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position fix: First combined GPS + GLONASS position solution

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First positon fix using a combination of GLONASS and GPS data in
GNSS-SDR. The position solution may need further testing but initial
results are looking quite promising.
This commit is contained in:
Damian Miralles
2017-11-09 11:39:09 -08:00
parent 21b7a19b6a
commit ac7d965d7e
2 changed files with 128 additions and 3 deletions
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126
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf Normal file
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@@ -0,0 +1,126 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=6625000
Receiver.sources_count=2
SignalSource.repeat=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=6625000
SignalSource0.samples=0
SignalSource0.dump=false;
SignalSource0.dump_filename=/archive/signal_glonass.bin
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=6625000
SignalSource1.samples=0
SignalSource1.dump=false;
SignalSource1.dump_filename=/archive/signal_glonass.bin
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Pass_Through
InputFilter0.item_type=gr_complex
Resampler0.implementation=Direct_Resampler
Resampler0.sample_freq_in=6625000
Resampler0.sample_freq_out=6625000
Resampler0.item_type=gr_complex
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Ibyte_To_Complex
InputFilter1.implementation=Pass_Through
InputFilter1.item_type=gr_complex
Resampler1.implementation=Direct_Resampler
Resampler1.sample_freq_in=6625000
Resampler1.sample_freq_out=6625000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels.in_acquisition=1
Channels_1G.count=5
Channels_1C.count=5
;# Defining GLONASS satellites
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=1
Channel6.RF_channel_ID=1
Channel7.RF_channel_ID=1
Channel8.RF_channel_ID=1
Channel9.RF_channel_ID=1
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.0
Acquisition_1C.pfa=0.00001
Acquisition_1C.if=0
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false;
Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
;Acquisition_1C.coherent_integration_time_ms=10
Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
Acquisition_1G.item_type=gr_complex
Acquisition_1G.threshold=0.0
Acquisition_1G.pfa=0.00001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=10
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.early_late_space_chips=0.5
Tracking_1C.pll_bw_hz=20.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=/archive/gps_tracking_ch_
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking
Tracking_1G.item_type=gr_complex
Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump_filename=/archive/gnss_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

5
src/core/system_parameters/glonass_gnav_ephemeris.cc
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@@ -113,8 +113,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
{ {
double tod = 0.0; double tod = 0.0;
double dayofweek = 0.0; double dayofweek = 0.0;
double utcsu2utc = 3*3600; double glot2utc = 3*3600;
double glot2utcsu = 3*3600;
double days = 0.0; double days = 0.0;
double total_sec = 0.0, sec_of_day = 0.0; double total_sec = 0.0, sec_of_day = 0.0;
int i = 0; int i = 0;
@@ -123,7 +122,7 @@ void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_cor
// tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections
// tk plus 10 sec is the true tod since get_TOW is called when in str5 // tk plus 10 sec is the true tod since get_TOW is called when in str5
tod = tod_offset - glot2utcsu - utcsu2utc; tod = tod_offset - glot2utc ;
boost::posix_time::time_duration t(0, 0, tod); boost::posix_time::time_duration t(0, 0, tod);