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Add work on the generation of RINEX files for more receiver configs

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This commit is contained in:
Carles Fernandez 2016-11-03 08:20:31 +01:00
parent ea8e605fb5
commit abc2139ca6
4 changed files with 91 additions and 69 deletions
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145
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -281,7 +281,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
d_last_sample_nav_output = 0;
d_rx_time = 0.0;
d_TOW_at_curr_symbol_constellation = 0.0;
b_rinex_header_writen = false;
b_rinex_header_written = false;
b_rinex_header_updated = false;
rp = std::make_shared<Rinex_Printer>();
@ -458,7 +458,8 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) // & we have utc data in nav message!
// ####################### RINEX FILES #################
if (!b_rinex_header_written) // & we have utc data in nav message!
{
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
@ -470,7 +471,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 2) // GPS L2C only
@ -479,7 +480,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 4) // Galileo E1B only
@ -488,7 +489,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 5) // Galileo E5a only
@ -498,7 +499,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 6) // Galileo E5b only
@ -508,7 +509,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
@ -517,7 +518,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
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);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
@ -528,7 +529,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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_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);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 10) // GPS L1 C/A + Galileo E5a
@ -538,7 +539,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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_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);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 11) // GPS L1 C/A + Galileo E5b
@ -548,7 +549,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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_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);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 14) // Galileo E1B + Galileo E5a
@ -558,7 +559,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 15) // Galileo E1B + Galileo E5b
@ -568,13 +569,13 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
std::string gal_signal("1B 7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
b_rinex_header_written = true; // do not write header anymore
}
}
}
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
if(b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
// Limit the RINEX navigation output rate to 1/6 seg
// Limit the RINEX navigation output rate
// Notice that d_sample_counter period is 4ms (for Galileo correlators)
if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
{
@ -635,7 +636,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
if(type_of_rx == 4) // Galileo E1B only
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo single freq
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
@ -648,7 +649,19 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
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()) )
{
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))
{
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);
b_rinex_header_updated = true;
}
}
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()) )
@ -665,72 +678,80 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
// ####################### RTCM MESSAGES #################
if(b_rtcm_writing_started)
{
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4)) == 0) && (d_rtcm_MT1045_rate_ms != 0))
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) || ((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0))
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
if(system.compare("G") == 0)
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4)) == 0) && (d_rtcm_MT1045_rate_ms != 0))
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
}
}
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) || ((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0))
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
if(system.compare("G") == 0)
{
gps_channel = i;
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_channel = i;
}
}
}
}
if(gal_channel == 0)
{
if(system.compare("E") == 0)
if(gal_channel == 0)
{
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
if(system.compare("E") == 0)
{
gal_channel = i;
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
gal_channel = i;
}
}
}
i++;
}
i++;
}
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) && (d_rtcm_MT1097_rate_ms != 0) )
{
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) && (d_rtcm_MT1097_rate_ms != 0) )
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_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_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
if(((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (d_rtcm_MT1077_rate_ms != 0) )
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
if(((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (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 (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
}
}
if(!b_rtcm_writing_started) // the first time
{
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0

2
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
View File

@ -111,7 +111,7 @@ private:
void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump;
bool b_rinex_header_writen;
bool b_rinex_header_written;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms;

9
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -40,8 +40,8 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_Gal_ephemeris = new Galileo_Navigation_Message[nchannels];
d_GPS_ephemeris = new Gps_Navigation_Message[nchannels];
//d_Gal_ephemeris = new Galileo_Navigation_Message[nchannels];
//d_GPS_ephemeris = new Gps_Navigation_Message[nchannels];
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_galileo_current_time = 0;
@ -72,8 +72,9 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
hybrid_ls_pvt::~hybrid_ls_pvt()
{
d_dump_file.close();
delete[] d_Gal_ephemeris;
delete[] d_GPS_ephemeris;
//delete[] d_Gal_ephemeris;
//delete[] d_GPS_ephemeris;
//delete[]
}

4
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -61,8 +61,8 @@ public:
int d_valid_GPS_obs; //!< Number of valid GPS pseudorange observations (valid GPS satellites) -- used for hybrid configuration
int d_valid_GAL_obs; //!< Number of valid GALILEO pseudorange observations (valid GALILEO satellites) -- used for hybrid configuration
Galileo_Navigation_Message* d_Gal_ephemeris;
Gps_Navigation_Message* d_GPS_ephemeris;
//Galileo_Navigation_Message* d_Gal_ephemeris;
//Gps_Navigation_Message* d_GPS_ephemeris;
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris