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glonass_rinex: Fixes bugs in RINEX files for GLONASS processing

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Fixes bugs with observation and navigation header time logs. It forces
the log to be in UTC time as the dault when in GLONASS.
This commit is contained in:
Damian Miralles 2017-12-25 17:05:35 -07:00
parent f85887ee10
commit ad07c8940b
4 changed files with 156 additions and 113 deletions
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8
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -843,7 +843,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }
@ -852,8 +852,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::string signal("2G"); std::string signal("2G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }
@ -863,7 +863,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal); rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac); rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }

159
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -143,6 +143,7 @@ Rinex_Printer::Rinex_Printer(int conf_version)
observationType["DOPPLER_v2"] = "D"; observationType["DOPPLER_v2"] = "D";
observationType["SIGNAL_STRENGTH_v2"] = "S"; observationType["SIGNAL_STRENGTH_v2"] = "S";
observationCode["GPS_L1_CA_v2"] = "1"; observationCode["GPS_L1_CA_v2"] = "1";
observationCode["GLONASS_G1_CA_v2"] = "1";
if ( FLAGS_RINEX_version.compare("3.01") == 0 ) if ( FLAGS_RINEX_version.compare("3.01") == 0 )
{ {
@ -415,9 +416,8 @@ std::string Rinex_Printer::getLocalTime()
} }
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac) void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
{ {
if(glonass_gnav_almanac.i_satellite_freq_channel){}
std::string line; std::string line;
// -------- Line 1 // -------- Line 1
@ -464,44 +464,53 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
out << line << std::endl; out << line << std::endl;
// -------- Line system time correction // -------- Line system time correction
line.clear(); if (version == 3)
line += std::string("GLUT"); {
line += std::string(1, ' '); line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17); line += std::string("GLUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16); line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 17);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
line += std::string(10, ' '); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
Rinex_Printer::lengthCheck(line); line += std::string(10, ' ');
out << line << std::endl; line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line system time correction 2 // -------- Line system time correction 2
line.clear(); line.clear();
line += std::string("GLGP"); line += std::string("GLGP");
line += std::string(1, ' '); line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_gps, 16, 2), 17);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(0.0, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 5);
line += std::string(10, ' '); line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
}
if (version == 2)
{
// Set reference time and its clock corrections
boost::posix_time::ptime p_utc_ref_time = glonass_gnav_eph.glot_to_utc(glonass_gnav_eph.d_t_b, 0.0);
std::string timestring = boost::posix_time::to_iso_string(p_utc_ref_time);
std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
line.clear();
// -------- Line 6 leap seconds line += Rinex_Printer::rightJustify(year, 6);
// For leap second information, see http://www.endruntechnologies.com/leap.htm line += Rinex_Printer::rightJustify(month, 6);
line.clear(); line += Rinex_Printer::rightJustify(day, 6);
// TODO hOW TO MAKE THIS IN GLONASS, the leap second is internally given line += std::string(3, ' ');
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6); line += std::string(20, ' ');
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6); line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0.0), 6); Rinex_Printer::lengthCheck(line);
line += std::string(36, ' '); out << line << std::endl;
line += Rinex_Printer::leftJustify("LEAP SECONDS", 20); }
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- End of Header // -------- End of Header
line.clear(); line.clear();
@ -511,7 +520,6 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac) void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
{ {
if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@ -1391,6 +1399,7 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
} }
void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac) void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
{ {
if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
@ -2144,6 +2153,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
} }
void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map) void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
{ {
std::string line; std::string line;
@ -2827,7 +2837,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
glonass_gnav_ephemeris_iter++) glonass_gnav_ephemeris_iter++)
{ {
// -------- SV / EPOCH / SV CLK // -------- SV / EPOCH / SV CLK
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GLONASS_time(glonass_gnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second.d_t_k); boost::posix_time::ptime p_utc_time = glonass_gnav_ephemeris_iter->second.glot_to_utc(glonass_gnav_ephemeris_iter->second.d_t_b, 0.0);
std::string timestring = boost::posix_time::to_iso_string(p_utc_time); std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
@ -3017,7 +3027,6 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Glonass_
} }
} }
void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map) void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
{ {
version = 3; version = 3;
@ -3045,6 +3054,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
} }
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string glonass_bands) void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string glonass_bands)
{ {
if(eph.d_m){} //Avoid compiler warning if(eph.d_m){} //Avoid compiler warning
@ -3295,16 +3305,17 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
} }
// -------- TIME OF FIRST OBS // -------- TIME OF FIRST OBS
line.clear(); boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_UTC_time(eph,d_TOW_first_observation);
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GLONASS_time(eph,d_TOW_first_observation); std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
std::string year (timestring, 0, 4); std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2); std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2); std::string minutes (timestring, 11, 2);
double gps_t = d_TOW_first_observation; double intpart = 0;
double seconds = fmod(gps_t, 60); double seconds = p_utc_time.time_of_day().seconds() + modf (d_TOW_first_observation , &intpart);
line.clear();
line += Rinex_Printer::rightJustify(year, 6); line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6); line += Rinex_Printer::rightJustify(month, 6);
line += Rinex_Printer::rightJustify(day, 6); line += Rinex_Printer::rightJustify(day, 6);
@ -4211,7 +4222,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation) void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation)
{ {
std::string line; std::string line;
@ -5197,6 +5207,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
} }
void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model) void Rinex_Printer::update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model)
{ {
if(utc_model.d_N_4) if(utc_model.d_N_4)
@ -5408,6 +5419,7 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Galileo_Utc_Model
} }
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables, const std::string glonass_band) void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& observables, const std::string glonass_band)
{ {
// RINEX observations timestamps are GPS timestamps. // RINEX observations timestamps are GPS timestamps.
@ -5416,7 +5428,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
// Avoid compiler warning // Avoid compiler warning
if(glonass_band.size()){} if(glonass_band.size()){}
boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_GLONASS_time(eph, obs_time); boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_UTC_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_glonass_time); std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time)); //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time); //double gps_t = eph.sv_clock_correction(obs_time);
@ -5499,7 +5511,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
std::string lineObs; std::string lineObs;
lineObs.clear(); lineObs.clear();
line.clear(); line.clear();
// GPS L1 PSEUDORANGE // GLONASS L1 PSEUDORANGE
line += std::string(2, ' '); line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
@ -5517,8 +5529,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
// Signal Strength Indicator (SSI) // Signal Strength Indicator (SSI)
int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz); int ssi = Rinex_Printer::signalStrength(observables_iter->second.CN0_dB_hz);
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS L1 CA PHASE // GLONASS L1 CA PHASE
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_phase_rads/GLONASS_TWO_PI, 3), 14);
if (lli == 0) if (lli == 0)
{ {
lineObs += std::string(1, ' '); lineObs += std::string(1, ' ');
@ -5528,7 +5540,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
} }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS L1 CA DOPPLER // GLONASS L1 CA DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Carrier_Doppler_hz, 3), 14);
if (lli == 0) if (lli == 0)
{ {
@ -5539,7 +5551,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
} }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
//GPS L1 SIGNAL STRENGTH //GLONASS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' '); if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl; out << lineObs << std::endl;
@ -5653,9 +5665,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
} }
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& observables) void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& observables)
{ {
if(glonass_gnav_eph.d_m){} // avoid warning, not needed if(glonass_gnav_eph.d_m){} // avoid warning, not needed
@ -7171,6 +7180,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
} }
void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second) void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second)
{ {
// represents GPS time (week, TOW) in the date time format of the Gregorian calendar. // represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
@ -7381,11 +7391,42 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
} }
boost::posix_time::ptime Rinex_Printer::compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time) boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time)
{ {
boost::posix_time::ptime p_time = eph.compute_GLONASS_time(obs_time); double tod = 0.0;
return p_time; double glot2utc = 3*3600;
double obs_time_utc = 0.0, obs_time_glot = 0.0;
int i = 0;
// GLONASST already includes leap second addition or deletion
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{
if (eph.d_yr >= GLONASS_LEAP_SECONDS[i][0])
{
// We substract the leap second when going from gpst to utc
obs_time_utc = obs_time - fabs(GLONASS_LEAP_SECONDS[i][6]);
break;
}
}
// Get observation time in GLONASS time
obs_time_glot = obs_time_utc + glot2utc;
// Get seconds of day in glonass time
tod = fmod (obs_time_glot, 86400);
// Form date and time duration types
boost::posix_time::time_duration t1(0, 0, tod);
boost::gregorian::date d1(eph.d_yr, 1, 1);
boost::gregorian::days d2(eph.d_N_T-1);
boost::posix_time::ptime glo_time(d1 + d2, t1);
// Convert to utc
boost::posix_time::time_duration t2(0, 0, glot2utc);
boost::posix_time::ptime utc_time = glo_time - t2;
return utc_time;
} }
/* /*
enum RINEX_enumMarkerType { enum RINEX_enumMarkerType {

12
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -116,7 +116,7 @@ public:
/*! /*!
* \brief Generates the GLONASS L1, L2 C/A Navigation Data header * \brief Generates the GLONASS L1, L2 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header * \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
@ -194,9 +194,13 @@ public:
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time);
/*! /*!
* \brief Computes the GLONASS System Time and returns a boost::posix_time::ptime object * \brief Computes the UTC Time and returns a boost::posix_time::ptime object
*/ * \details Function used as a method to convert the observation time into UTC time which is used
boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time); * as the default time for RINEX files
* \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week
*/
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time);
/*! /*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file * \brief Writes data from the GPS L1 C/A navigation message into the RINEX file

90
src/core/system_parameters/glonass_gnav_ephemeris.cc
View File

@ -82,7 +82,6 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
d_tod = 0.0; d_tod = 0.0;
} }
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
{ {
boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n); boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n);
@ -93,68 +92,67 @@ boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const doub
return glonass_time; return glonass_time;
} }
boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const
{ {
double tod = 0.0; double tod = 0.0;
double glot2utc = 3*3600; double glot2utc = 3*3600;
tod = offset_time - glot2utc + glot2utc_corr + d_tau_n; tod = offset_time - glot2utc + glot2utc_corr + d_tau_n;
boost::posix_time::time_duration t(0, 0, tod); boost::posix_time::time_duration t(0, 0, tod);
boost::gregorian::date d1(d_yr, 1, 1); boost::gregorian::date d1(d_yr, 1, 1);
boost::gregorian::days d2(d_N_T - 1); boost::gregorian::days d2(d_N_T - 1);
boost::posix_time::ptime utc_time(d1+d2, t); boost::posix_time::ptime utc_time(d1+d2, t);
return utc_time; return utc_time;
} }
void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const
{ {
double tod = 0.0; double tod = 0.0;
double glot2utc = 3*3600; double glot2utc = 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;
boost::gregorian::date gps_epoch { 1980, 1, 6 }; boost::gregorian::date gps_epoch { 1980, 1, 6 };
// 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 - glot2utc ; tod = tod_offset - glot2utc ;
boost::posix_time::time_duration t(0, 0, tod); boost::posix_time::time_duration t(0, 0, tod);
boost::gregorian::date d1(d_yr, 1, 1); boost::gregorian::date d1(d_yr, 1, 1);
boost::gregorian::days d2(d_N_T-1); boost::gregorian::days d2(d_N_T-1);
boost::posix_time::ptime glonass_time(d1+d2, t); boost::posix_time::ptime glonass_time(d1+d2, t);
boost::gregorian::date utc_date = glonass_time.date(); boost::gregorian::date utc_date = glonass_time.date();
// Total number of days // Total number of days
std::string fdat = boost::posix_time::to_simple_string(glonass_time); std::string fdat = boost::posix_time::to_simple_string(glonass_time);
days = static_cast<double>((utc_date - gps_epoch).days()); days = static_cast<double>((utc_date - gps_epoch).days());
// Total number of seconds // Total number of seconds
sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds()); sec_of_day = static_cast<double>((glonass_time.time_of_day()).total_seconds());
total_sec = days*86400 + sec_of_day; total_sec = days*86400 + sec_of_day;
// GLONASST already includes leap second addition or deletion // GLONASST already includes leap second addition or deletion
for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++) for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++)
{ {
if (d_yr >= GLONASS_LEAP_SECONDS[i][0]) if (d_yr >= GLONASS_LEAP_SECONDS[i][0])
{ {
// We add the leap second when going from utc to gpst // We add the leap second when going from utc to gpst
total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]); total_sec += fabs(GLONASS_LEAP_SECONDS[i][6]);
break; break;
} }
} }
// Compute Week number // Compute Week number
*wn = floor(total_sec/604800); *wn = floor(total_sec/604800);
// Compute the arithmetic modules to wrap around range // Compute the arithmetic modules to wrap around range
*tow = total_sec - 604800*floor(total_sec/604800); *tow = total_sec - 604800*floor(total_sec/604800);
// Perform corrections from fractional seconds // Perform corrections from fractional seconds
*tow += glot2utc_corr + glot2gpst_corr; *tow += glot2utc_corr + glot2gpst_corr;
} }