mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-18 11:09:56 +00:00
Replace C-style casts by C++ casts
Apply code styling Fix a GCC warning (unused variable)
This commit is contained in:
Carles Fernandez
parent
76e6adf3ad
commit
acfd4cc0c9
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@ -46,345 +46,342 @@ using google::LogMessage;
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hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
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{
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return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
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return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
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}
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hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
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gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
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gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
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{
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// initialize internal vars
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d_dump = dump;
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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history_deep = deep_history;
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T_rx_s = 0.0;
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T_rx_step_s = 1e-3;// todo: move to gnss-sdr config
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
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}
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//todo: this is a gnuradio scheduler hack.
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// Migrate the queues to gnuradio set_history to see if the scheduler can handle
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// the multiple output flow
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d_max_noutputs = 100;
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this->set_min_noutput_items(100);
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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// initialize internal vars
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d_dump = dump;
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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history_deep = deep_history;
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T_rx_s = 0.0;
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T_rx_step_s = 1e-3; // todo: move to gnss-sdr config
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure & e)
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{
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LOG(WARNING) << "Exception opening observables dump file " << e.what();
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}
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d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
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}
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// todo: this is a gnuradio scheduler hack.
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// Migrate the queues to gnuradio set_history to see if the scheduler can handle
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// the multiple output flow
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d_max_noutputs = 100;
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this->set_min_noutput_items(100);
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure & e)
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{
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LOG(WARNING) << "Exception opening observables dump file " << e.what();
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}
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}
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}
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}
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}
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hybrid_observables_cc::~hybrid_observables_cc()
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{
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if (d_dump_file.is_open() == true)
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{
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try
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{
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d_dump_file.close();
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}
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catch(const std::exception & ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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}
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if (d_dump_file.is_open() == true)
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{
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try
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{
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d_dump_file.close();
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}
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catch(const std::exception & ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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}
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}
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bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
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{
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return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
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return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
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}
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bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro& a, unsigned long int b)
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{
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return (a.Tracking_sample_counter) < (b);
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return (a.Tracking_sample_counter) < (b);
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}
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bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro& a, double b)
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{
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return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(double)a.fs) < (b);
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return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(double)a.fs) < (b);
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}
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bool Hybrid_pairCompare_gnss_synchro_d_TOW(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
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{
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return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s);
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return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s);
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}
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bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b)
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{
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return (a.TOW_at_current_symbol_s) < (b);
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return (a.TOW_at_current_symbol_s) < (b);
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}
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int hybrid_observables_cc::general_work (int noutput_items,
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gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items)
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int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused)),
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gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items)
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{
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
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int n_outputs = 0;
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int n_consume[d_nchannels];
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double past_history_s = 100e-3;
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const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
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Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
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int n_outputs = 0;
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int n_consume[d_nchannels];
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double past_history_s = 100e-3;
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Gnss_Synchro current_gnss_synchro[d_nchannels];
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Gnss_Synchro current_gnss_synchro[d_nchannels];
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/*
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* 1. Read the GNSS SYNCHRO objects from available channels.
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* Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel
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* Record all synchronization data into queues
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*/
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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n_consume[i] = ninput_items[i];// full throttle
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for (int j = 0; j < n_consume[i]; j++)
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/*
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* 1. Read the GNSS SYNCHRO objects from available channels.
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* Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel
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* Record all synchronization data into queues
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*/
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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d_gnss_synchro_history_queue[i].push_back(in[i][j]);
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}
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//std::cout<<"push["<<i<<"] items "<<n_consume[i]
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/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
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// <<" [s] q size: "
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// <<d_gnss_synchro_history_queue[i].size()
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// <<std::endl;
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}
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bool channel_history_ok;
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do
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{
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channel_history_ok = true;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (d_gnss_synchro_history_queue[i].size() < history_deep)
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{
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channel_history_ok = false;
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}
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}
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if (channel_history_ok == true)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
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std::deque<Gnss_Synchro>::iterator gnss_synchro_deque_iter;
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//1. If the RX time is not set, set the Rx time
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if (T_rx_s == 0)
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{
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//0. Read a gnss_synchro snapshot from the queue and store it in a map
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std::map<int,Gnss_Synchro> gnss_synchro_map;
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for (unsigned int i = 0; i < d_nchannels; i++)
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n_consume[i] = ninput_items[i];// full throttle
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for (int j = 0; j < n_consume[i]; j++)
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{
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gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
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d_gnss_synchro_history_queue[i].front().Channel_ID,
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d_gnss_synchro_history_queue[i].front()));
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d_gnss_synchro_history_queue[i].push_back(in[i][j]);
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}
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gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
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gnss_synchro_map.end(),
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Hybrid_pairCompare_gnss_synchro_sample_counter);
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T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / (double)gnss_synchro_map_iter->second.fs;
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T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
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T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
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}
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//std::cout<<"push["<<i<<"] items "<<n_consume[i]
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/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
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// <<" [s] q size: "
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// <<d_gnss_synchro_history_queue[i].size()
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// <<std::endl;
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}
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//2. Realign RX time in all valid channels
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std::map<int,Gnss_Synchro> realigned_gnss_synchro_map; //container for the aligned set of observables for the selected T_rx
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std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; //container for the previous observable values to interpolate
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//shift channels history to match the reference TOW
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
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d_gnss_synchro_history_queue[i].end(),
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T_rx_s,
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Hybrid_valueCompare_gnss_synchro_receiver_time);
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
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bool channel_history_ok;
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do
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{
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channel_history_ok = true;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (gnss_synchro_deque_iter->Flag_valid_word == true)
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{
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double T_rx_channel = (double)gnss_synchro_deque_iter->Tracking_sample_counter / (double)gnss_synchro_deque_iter->fs;
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double delta_T_rx_s = T_rx_channel - T_rx_s;
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//check that T_rx difference is less than a threshold (the correlation interval)
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if (delta_T_rx_s * 1000.0 < (double)gnss_synchro_deque_iter->correlation_length_ms)
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if (d_gnss_synchro_history_queue[i].size() < history_deep)
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{
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//record the word structure in a map for pseudorange computation
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//save the previous observable
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int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
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if (distance > 0)
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{
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if (d_gnss_synchro_history_queue[i].at(distance-1).Flag_valid_word)
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channel_history_ok = false;
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}
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}
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if (channel_history_ok == true)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
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std::deque<Gnss_Synchro>::iterator gnss_synchro_deque_iter;
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// 1. If the RX time is not set, set the Rx time
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if (T_rx_s == 0)
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{
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// 0. Read a gnss_synchro snapshot from the queue and store it in a map
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std::map<int,Gnss_Synchro> gnss_synchro_map;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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double T_rx_channel_prev = (double)d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter / (double)gnss_synchro_deque_iter->fs;
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double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
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if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
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gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
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d_gnss_synchro_history_queue[i].front()));
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}
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gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
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gnss_synchro_map.end(),
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Hybrid_pairCompare_gnss_synchro_sample_counter);
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T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
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T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
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T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
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}
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// 2. Realign RX time in all valid channels
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std::map<int,Gnss_Synchro> realigned_gnss_synchro_map; // container for the aligned set of observables for the selected T_rx
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std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; // container for the previous observable values to interpolate
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// shift channels history to match the reference TOW
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
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d_gnss_synchro_history_queue[i].end(),
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T_rx_s,
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Hybrid_valueCompare_gnss_synchro_receiver_time);
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
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{
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if (gnss_synchro_deque_iter->Flag_valid_word == true)
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{
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double T_rx_channel = static_cast<double>(gnss_synchro_deque_iter->Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
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double delta_T_rx_s = T_rx_channel - T_rx_s;
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// check that T_rx difference is less than a threshold (the correlation interval)
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if (delta_T_rx_s * 1000.0 < static_cast<double>(gnss_synchro_deque_iter->correlation_length_ms))
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{
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// record the word structure in a map for pseudorange computation
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// save the previous observable
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int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
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if (distance > 0)
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{
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if (d_gnss_synchro_history_queue[i].at(distance-1).Flag_valid_word)
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{
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double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
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double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
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if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
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{
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue[i].at(distance - 1)));
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adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
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}
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else
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{
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
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adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue[i].at(distance - 1)));
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}
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}
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}
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else
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{
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
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}
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}
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else
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{
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//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
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}
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}
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}
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}
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if(!realigned_gnss_synchro_map.empty())
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{
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/*
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* 2.1 Use CURRENT set of measurements and find the nearest satellite
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* common RX time algorithm
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*/
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// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
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gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.begin(),
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realigned_gnss_synchro_map.end(),
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Hybrid_pairCompare_gnss_synchro_d_TOW);
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double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
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// compute interpolated TOW value at T_rx_s
|
||||
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
|
||||
Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
|
||||
double ref_adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
|
||||
|
||||
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||
double d_ref_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
|
||||
|
||||
double selected_T_rx_s = T_rx_s;
|
||||
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
|
||||
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s +
|
||||
(selected_T_rx_s - ref_adj_T_rx_s) * (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
|
||||
|
||||
// Now compute RX time differences due to the PRN alignment in the correlators
|
||||
double traveltime_ms;
|
||||
double pseudorange_m;
|
||||
double channel_T_rx_s;
|
||||
double channel_fs_hz;
|
||||
double channel_TOW_s;
|
||||
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
|
||||
{
|
||||
channel_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
|
||||
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||
channel_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
|
||||
// compute interpolated observation values
|
||||
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
|
||||
// TOW at the selected receiver time T_rx_s
|
||||
int element_key = gnss_synchro_map_iter->second.Channel_ID;
|
||||
adj_obs = adjacent_gnss_synchro_map.at(element_key);
|
||||
|
||||
double adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
|
||||
|
||||
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s);
|
||||
|
||||
// Doppler and Accumulated carrier phase
|
||||
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
|
||||
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
|
||||
|
||||
// compute the pseudorange (no rx time offset correction)
|
||||
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
|
||||
// convert to meters
|
||||
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
|
||||
// update the pseudorange object
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
|
||||
// Save the estimated RX time (no RX clock offset correction yet!)
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
|
||||
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
|
||||
}
|
||||
|
||||
if(d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
|
||||
d_gnss_synchro_history_queue[i].at(distance-1).Channel_ID,
|
||||
d_gnss_synchro_history_queue[i].at(distance-1)));
|
||||
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
|
||||
double tmp_double;
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
tmp_double = current_gnss_synchro[i].RX_time;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].PRN;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
}
|
||||
}
|
||||
else
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
|
||||
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
|
||||
d_gnss_synchro_history_queue[i].at(distance-1).Channel_ID,
|
||||
d_gnss_synchro_history_queue[i].at(distance-1)));
|
||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
out[i][n_outputs] = current_gnss_synchro[i];
|
||||
}
|
||||
|
||||
n_outputs++;
|
||||
}
|
||||
else
|
||||
|
||||
// Move RX time
|
||||
T_rx_s = T_rx_s + T_rx_step_s;
|
||||
// pop old elements from queue
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
|
||||
while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
|
||||
{
|
||||
d_gnss_synchro_history_queue[i].pop_front();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} while(channel_history_ok == true && d_max_noutputs > n_outputs);
|
||||
|
||||
if(!realigned_gnss_synchro_map.empty())
|
||||
{
|
||||
/*
|
||||
* 2.1 Use CURRENT set of measurements and find the nearest satellite
|
||||
* common RX time algorithm
|
||||
*/
|
||||
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
|
||||
gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.begin(),
|
||||
realigned_gnss_synchro_map.end(),
|
||||
Hybrid_pairCompare_gnss_synchro_d_TOW);
|
||||
double ref_fs_hz = (double)gnss_synchro_map_iter->second.fs;
|
||||
|
||||
// compute interpolated TOW value at T_rx_s
|
||||
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
|
||||
Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
|
||||
double ref_adj_T_rx_s = (double)adj_obs.Tracking_sample_counter / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
|
||||
|
||||
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||
double d_ref_T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
|
||||
|
||||
double selected_T_rx_s = T_rx_s;
|
||||
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
|
||||
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - ref_adj_T_rx_s)
|
||||
* (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
|
||||
|
||||
// Now compute RX time differences due to the PRN alignment in the correlators
|
||||
double traveltime_ms;
|
||||
double pseudorange_m;
|
||||
double channel_T_rx_s;
|
||||
double channel_fs_hz;
|
||||
double channel_TOW_s;
|
||||
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
|
||||
{
|
||||
channel_fs_hz = (double)gnss_synchro_map_iter->second.fs;
|
||||
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||
channel_T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
|
||||
// compute interpolated observation values
|
||||
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
|
||||
// TOW at the selected receiver time T_rx_s
|
||||
int element_key = gnss_synchro_map_iter->second.Channel_ID;
|
||||
adj_obs = adjacent_gnss_synchro_map.at(element_key);
|
||||
|
||||
double adj_T_rx_s = (double)adj_obs.Tracking_sample_counter / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
|
||||
|
||||
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s);
|
||||
|
||||
//Doppler and Accumulated carrier phase
|
||||
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
|
||||
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
|
||||
|
||||
//compute the pseudorange (no rx time offset correction)
|
||||
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
|
||||
//convert to meters
|
||||
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
|
||||
// update the pseudorange object
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
|
||||
// Save the estimated RX time (no RX clock offset correction yet!)
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
|
||||
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
|
||||
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
|
||||
}
|
||||
|
||||
if(d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
tmp_double = current_gnss_synchro[i].RX_time;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].PRN;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_gnss_synchro[i].Flag_valid_pseudorange;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
out[i][n_outputs] = current_gnss_synchro[i];
|
||||
}
|
||||
|
||||
n_outputs++;
|
||||
}
|
||||
|
||||
//Move RX time
|
||||
T_rx_s = T_rx_s + T_rx_step_s;
|
||||
//pop old elements from queue
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
while (d_gnss_synchro_history_queue[i].front().Tracking_sample_counter / (double)d_gnss_synchro_history_queue[i].front().fs < (T_rx_s - past_history_s))
|
||||
{
|
||||
d_gnss_synchro_history_queue[i].pop_front();
|
||||
}
|
||||
}
|
||||
// Multi-rate consume!
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
consume(i, n_consume[i]); // which input, how many items
|
||||
}
|
||||
}while(channel_history_ok == true && d_max_noutputs>n_outputs);
|
||||
|
||||
//Multi-rate consume!
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
consume(i, n_consume[i]); //which input, how many items
|
||||
}
|
||||
|
||||
return n_outputs;
|
||||
return n_outputs;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -52,26 +52,26 @@ hybrid_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_
|
|||
class hybrid_observables_cc : public gr::block
|
||||
{
|
||||
public:
|
||||
~hybrid_observables_cc ();
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
~hybrid_observables_cc ();
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
private:
|
||||
friend hybrid_observables_cc_sptr
|
||||
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
|
||||
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
|
||||
friend hybrid_observables_cc_sptr
|
||||
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
|
||||
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
|
||||
|
||||
//Tracking observable history
|
||||
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue;
|
||||
//Tracking observable history
|
||||
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue;
|
||||
|
||||
double T_rx_s;
|
||||
double T_rx_step_s;
|
||||
int d_max_noutputs;
|
||||
bool d_dump;
|
||||
unsigned int d_nchannels;
|
||||
unsigned int history_deep;
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
double T_rx_s;
|
||||
double T_rx_step_s;
|
||||
int d_max_noutputs;
|
||||
bool d_dump;
|
||||
unsigned int d_nchannels;
|
||||
unsigned int history_deep;
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -237,7 +237,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
|
|||
if (d_stat == 1)
|
||||
{
|
||||
preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
|
||||
if (preamble_diff_ms > GPS_SUBFRAME_MS+1)
|
||||
if (preamble_diff_ms > GPS_SUBFRAME_MS + 1)
|
||||
{
|
||||
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
|
||||
d_stat = 0; //lost of frame sync
|
||||
|
|
@ -344,16 +344,16 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
|
|||
}
|
||||
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_flag_new_tow_available==true)
|
||||
if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
|
||||
{
|
||||
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
|
||||
// /(double)current_symbol.fs;
|
||||
// update TOW at the preamble instant (account with decoder latency)
|
||||
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2*GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
|
||||
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
|
||||
|
||||
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble*1000.0)/1000.0;
|
||||
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
|
||||
flag_TOW_set = true;
|
||||
d_flag_new_tow_available=false;
|
||||
d_flag_new_tow_available = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user