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https://github.com/gnss-sdr/gnss-sdr
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This commit is contained in:
Antonio Ramos
parent
c41efa9cfe
commit
ab7cabc8e8
@ -534,13 +534,13 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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// ############ 1. READ PSEUDORANGES ####
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (in[i][epoch].Flag_valid_pseudorange == true)
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if (in[i][epoch].Flag_valid_pseudorange)
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{
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std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
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std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
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std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
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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);
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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)))
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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)))
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{
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// store valid observables in a map.
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gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
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@ -601,36 +601,36 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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flag_display_pvt = true;
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last_pvt_display_T_rx_s = current_RX_time;
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}
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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
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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
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{
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flag_write_RTCM_1019_output = true;
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last_RTCM_1019_output_time = current_RX_time;
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}
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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
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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
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{
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flag_write_RTCM_1020_output = true;
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last_RTCM_1020_output_time = current_RX_time;
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}
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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))
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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))
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{
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flag_write_RTCM_1045_output = true;
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last_RTCM_1045_output_time = current_RX_time;
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}
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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))
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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))
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{
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last_RTCM_1077_output_time = current_RX_time;
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}
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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))
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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))
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{
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last_RTCM_1087_output_time = current_RX_time;
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}
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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))
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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))
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{
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last_RTCM_1097_output_time = current_RX_time;
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}
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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))
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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))
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{
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flag_write_RTCM_MSM_output = true;
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last_RTCM_MSM_output_time = current_RX_time;
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@ -776,7 +776,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
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{
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if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
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if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
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{
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
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@ -786,7 +786,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
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{
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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{
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std::string gal_signal("1B");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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@ -796,7 +796,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a
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{
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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{
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std::string gal_signal("5X");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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@ -806,7 +806,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b
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{
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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{
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std::string gal_signal("7X");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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@ -867,7 +867,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
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{
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std::string glo_signal("1G");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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@ -883,7 +883,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
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{
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
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if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
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{
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std::string glo_signal("1G");
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std::string gal_signal("1B");
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@ -894,7 +894,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
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{
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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()))
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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()))
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{
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std::string glo_signal("1G");
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rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
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@ -919,7 +919,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
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}
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if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo
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if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6)) // Galileo
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{
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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}
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@ -927,15 +927,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
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}
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if ((type_of_rx == 9) || (type_of_rx == 10) || (type_of_rx == 11)) // GPS L1 C/A + Galileo
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if ((type_of_rx == 9) or (type_of_rx == 10) or (type_of_rx == 11)) // GPS L1 C/A + Galileo
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{
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rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
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}
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if ((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a
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if ((type_of_rx == 14) or (type_of_rx == 15)) // Galileo E1B + Galileo E5a
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{
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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}
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if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
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if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
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{
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rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
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}
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@ -972,7 +972,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
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rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
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@ -985,7 +985,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
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rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
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@ -998,7 +998,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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{
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rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
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rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
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@ -1011,7 +1011,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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@ -1024,7 +1024,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
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@ -1037,7 +1037,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
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}
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if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
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{
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rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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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 ((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);
|
||||
}
|
||||
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_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 ((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);
|
||||
}
|
||||
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_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");
|
||||
}
|
||||
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_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");
|
||||
}
|
||||
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_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");
|
||||
}
|
||||
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_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");
|
||||
}
|
||||
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_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");
|
||||
}
|
||||
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_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 ((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);
|
||||
}
|
||||
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_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 ((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);
|
||||
}
|
||||
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_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 ((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);
|
||||
}
|
||||
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_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)
|
||||
{
|
||||
@ -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();
|
||||
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
|
||||
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);
|
||||
}
|
||||
@ -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)
|
||||
{
|
||||
@ -1472,7 +1472,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
}
|
||||
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++)
|
||||
{
|
||||
@ -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_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);
|
||||
}
|
||||
@ -1550,18 +1550,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
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);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
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++)
|
||||
{
|
||||
@ -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
|
||||
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())
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
|
||||
@ -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) :
|
||||
gr::block("hybrid_observables_cc",
|
||||
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::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
@ -65,7 +64,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
|
||||
valid_channels.resize(d_nchannels, false);
|
||||
d_num_valid_channels = 0;
|
||||
|
||||
for(unsigned int i = 0; i < d_nchannels; i++)
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
|
||||
}
|
||||
@ -77,11 +76,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
|
||||
}
|
||||
catch (const std::ifstream::failure & e)
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
LOG(WARNING) << "Exception opening observables dump file " << e.what();
|
||||
d_dump = false;
|
||||
@ -95,13 +94,16 @@ hybrid_observables_cc::~hybrid_observables_cc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try { d_dump_file.close(); }
|
||||
catch(const std::exception & ex)
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
|
||||
}
|
||||
}
|
||||
if(d_dump)
|
||||
if (d_dump)
|
||||
{
|
||||
std::cout << "Writing observables .mat files ...";
|
||||
save_matfile();
|
||||
@ -118,8 +120,11 @@ int hybrid_observables_cc::save_matfile()
|
||||
int epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels;
|
||||
std::ifstream dump_file;
|
||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
try { dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); }
|
||||
catch(const std::ifstream::failure &e)
|
||||
try
|
||||
{
|
||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
||||
return 1;
|
||||
@ -132,14 +137,17 @@ int hybrid_observables_cc::save_matfile()
|
||||
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
|
||||
dump_file.seekg(0, std::ios::beg);
|
||||
}
|
||||
else { return 1; }
|
||||
double ** RX_time = new double * [d_nchannels];
|
||||
double ** TOW_at_current_symbol_s = new double * [d_nchannels];
|
||||
double ** Carrier_Doppler_hz = new double * [d_nchannels];
|
||||
double ** Carrier_phase_cycles = new double * [d_nchannels];
|
||||
double ** Pseudorange_m = new double * [d_nchannels];
|
||||
double ** PRN = new double * [d_nchannels];
|
||||
double ** Flag_valid_pseudorange = new double * [d_nchannels];
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
double **RX_time = new double *[d_nchannels];
|
||||
double **TOW_at_current_symbol_s = new double *[d_nchannels];
|
||||
double **Carrier_Doppler_hz = new double *[d_nchannels];
|
||||
double **Carrier_phase_cycles = new double *[d_nchannels];
|
||||
double **Pseudorange_m = new double *[d_nchannels];
|
||||
double **PRN = new double *[d_nchannels];
|
||||
double **Flag_valid_pseudorange = new double *[d_nchannels];
|
||||
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
@ -223,7 +231,10 @@ int hybrid_observables_cc::save_matfile()
|
||||
mat_t *matfp;
|
||||
matvar_t *matvar;
|
||||
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");
|
||||
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
|
||||
if (reinterpret_cast<long *>(matfp) != NULL)
|
||||
@ -287,9 +298,12 @@ int hybrid_observables_cc::save_matfile()
|
||||
return 0;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
arma::vec t = arma::vec(data.size());
|
||||
@ -301,7 +315,7 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro& out, std::deque<Gnss_
|
||||
tiv(0) = ti;
|
||||
|
||||
unsigned int aux = 0;
|
||||
for(it = data.begin(); it != data.end(); it++)
|
||||
for (it = data.begin(); it != data.end(); it++)
|
||||
{
|
||||
t(aux) = it->RX_time;
|
||||
dop(aux) = it->Carrier_Doppler_hz;
|
||||
@ -320,33 +334,45 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro& out, std::deque<Gnss_
|
||||
return result.is_finite();
|
||||
}
|
||||
|
||||
double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro& a)
|
||||
double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
|
||||
{
|
||||
if(a.Flag_valid_word)
|
||||
if (a.Flag_valid_word)
|
||||
{
|
||||
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)),
|
||||
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;
|
||||
}
|
||||
|
||||
void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro>& data)
|
||||
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(); }
|
||||
else { return; }
|
||||
if ((T_rx_s - data.front().RX_time) > max_delta)
|
||||
{
|
||||
data.pop_front();
|
||||
}
|
||||
else
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data)
|
||||
void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Synchro> &data)
|
||||
{
|
||||
std::vector<Gnss_Synchro>::iterator it;
|
||||
|
||||
@ -357,14 +383,14 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
|
||||
#ifndef NDEBUG
|
||||
std::vector<Gnss_Synchro>::iterator it2;
|
||||
double thr_ = 250.0 / SPEED_OF_LIGHT; // Maximum pseudorange difference = 250 meters
|
||||
for(it = data.begin(); it != (data.end() - 1); it++)
|
||||
for (it = data.begin(); it != (data.end() - 1); it++)
|
||||
{
|
||||
for(it2 = it + 1; it2 != data.end(); it2++)
|
||||
for (it2 = it + 1; it2 != data.end(); it2++)
|
||||
{
|
||||
if(it->PRN == it2->PRN and it->System == it2->System)
|
||||
if (it->PRN == it2->PRN and it->System == it2->System)
|
||||
{
|
||||
double tow_dif_ = std::fabs(it->TOW_at_current_symbol_s - it2->TOW_at_current_symbol_s);
|
||||
if(tow_dif_ > thr_)
|
||||
if (tow_dif_ > thr_)
|
||||
{
|
||||
DLOG(INFO) << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
|
||||
<< ". TOW difference in PRN " << it->PRN
|
||||
@ -379,14 +405,17 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
|
||||
}
|
||||
}
|
||||
#endif
|
||||
///////////////////////////////////////////////////////////
|
||||
///////////////////////////////////////////////////////////
|
||||
|
||||
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++)
|
||||
{
|
||||
double traveltime_s = TOW_ref - it->TOW_at_current_symbol_s + GPS_STARTOFFSET_ms / 1000.0;
|
||||
it->RX_time = TOW_ref + GPS_STARTOFFSET_ms / 1000.0;
|
||||
@ -399,17 +428,20 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
{
|
||||
const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);
|
||||
Gnss_Synchro** out = reinterpret_cast<Gnss_Synchro**>(&output_items[0]);
|
||||
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
|
||||
unsigned int i;
|
||||
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);
|
||||
T_rx_s += T_rx_step_s;
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
if((total_input_items == 0) and (d_num_valid_channels == 0))
|
||||
if ((total_input_items == 0) and (d_num_valid_channels == 0))
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
@ -419,21 +451,24 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
if (total_input_items > 0)
|
||||
{
|
||||
i = 0;
|
||||
for(it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
{
|
||||
if(ninput_items[i] > 0)
|
||||
if (ninput_items[i] > 0)
|
||||
{
|
||||
// Add the new Gnss_Synchros to their corresponding deque
|
||||
for(int aux = 0; aux < ninput_items[i]; aux++)
|
||||
for (int aux = 0; aux < ninput_items[i]; aux++)
|
||||
{
|
||||
if(in[i][aux].Flag_valid_word)
|
||||
if (in[i][aux].Flag_valid_word)
|
||||
{
|
||||
it->push_back(in[i][aux]);
|
||||
it->back().RX_time = compute_T_rx_s(in[i][aux]);
|
||||
// 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();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -442,37 +477,52 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
i++;
|
||||
}
|
||||
}
|
||||
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; }
|
||||
else { valid_channels[i] = false; }
|
||||
if (d_gnss_synchro_history.at(i).size() > 2)
|
||||
{
|
||||
valid_channels[i] = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
valid_channels[i] = false;
|
||||
}
|
||||
}
|
||||
d_num_valid_channels = valid_channels.count();
|
||||
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data
|
||||
if(d_num_valid_channels == 0) { return 0; }
|
||||
|
||||
for(i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
|
||||
if (d_num_valid_channels == 0)
|
||||
{
|
||||
if(valid_channels[i])
|
||||
return 0;
|
||||
}
|
||||
|
||||
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
|
||||
{
|
||||
if (valid_channels[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
|
||||
d_num_valid_channels = valid_channels.count();
|
||||
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;
|
||||
i = 0;
|
||||
for(it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
{
|
||||
if(valid_channels[i])
|
||||
if (valid_channels[i])
|
||||
{
|
||||
Gnss_Synchro interpolated_gnss_synchro = it->back();
|
||||
if(interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
|
||||
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
|
||||
{
|
||||
epoch_data.push_back(interpolated_gnss_synchro);
|
||||
}
|
||||
@ -484,12 +534,15 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
i++;
|
||||
}
|
||||
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);
|
||||
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
|
||||
for(i = 0; i < d_nchannels; i++)
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if(valid_channels[i])
|
||||
if (valid_channels[i])
|
||||
{
|
||||
out[i][0] = (*it2);
|
||||
out[i][0].Flag_valid_pseudorange = true;
|
||||
@ -501,7 +554,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
out[i][0].Flag_valid_pseudorange = false;
|
||||
}
|
||||
}
|
||||
if(d_dump)
|
||||
if (d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
@ -510,22 +563,22 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
tmp_double = out[i][0].RX_time;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = out[i][0].TOW_at_current_symbol_s;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = out[i][0].Carrier_Doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = out[i][0].Pseudorange_m;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(out[i][0].PRN);
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(out[i][0].Flag_valid_pseudorange);
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
}
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
||||
d_dump = false;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user