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This commit is contained in:
Antonio Ramos 2018-03-08 18:32:55 +01:00
parent c41efa9cfe
commit ab7cabc8e8
2 changed files with 311 additions and 258 deletions
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100
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -534,13 +534,13 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// ############ 1. READ PSEUDORANGES #### // ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{ {
if (in[i][epoch].Flag_valid_pseudorange == true) if (in[i][epoch].Flag_valid_pseudorange)
{ {
std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN); std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("L5") == 0))) if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1C") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2S") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1B") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("5X") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1G") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2G") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("L5") == 0)))
{ {
// store valid observables in a map. // store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch])); gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
@ -601,36 +601,36 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
flag_display_pvt = true; flag_display_pvt = true;
last_pvt_display_T_rx_s = current_RX_time; last_pvt_display_T_rx_s = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) && (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0 if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) and (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{ {
flag_write_RTCM_1019_output = true; flag_write_RTCM_1019_output = true;
last_RTCM_1019_output_time = current_RX_time; last_RTCM_1019_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) && (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0 if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) and (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{ {
flag_write_RTCM_1020_output = true; flag_write_RTCM_1020_output = true;
last_RTCM_1020_output_time = current_RX_time; last_RTCM_1020_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) and (d_rtcm_MT1045_rate_ms != 0))
{ {
flag_write_RTCM_1045_output = true; flag_write_RTCM_1045_output = true;
last_RTCM_1045_output_time = current_RX_time; last_RTCM_1045_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) && (d_rtcm_MT1077_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) and (d_rtcm_MT1077_rate_ms != 0))
{ {
last_RTCM_1077_output_time = current_RX_time; last_RTCM_1077_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) and (d_rtcm_MT1087_rate_ms != 0))
{ {
last_RTCM_1087_output_time = current_RX_time; last_RTCM_1087_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) and (d_rtcm_MT1097_rate_ms != 0))
{ {
last_RTCM_1097_output_time = current_RX_time; last_RTCM_1097_output_time = current_RX_time;
} }
if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) && (d_rtcm_MSM_rate_ms != 0)) if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) and (d_rtcm_MSM_rate_ms != 0))
{ {
flag_write_RTCM_MSM_output = true; flag_write_RTCM_MSM_output = true;
last_RTCM_MSM_output_time = current_RX_time; last_RTCM_MSM_output_time = current_RX_time;
@ -776,7 +776,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{ {
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
@ -786,7 +786,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("1B"); std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -796,7 +796,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("5X"); std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -806,7 +806,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string gal_signal("7X"); std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -867,7 +867,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -883,7 +883,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
std::string gal_signal("1B"); std::string gal_signal("1B");
@ -894,7 +894,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
std::string glo_signal("1G"); std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal); rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -919,7 +919,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
} }
if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6)) // Galileo
{ {
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
} }
@ -927,15 +927,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
} }
if ((type_of_rx == 9) || (type_of_rx == 10) || (type_of_rx == 11)) // GPS L1 C/A + Galileo if ((type_of_rx == 9) or (type_of_rx == 10) or (type_of_rx == 11)) // GPS L1 C/A + Galileo
{ {
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
} }
if ((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a if ((type_of_rx == 14) or (type_of_rx == 15)) // Galileo E1B + Galileo E5a
{ {
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
} }
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
{ {
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map); rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
} }
@ -972,7 +972,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -985,7 +985,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -998,7 +998,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -1011,7 +1011,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1024,7 +1024,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1037,7 +1037,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1046,11 +1046,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{ {
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono); rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -1059,11 +1059,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())) if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
@ -1076,7 +1076,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1089,7 +1089,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X"); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1102,7 +1102,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1115,7 +1115,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1128,7 +1128,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C"); rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
} }
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0)) if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{ {
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1137,11 +1137,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1150,11 +1150,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1163,11 +1163,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{ {
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{ {
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0)) if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{ {
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model); rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1200,7 +1200,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
} }
if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6) or (type_of_rx == 14) or (type_of_rx == 15)) // Galileo
{ {
if (flag_write_RTCM_1045_output == true) if (flag_write_RTCM_1045_output == true)
{ {
@ -1234,7 +1234,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1305,7 +1305,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
} }
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS
{ {
if (flag_write_RTCM_1020_output == true) if (flag_write_RTCM_1020_output == true)
{ {
@ -1472,7 +1472,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6) or (type_of_rx == 14) or (type_of_rx == 15)) // Galileo
{ {
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++) for (std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++)
{ {
@ -1497,7 +1497,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1550,18 +1550,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
i++; i++;
} }
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0)) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() and (d_rtcm_MT1077_rate_ms != 0))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0)) if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() and (d_rtcm_MT1097_rate_ms != 0))
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS
{ {
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
{ {
@ -1696,7 +1696,7 @@ 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() == true) && (flag_display_pvt == true)) if ((d_ls_pvt->is_valid_position() == true) and (flag_display_pvt == true))
{ {
std::cout << TEXT_BOLD_GREEN << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time()) std::cout << TEXT_BOLD_GREEN << "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()

93
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -51,8 +51,7 @@ hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in,
} }
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename) : hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename) : gr::block("hybrid_observables_cc",
gr::block("hybrid_observables_cc",
gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)), gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro))) gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
{ {
@ -95,7 +94,10 @@ hybrid_observables_cc::~hybrid_observables_cc()
{ {
if (d_dump_file.is_open()) if (d_dump_file.is_open())
{ {
try { d_dump_file.close(); } try
{
d_dump_file.close();
}
catch (const std::exception &ex) catch (const std::exception &ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
@ -118,7 +120,10 @@ int hybrid_observables_cc::save_matfile()
int epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels; int epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels;
std::ifstream dump_file; std::ifstream dump_file;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try { dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); } try
{
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {
std::cerr << "Problem opening dump file:" << e.what() << std::endl; std::cerr << "Problem opening dump file:" << e.what() << std::endl;
@ -132,7 +137,10 @@ int hybrid_observables_cc::save_matfile()
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes); num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg); dump_file.seekg(0, std::ios::beg);
} }
else { return 1; } else
{
return 1;
}
double **RX_time = new double *[d_nchannels]; double **RX_time = new double *[d_nchannels];
double **TOW_at_current_symbol_s = new double *[d_nchannels]; double **TOW_at_current_symbol_s = new double *[d_nchannels];
double **Carrier_Doppler_hz = new double *[d_nchannels]; double **Carrier_Doppler_hz = new double *[d_nchannels];
@ -223,7 +231,10 @@ int hybrid_observables_cc::save_matfile()
mat_t *matfp; mat_t *matfp;
matvar_t *matvar; matvar_t *matvar;
std::string filename = d_dump_filename; std::string filename = d_dump_filename;
if(filename.size() > 4) { filename.erase(filename.end() - 4, filename.end()); } if (filename.size() > 4)
{
filename.erase(filename.end() - 4, filename.end());
}
filename.append(".mat"); filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long *>(matfp) != NULL) if (reinterpret_cast<long *>(matfp) != NULL)
@ -289,7 +300,10 @@ int hybrid_observables_cc::save_matfile()
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti) bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
{ {
if((ti < data.front().RX_time) or (ti > data.back().RX_time)) { return false; } if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
{
return false;
}
std::deque<Gnss_Synchro>::iterator it; std::deque<Gnss_Synchro>::iterator it;
arma::vec t = arma::vec(data.size()); arma::vec t = arma::vec(data.size());
@ -326,14 +340,20 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro& a)
{ {
return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs)); return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs));
} }
else { return 0.0; } else
{
return 0.0;
}
} }
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
for(unsigned int i = 0; i < d_nchannels; i++) { ninput_items_required[i] = 0; } for (unsigned int i = 0; i < d_nchannels; i++)
{
ninput_items_required[i] = 0;
}
ninput_items_required[d_nchannels] = 1; ninput_items_required[d_nchannels] = 1;
} }
@ -341,8 +361,14 @@ void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro>& data)
{ {
while (data.size() > 0) while (data.size() > 0)
{ {
if((T_rx_s - data.front().RX_time) > max_delta) { data.pop_front(); } if ((T_rx_s - data.front().RX_time) > max_delta)
else { return; } {
data.pop_front();
}
else
{
return;
}
} }
} }
@ -384,7 +410,10 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
double TOW_ref = std::numeric_limits<double>::lowest(); double TOW_ref = std::numeric_limits<double>::lowest();
for (it = data.begin(); it != data.end(); it++) for (it = data.begin(); it != data.end(); it++)
{ {
if(it->TOW_at_current_symbol_s > TOW_ref) { TOW_ref = it->TOW_at_current_symbol_s; } if (it->TOW_at_current_symbol_s > TOW_ref and it->Signal[0] != '2')
{
TOW_ref = it->TOW_at_current_symbol_s;
}
} }
for (it = data.begin(); it != data.end(); it++) for (it = data.begin(); it != data.end(); it++)
{ {
@ -404,7 +433,10 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
unsigned int i; unsigned int i;
int total_input_items = 0; int total_input_items = 0;
for(i = 0; i < d_nchannels; i++) { total_input_items += ninput_items[i]; } for (i = 0; i < d_nchannels; i++)
{
total_input_items += ninput_items[i];
}
consume(d_nchannels, 1); consume(d_nchannels, 1);
T_rx_s += T_rx_step_s; T_rx_s += T_rx_step_s;
@ -433,7 +465,10 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones // Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (it->size() > 1) if (it->size() > 1)
{ {
if(it->front().PRN != it->back().PRN) { it->clear(); } if (it->front().PRN != it->back().PRN)
{
it->clear();
}
} }
} }
} }
@ -444,26 +479,41 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
} }
for (i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)
{ {
if(d_gnss_synchro_history.at(i).size() > 2) { valid_channels[i] = true; } if (d_gnss_synchro_history.at(i).size() > 2)
else { valid_channels[i] = false; } {
valid_channels[i] = true;
}
else
{
valid_channels[i] = false;
}
} }
d_num_valid_channels = valid_channels.count(); d_num_valid_channels = valid_channels.count();
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data // Check if there is any valid channel after reading the new incoming Gnss_Synchro data
if(d_num_valid_channels == 0) { return 0; } if (d_num_valid_channels == 0)
{
return 0;
}
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
{ {
if (valid_channels[i]) if (valid_channels[i])
{ {
clean_history(d_gnss_synchro_history.at(i)); clean_history(d_gnss_synchro_history.at(i));
if(d_gnss_synchro_history.at(i).size() < 2) { valid_channels[i] = false; } if (d_gnss_synchro_history.at(i).size() < 2)
{
valid_channels[i] = false;
}
} }
} }
// Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time
d_num_valid_channels = valid_channels.count(); d_num_valid_channels = valid_channels.count();
double T_rx_s_out = T_rx_s - (max_delta / 2.0); double T_rx_s_out = T_rx_s - (max_delta / 2.0);
if((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) { return 0; } if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0))
{
return 0;
}
std::vector<Gnss_Synchro> epoch_data; std::vector<Gnss_Synchro> epoch_data;
i = 0; i = 0;
@ -484,7 +534,10 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
i++; i++;
} }
d_num_valid_channels = valid_channels.count(); d_num_valid_channels = valid_channels.count();
if(d_num_valid_channels == 0) { return 0; } if (d_num_valid_channels == 0)
{
return 0;
}
correct_TOW_and_compute_prange(epoch_data); correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin(); std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
for (i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)