1,62 +0,0 @@
ABOUT GNSSPVT
----------------------
This program uses the high level GpsTk classes to implement a simple PVT solver
that uses RINEX files as an input.
The output is written both in the console and in a Google Earth KML file.
HOW TO BUILD GNSSPVT
----------------------
Installation in Ubuntu 11.04, 11.10, 12.04 (32 and 64 bits)
-----------------------------------------------------------
- Install CMake through your OS's package manager or by some other means.
- Install GpsTk:
The following procedure will build and install the GPSTk.
Ensure that prerequisites such as jam have been installed.
Download the GPSTk source distribution from http://www.gpstk.org/bin/view/Documentation/GPSTkDownloads
Extract the GPSTk tarball. For example, using GNU tar
tar xvzf gpstk.tar.gz
Change into the gpstk/dev directory (if using Subversion) or the gpstk/ directory (if using the tarball)and type
jam
To build the source documentation using doxygen:
doxygen
To install GPSTk as a system library in /usr/local, assume root privileges then execute
jam install
To install to a different directory, define the environment variable PREFIX to point to the root of the installation
- Download, unzip, configure, build and install glog, a Google's library that implements application-level logging:
$ wget http://google-glog.googlecode.com/files/glog-0.3.2.tar.gz
$ tar xvfz glog-0.3.2.tar.gz
$ cd glog-0.3.2
$ ./configure
$ make
$ sudo make install
- Go to GNSSPVT root directory and compile the gnsspvt:
$ cd gnss-sdr/src/utils/gpstk/gnsspvt/
$ mkdir build
$ cd build
$ cmake ../
$ make
If everything goes well, the executable file is available in the build directory.
USAGE
----------------------
./gnsspvt -i path_to_rinex_observable_file -n path_to_rinex_navigation_file -k path_to_kml_output_file

593
src/utils/gpstk/gnsspvt/src/gnsspvt.cpp
View File

@ -1,593 +0,0 @@
/*!
* \file gnsspvt.cpp
* \brief Adapted version of high level gpstk PVT solver to read RINEX files,
* compute the position, velocity and time solution, and write Google Earth KML output file.
* The input Observables and Navigation files can be RINEX 2.10 or RINEX 3.00.
* It is a modified version of the example5.cpp code provided in gpstk source code.
*
* \author Javier Arribas, 2012. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
// Modified Example program Nro 5 for GPSTk
// This program shows how to use some high-level GPSTk classes
// Basic input/output C++ class
#include <iostream>
// Classes for handling observations RINEX files (data)
#include "gpstk/Rinex3ObsData.hpp"
#include "gpstk/Rinex3ObsStream.hpp"
// Class to easily extract data from Rinex3ObsData objects
#include "gpstk/ExtractData.hpp"
// Classes for handling satellite navigation parameters RINEX files
// (Broadcast ephemerides)
#include "gpstk/Rinex3NavHeader.hpp"
#include "gpstk/Rinex3NavData.hpp"
#include "gpstk/Rinex3NavStream.hpp"
// Class to store satellite broadcast navigation data
#include "gpstk/GPSEphemerisStore.hpp"
// Class to model GPS data for a mobile receiver
#include "gpstk/ModeledPR.hpp"
#include "gpstk/GNSSconstants.hpp"
#include "gpstk/CommonTime.hpp"
#include "gpstk/SatID.hpp"
#include "gpstk/Matrix.hpp"
#include "gpstk/XvtStore.hpp"
#include "gpstk/TropModel.hpp"
// Class to model the tropospheric delays
#include "gpstk/TropModel.hpp"
// Classes to model ans store ionospheric delays
#include "gpstk/IonoModel.hpp"
#include "gpstk/IonoModelStore.hpp"
// Class to solve the equations system using a Weighted Least Mean Square method
#include "gpstk/SolverWMS.hpp"
// Class to compute the weights to be used for each satellite
#include "gpstk/MOPSWeight.hpp"
// Basic framework for programs in the GPSTk. The 'process()' method MUST
// be implemented
#include "gpstk/BasicFramework.hpp"
#include "gpstk/geometry.hpp" // DEG_TO_RAD
// Time-class year-day-second
#include "gpstk/YDSTime.hpp"
#include "kml_printer_gpstk.h"
using namespace std;
using namespace gpstk;
// A new class is declared that will handle program behaviour
// This class inherits from BasicFramework
class gpstk_solver : public BasicFramework
{
public:
// Constructor declaration
gpstk_solver(char* arg0);
~gpstk_solver();
protected:
// Method that will take care of processing
virtual void process();
// Method that hold code to be run BEFORE processing
virtual void spinUp();
virtual int Prepare( const CommonTime& Tr,
std::vector<SatID>& Satellite,
std::vector<double>& Pseudorange,
const XvtStore<SatID>& Eph );
virtual int Prepare2( const CommonTime& Tr,
const Vector<SatID>& Satellite,
const Vector<double>& Pseudorange,
const XvtStore<SatID>& Eph );
private:
// These field represent options at command line interface (CLI)
CommandOptionWithArg dataFile;
CommandOptionWithArg navFile;
CommandOptionWithArg kmlFile;
Kml_Printer_gpstk kml_printer;
// If you want to share objects and variables among methods, you'd
// better declare them here
Rinex3ObsStream rObsFile; // Object to read Rinex observation data files
Rinex3ObsData rData; // Object to store Rinex observation data
Rinex3NavStream rNavFile; // Object to read Rinex navigation data files
Rinex3NavData rNavData; // Object to store Rinex navigation data
Rinex3NavHeader rNavHeader; // Object to read the header of Rinex
// navigation data files
IonoModelStore ionoStore; // Object to store ionospheric models
GPSEphemerisStore bceStore; // Object to store ephemeris
ModeledPR modelPR; // Declare a ModeledReferencePR object
MOPSTropModel mopsTM; // Declare a MOPSTropModel object
ExtractData obsC1; // Declare an ExtractData object
int indexC1; // Index to "C1" observation
bool useFormerPos; // Flag indicating if we have an a priori
// position
Position formerPosition; // Object to store the former position
IonoModel ioModel; // Declare a Ionospheric Model object
SolverWMS solver; // Declare an object to apply WMS method
MOPSWeight mopsWeights; // Object to compute satellites' weights
};
// Let's implement constructor details
gpstk_solver::gpstk_solver(char* arg0)
: BasicFramework(arg0, "\nProgram to print the position solution in ECEF "
"and longitude, latitude, height, based in C1 and "
"given a RINEX observations file and a RINEX "
"broadcast navigation file.\n\n"
"The output is: \n"
" Time(sec) X(m) Y(m) Z(m) Lon(deg) "
" Lat(deg) Height(m)\n"),
// Option initialization. "true" means a mandatory option
dataFile(CommandOption::stdType, 'i', "datainput",
" [-i|--datainput] Name of RINEX observations file.", true),
navFile(CommandOption::stdType, 'n', "navinput",
" [-n|--navinput] Name of RINEX broadcast navigation file.", true),
kmlFile(CommandOption::stdType, 'k', "kmloutput",
" [-n|--navinput] Name of KML output file.", true)
{
// These options may appear just once at CLI
dataFile.setMaxCount(1);
navFile.setMaxCount(1);
kmlFile.setMaxCount(1);
} // End of constructor details
/* Method to set an a priori position of receiver using
* Bancroft's method.
*
* @param Tr Time of observation
* @param Satellite std::vector of satellites in view
* @param Pseudorange std::vector of pseudoranges measured from
* rover station to satellites
* @param Eph Satellites Ephemeris
*
* @return
* 0 if OK
* -1 if problems arose
*/
int gpstk_solver::Prepare( const CommonTime& Tr,
std::vector<SatID>& Satellite,
std::vector<double>& Pseudorange,
const XvtStore<SatID>& Eph )
{
Matrix<double> SVP;
Bancroft Ban;
Vector<double> vPos;
PRSolution2 raimObj;
try
{
cerr << "Tr=" <<Tr<<std::endl;
for (std::vector<SatID>::iterator it = Satellite.begin() ; it != Satellite.end(); ++it)
{
cerr << "SatID=" << *it<<endl;
cerr << "EphemerisStore Sat XYZ= " << bceStore.getXvt(*it,rData.time).x<<std::endl;
}
for (std::vector<double>::iterator it = Pseudorange.begin() ; it != Pseudorange.end(); ++it)
{
cerr << "PseudoRanges=" << *it<<endl;
}
//cerr << "Eph=" << Eph <<std::endl;
//cerr << "SVP=" << SVP <<std::endl;
raimObj.PrepareAutonomousSolution( Tr,
Satellite,
Pseudorange,
Eph,
SVP );
if( Ban.Compute(SVP, vPos) < 0 )
{
cerr << "Error 1" <<std::endl;
cerr << "SVP="<<SVP<<std::endl;
cerr << "vPos=" << vPos <<std::endl;
return -1;
}
}
catch(Exception &error)
{
cerr << "Excepción 1: "<<error;
return -1;
}
cerr << "OK prepare"<<endl;
return 1;
} // End of method 'ModeledPR::Prepare()'
/* Method to set an a priori position of receiver using
* Bancroft's method.
*
* @param Tr Time of observation
* @param Satellite Vector of satellites in view
* @param Pseudorange Pseudoranges measured from rover station to
* satellites
* @param Eph Satellites Ephemeris
*
* @return
* 0 if OK
* -1 if problems arose
*/
int gpstk_solver::Prepare2( const CommonTime& Tr,
const Vector<SatID>& Satellite,
const Vector<double>& Pseudorange,
const XvtStore<SatID>& Eph )
{
int i;
std::vector<SatID> vSat;
std::vector<double> vPR;
// Convert from gpstk::Vector to std::vector
for (i = 0; i < (int)Satellite.size(); i++)
{
vSat.push_back(Satellite[i]);
}
for (i = 0; i < (int)Pseudorange.size(); i++)
{
vPR.push_back(Pseudorange[i]);
}
return Prepare(Tr, vSat, vPR, Eph);
} // End of method 'ModeledPR::Prepare()'
// Method that will be executed AFTER initialization but BEFORE processing
void gpstk_solver::spinUp()
{
//open KML output file
if (kml_printer.set_headers(kmlFile.getValue()[0].c_str())!=true)
{
cerr << "Problem creating the kml file "<<kmlFile.getValue()[0].c_str();
exit (-1);
}
// From now on, some parts may look similar to 'example3.cpp' and
// 'example4.cpp'
// Activate failbit to enable exceptions
rObsFile.exceptions(ios::failbit);
// First, data RINEX reading object
try
{
rObsFile.open(dataFile.getValue()[0].c_str(), std::ios::in);
}
catch(...)
{
cerr << "Problem opening file " << dataFile.getValue()[0].c_str()
<< endl;
cerr << "Maybe it doesn't exist or you don't have proper read "
<< "permissions." << endl;
exit (-1);
}
// We need to read the header of the observations file
Rinex3ObsHeader roh;
rObsFile >> roh;
// We need the index pointing to C1-type observations
try
{
indexC1 = roh.getObsIndex( "C1" );
}
catch(...)
{
cerr << "The observation file doesn't have C1 pseudoranges." << endl;
exit(1);
}
// Activate failbit to enable exceptions
rNavFile.exceptions(ios::failbit);
// Read nav file and store unique list of ephemerides
try
{
rNavFile.open(navFile.getValue()[0].c_str(), std::ios::in);
}
catch(...)
{
cerr << "Problem opening file " << navFile.getValue()[0].c_str() << endl;
cerr << "Maybe it doesn't exist or you don't have proper read "
<< "permissions." << endl;
exit (-1);
}
// We will need to read ionospheric parameters (Klobuchar model) from
// the file header
rNavFile >> rNavHeader;
// Let's feed the ionospheric model (Klobuchar type) from data in the
// navigation (ephemeris) file header. First, we must check if there are
// valid ionospheric correction parameters in the header
if(rNavHeader.valid & Rinex3NavHeader::validIonoCorrGPS)
{
// Extract the Alpha and Beta parameters from the header
double* ionAlpha = rNavHeader.mapIonoCorr["GPSA"].param;
double* ionBeta = rNavHeader.mapIonoCorr["GPSB"].param;
// Feed the ionospheric model with the parameters
ioModel.setModel(ionAlpha, ionBeta);
}
else
{
cerr << "WARNING: Navigation file " << navFile.getValue()[0].c_str()
<< " doesn't have valid ionospheric correction parameters." << endl;
}
// WARNING-WARNING-WARNING: In this case, the same model will be used
// for the full data span
ionoStore.addIonoModel(CommonTime::BEGINNING_OF_TIME, ioModel);
// Storing the ephemeris in "bceStore"
while (rNavFile >> rNavData)
{
bceStore.addEphemeris(rNavData);
rNavData.dump(cerr);
cerr<<endl;
}
// Setting the criteria for looking up ephemeris
bceStore.SearchPast(); // This is the default
// This is set to true if the former computed positon will be used as
// a priori position
useFormerPos = false; // At first, we don't have an a priori position
// Prepare for printing later on
cout << fixed << setprecision(8);
} // End of gpstk_solver::spinUp()
// Method that will really process information
void gpstk_solver::process()
{
// Let's read the observations RINEX, epoch by epoch
while( rObsFile >> rData )
{
// Begin usable data with enough number of satellites
if( (rData.epochFlag == 0 || rData.epochFlag == 1) &&
(rData.numSVs > 3) )
{
// Number of satellites with valid data in this epoch
int validSats = 0;
int prepareResult;
double rxAltitude; // Receiver altitude for tropospheric model
double rxLatitude; // Receiver latitude for tropospheric model
// We need to extract C1 data from this epoch. Skip epoch if not
// enough data (4 SV at least) is available
if( obsC1.getData(rData, indexC1) < 4 )
{
// The former position will not be valid next time
useFormerPos = false;
continue;
}
// If possible, use former position as a priori
if( useFormerPos )
{
prepareResult = modelPR.Prepare(formerPosition);
// We need to seed this kind of tropospheric model with
// receiver altitude
rxAltitude = formerPosition.getAltitude();
rxLatitude = formerPosition.getGeodeticLatitude();
}
else
{
// Use Bancroft method is no a priori position is available
cerr << "Bancroft method was used at epoch "
<< static_cast<YDSTime>(rData.time).sod << endl;
Prepare2( rData.time,obsC1.availableSV,obsC1.obsData,bceStore );
prepareResult = modelPR.Prepare( rData.time,
obsC1.availableSV,
obsC1.obsData,
bceStore );
// We need to seed this kind of tropospheric model with
// receiver altitude
rxAltitude = modelPR.rxPos.getAltitude();
rxLatitude = modelPR.rxPos.getGeodeticLatitude();
}
// If there were problems with Prepare(), skip this epoch
if( prepareResult )
{
// The former position will not be valid next time
useFormerPos = false;
continue;
}
// If there were no problems, let's feed the tropospheric model
mopsTM.setReceiverHeight(rxAltitude);
mopsTM.setReceiverLatitude(rxLatitude);
mopsTM.setDayOfYear(static_cast<YDSTime>(rData.time).doy);
// Now, let's compute the GPS model for our observable (C1)
validSats = modelPR.Compute( rData.time,
obsC1.availableSV,
obsC1.obsData,
bceStore,
&mopsTM,
&ionoStore );
// Only get into further computations if there are enough
// satellites
if( validSats >= 4 )
{
// Now let's solve the navigation equations using the WMS method
try
{
// First, compute the satellites' weights
int goodSv = mopsWeights.getWeights( rData.time,
modelPR.availableSV,
bceStore,
modelPR.ionoCorrections,
modelPR.elevationSV,
modelPR.azimuthSV,
modelPR.rxPos );
// Some minimum checking is in order
if ( goodSv != (int)modelPR.prefitResiduals.size() ) continue;
// Then, solve the system
solver.Compute( modelPR.prefitResiduals,
modelPR.geoMatrix,
mopsWeights.weightsVector );
}
catch( InvalidSolver& e )
{
cerr << "Couldn't solve equations system at epoch "
<< static_cast<YDSTime>(rData.time).sod << endl;
cerr << e << endl;
// The former position will not be valid next time
useFormerPos = false;
continue;
}
// With "solver", we got the difference vector between the
// a priori position and the computed, 'real' position. Then,
// let's convert the solution to a Position object
Position solPos( (modelPR.rxPos.X() + solver.solution[0]),
(modelPR.rxPos.Y() + solver.solution[1]),
(modelPR.rxPos.Z() + solver.solution[2]) );
// Print results
cout << static_cast<YDSTime>(rData.time).sod
<< " "; // Output field #1
cout << "X="<<solPos.X() << "; "; // Output field #2
cout << "Y="<<solPos.Y() << "; "; // Output field #3
cout << "Z="<<solPos.Z() << "; "; // Output field #4
cout << solPos.longitude() << " "; // Output field #5
cout << solPos.geodeticLatitude() << " "; // Output field #6
cout << solPos.height() << " "; // Output field #7
cout << endl;
cout << "Geocentric Latitude="<< solPos.geocentricLatitude() << " "; // Output field #5
cout << endl;
// write KML PVT line
kml_printer.print_position(solPos);
formerPosition = solPos;
// Next time, former position will be used as a priori
useFormerPos = true;
} // End of 'if( validSats >= 4 )'
else
{
// The former position will not be valid next time
useFormerPos = false;
}
} // End of 'if( (rData.epochFlag == 0 || rData.epochFlag == 1) &&...'
else
{
// The former position will not be valid next time
useFormerPos = false;
}
} // End of 'while( rObsFile >> rData )'
return;
} // End of 'gpstk_solver::process()'
gpstk_solver::~gpstk_solver()
{
kml_printer.close_file();
}
// Main function
int main(int argc, char* argv[])
{
try
{
gpstk_solver program(argv[0]);
if (!program.initialize(argc, argv))
return 0;
if (!program.run())
return 1;
return 0;
}
catch(Exception& e)
{
cout << "Problem: " << e << endl;
return 1;
}
catch(...)
{
cout << "Unknown error." << endl;
return 1;
}
return 0;
} // End of 'main()'

136
src/utils/gpstk/gnsspvt/src/kml_printer_gpstk.cpp
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@ -1,136 +0,0 @@
/*!
* \file kml_printer.cc
* \brief Implementation of a class that prints PVT information to a kml file
* for GPSTK data structures
* \author Javier Arribas, 2012. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "kml_printer_gpstk.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <time.h>
bool Kml_Printer_gpstk::set_headers(std::string filename)
{
time_t rawtime;
struct tm * timeinfo;
time ( &rawtime );
timeinfo = localtime ( &rawtime );
kml_file.open(filename.c_str());
if (kml_file.is_open())
{
DLOG(INFO) << "KML printer writing on " << filename.c_str();
// Set iostream numeric format and precision
kml_file.setf(kml_file.fixed,kml_file.floatfield);
kml_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
<< " <Document>" << std::endl
<< " <name>GNSS Track</name>" << std::endl
<< " <description>GNSS-SDR Receiver position log file created at " << asctime (timeinfo)
<< " </description>" << std::endl
<< "<Style id=\"yellowLineGreenPoly\">" << std::endl
<< " <LineStyle>" << std::endl
<< " <color>7f00ffff</color>" << std::endl
<< " <width>1</width>" << std::endl
<< " </LineStyle>" << std::endl
<< "<PolyStyle>" << std::endl
<< " <color>7f00ff00</color>" << std::endl
<< "</PolyStyle>" << std::endl
<< "</Style>" << std::endl
<< "<Placemark>" << std::endl
<< "<name>GNSS-SDR PVT</name>" << std::endl
<< "<description>GNSS-SDR position log</description>" << std::endl
<< "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
<< "<LineString>" << std::endl
<< "<extrude>0</extrude>" << std::endl
<< "<tessellate>1</tessellate>" << std::endl
<< "<altitudeMode>absolute</altitudeMode>" << std::endl
<< "<coordinates>" << std::endl;
return true;
}
else
{
return false;
}
}
bool Kml_Printer_gpstk::print_position(gpstk::Position position)
{
double latitude;
double longitude;
double height;
latitude = position.geodeticLatitude();
longitude = position.getLongitude();
if (longitude>190)
{
longitude=longitude-360;
}
height = position.getHeight();
if (kml_file.is_open())
{
kml_file << longitude << "," << latitude << "," << height << std::endl;
return true;
}
else
{
return false;
}
}
bool Kml_Printer_gpstk::close_file()
{
if (kml_file.is_open())
{
kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl
<< "</Placemark>" << std::endl
<< "</Document>" << std::endl
<< "</kml>";
kml_file.close();
return true;
}
else
{
return false;
}
}
Kml_Printer_gpstk::Kml_Printer_gpstk () {}
Kml_Printer_gpstk::~Kml_Printer_gpstk () {}

60
src/utils/gpstk/gnsspvt/src/kml_printer_gpstk.h
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@ -1,60 +0,0 @@
/*!
* \file kml_printer.h
* \brief Interface of a class that prints PVT information to a kml file
* for GPSTK data structures
* \author Javier Arribas, 2012. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_KML_PRINTER_H_
#define GNSS_SDR_KML_PRINTER_H_
#include <iostream>
#include <fstream>
#include "gpstk/Position.hpp"
/*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
*
* See http://www.opengeospatial.org/standards/kml
*/
class Kml_Printer_gpstk
{
private:
std::ofstream kml_file;
public:
bool set_headers(std::string filename);
bool print_position(gpstk::Position position);
bool close_file();
Kml_Printer_gpstk();
~Kml_Printer_gpstk();
};
#endif

2
src/utils/reproducibility/ieee-access18/README.md
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@ -4,7 +4,7 @@ Continuous Reproducibility in GNSS Signal Processing
This folder contains files required for the reproduction of the experiment proposed in:
C. Fern&aacute;ndez-Prades, J. Vil&agrave;-Valls, J. Arribas and A. Ramos, [*Continuous Reproducibility in GNSS Signal Processing*](http://ieeexplore.ieee.org/document/8331069/), IEEE Access, accepted for publication, April 2018. DOI: 10.1109/ACCESS.2018.2822835
C. Fern&aacute;ndez-Prades, J. Vil&agrave;-Valls, J. Arribas and A. Ramos, [*Continuous Reproducibility in GNSS Signal Processing*](https://ieeexplore.ieee.org/document/8331069/), IEEE Access, Vol. 6, No. 1, pp. 20451-20463, April 2018. DOI: [10.1109/ACCESS.2018.2822835](https://doi.org/10.1109/ACCESS.2018.2822835)
The data set used in this paper is available at https://zenodo.org/record/1184601