Merge branch 'glonass_dec' of https://github.com/dmiralles2009/gnss-sdr into dmiralles2009-glonass_dec

conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf

@@ -67,7 +67,7 @@ Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
 PVT.implementation=RTKLIB_PVT
-PVT.positioning_mode=PPP_Static
+PVT.positioning_mode=Single
 PVT.output_rate_ms=100
 PVT.display_rate_ms=500
 PVT.trop_model=Saastamoinen

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -91,7 +91,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glon
     rtklib_sat.age    = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
 
     // Time expressed in GPS Time but using RTKLib format
-    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);
+    glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
     adj_week = adjgpsweek(static_cast<int>(week));
     rtklib_sat.toe = gpst2time(adj_week, sec);
 

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -355,7 +355,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
     if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
+            d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW-GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
             d_nav.flag_TOW_new = false;
 
         }

src/core/system_parameters/glonass_gnav_ephemeris.cc

@@ -140,6 +140,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
 	    sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
 	    total_sec = days*86400 + sec_of_day;
 
+	    // GLONASST already includes leap second addition or deletion
 	    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
 	    {
 	        if (d_yr >= GLONASS_LEAP_SECONDS[i][0])

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -315,78 +315,6 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
     return frame_ID;
 }
 
-double Glonass_Gnav_Navigation_Message::get_WN()
-{
-    double WN = 0.0;
-    double days = 0.0;
-    double total_sec = 0.0;
-    int i = 0;
-
-    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-1);
-    glo_date = glo_date + d2;
-
-
-    boost::posix_time::time_duration t(-6, 0, 0);
-    boost::posix_time::ptime glo_time(glo_date, t);
-    boost::gregorian::date utc_date = glo_time.date();
-
-    days =  static_cast<double>((utc_date - gps_epoch).days());
-    total_sec = days*86400;
-
-    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-    {
-        if (GLONASS_LEAP_SECONDS[i][0] == gnav_ephemeris.d_yr)
-        {
-            // We add the leap second when going from utc to gpst
-            total_sec += GLONASS_LEAP_SECONDS[i][6];
-        }
-    }
-
-
-    WN = floor(total_sec/604800);
-
-    return WN;
-}
-
-
-double Glonass_Gnav_Navigation_Message::get_TOW()
-{
-    double TOD = 0.0;
-    double TOW = 0.0;
-    double dayofweek = 0.0;
-    double utcsu2utc = 3*3600;
-    double glot2utcsu = 3*3600;
-    int i = 0;
-
-    // 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 = (gnav_ephemeris.d_t_k + 10) - glot2utcsu - utcsu2utc;// + gnav_utc_model.d_tau_c + gnav_utc_model.d_tau_gps;
-
-
-    boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1);
-    boost::gregorian::days d2(gnav_ephemeris.d_N_T);
-    glo_date = glo_date + d2;
-
-    dayofweek = static_cast<double>(glo_date.day_of_week());
-    TOW = TOD + dayofweek*86400;
-
-    for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
-        {
-            if (gnav_ephemeris.d_yr >= GLONASS_LEAP_SECONDS[i][0])
-            {
-                // We add the leap second when going from utc to gpst
-                TOW += fabs(GLONASS_LEAP_SECONDS[i][6]);
-            }
-        }
-    // Compute the arithmetic modules to wrap around range
-    TOW = TOW - 604800*floor(TOW/604800);
-
-    return TOW;
-}
-
 
 int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 {
@@ -426,7 +354,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
                 {
                     gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
                     gnav_ephemeris.d_P_2 = static_cast<bool>(read_navigation_bool(string_bits, P2));
-                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * gnav_ephemeris.d_P_1 * 60;
+                    gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B)) * 15 * 60;
                     gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT)) * TWO_N20;
                     gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
                     gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
@@ -759,15 +687,6 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 }
 
 
-double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corrected) const
-{
-    double t_utc;
-
-    t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
-    return t_utc;
-}
-
-
 Glonass_Gnav_Ephemeris Glonass_Gnav_Navigation_Message::get_ephemeris()
 {
     return gnav_ephemeris;
@@ -814,9 +733,9 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
 
 bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
 {
-    if (flag_utc_model_valid == true)
+    if (flag_utc_model_str_5 == true)
         {
-            flag_utc_model_valid = false; // clear the flag
+    		flag_utc_model_str_5 = false; // clear the flag
             return true;
         }
     else

src/core/system_parameters/glonass_gnav_navigation_message.h

@@ -65,7 +65,6 @@ public:
     unsigned int d_string_ID;
     bool flag_update_slot_number;
 
-    // satellite identification info
     int i_channel_ID;
     unsigned int i_satellite_PRN;
 
@@ -102,17 +101,25 @@ public:
     bool flag_TOW_set;      //!< Flag indicating when the TOW has been set
     bool flag_TOW_new;      //!< Flag indicating when a new TOW has been computed
 
-    // Clock terms
+    double d_satClkCorr;     //!<  Satellite clock error
-    double d_satClkCorr;     // Satellite clock error
+    double d_dtr;            //!<  Relativistic clock correction term
-    double d_dtr;            // Relativistic clock correction term
+    double d_satClkDrift;    //!<  Satellite clock drift
-    double d_satClkDrift;    // Satellite clock drift
 
-    // Data update parameters
+    double d_previous_tb;	//!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
-    double d_previous_tb;
+    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];	//!< Previous time for almanac of the Glonass_Gnav_Almanac object
-    double d_previous_Na[GLONASS_L1_CA_NBR_SATS];
 
+
+    /*!
+     * \brief Compute CRC for GLONASS GNAV strings
+     * \param bits Bits of the string message where to compute CRC
+     */
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
 
+    /*!
+	 * \brief Computes the frame number being decoded given the satellite slot number
+	 * \param satellite_slot_number [in] Satellite slot number identifier
+	 * \returns Frame number being decoded, 0 if operation was not successful.
+	 */
     unsigned int get_frame_number(unsigned int satellite_slot_number);
 
     /*!
@@ -130,45 +137,35 @@ public:
      */
     Glonass_Gnav_Utc_Model get_utc_model();
 
-    /*
+    /*!
-     * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
+     * \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received
+     * \param satellite_slot_number Slot number identifier for the satellite
+     * \returns Returns the Glonass_Gnav_Almanac object for the input slot number
      */
     Glonass_Gnav_Almanac get_almanac(unsigned int satellite_slot_number);
 
-    /*
+    /*!
-     * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
+     * \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived.
      */
     bool have_new_ephemeris();
 
-    /*
+    /*!
-     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     * \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived
      */
     bool have_new_utc_model();
 
-    /*
+    /*!
-     * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+     * \brief Returns true if new Glonass_Gnav_Almanac object has arrived.
      */
     bool have_new_almanac();
 
     /*!
      * \brief Decodes the GLONASS GNAV string
+     * \param frame_string [in] is the string message within the parsed frame
+     * \returns Returns the ID of the decoded string
      */
     int string_decoder(std::string frame_string);
 
-    /*!
-    * \brief Gets the time of week in GPS Time
-    * \details This converts from GLONASS Time to GPS Time of Week based on the
-    * start of frame
-    */
-    double get_TOW();
-
-    double get_WN();
-
-    /*!
-     * \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
-     */
-    double utc_time(const double glonasstime_corrected) const;
-
     /*!
      * Default constructor
      */