diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc index 603dd3b6a..35f0512fd 100644 --- a/src/algorithms/PVT/adapters/rtklib_pvt.cc +++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc @@ -68,6 +68,9 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration, pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true); + //OPTIONAL: specify a custom year to override the system time in order to postprocess old gnss records and avoid wrong week rollover + pvt_output_parameters.custom_year = configuration->property("GNSS-SDR.custom_year", 0); + // output rate pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500)); diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc index aeb6734e4..5c7e4465a 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc @@ -467,18 +467,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels, // user PVT solver d_user_pvt_solver = std::make_shared(static_cast(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk); d_user_pvt_solver->set_averaging_depth(1); + d_user_pvt_solver->set_custom_year(conf_.custom_year); // internal PVT solver, mainly used to estimate the receiver clock rtk_t internal_rtk = rtk; internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver d_internal_pvt_solver = std::make_shared(static_cast(nchannels), dump_ls_pvt_filename, false, false, internal_rtk); d_internal_pvt_solver->set_averaging_depth(1); + d_internal_pvt_solver->set_custom_year(conf_.custom_year); } else { // only one solver, customized by the user options d_internal_pvt_solver = std::make_shared(static_cast(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk); d_internal_pvt_solver->set_averaging_depth(1); + d_internal_pvt_solver->set_custom_year(conf_.custom_year); d_user_pvt_solver = d_internal_pvt_solver; } diff --git a/src/algorithms/PVT/libs/pvt_conf.cc b/src/algorithms/PVT/libs/pvt_conf.cc index d2d144cb3..42c596bba 100644 --- a/src/algorithms/PVT/libs/pvt_conf.cc +++ b/src/algorithms/PVT/libs/pvt_conf.cc @@ -76,6 +76,6 @@ Pvt_Conf::Pvt_Conf() monitor_enabled = false; protobuf_enabled = true; udp_port = 0; - + custom_year = 0; show_local_time_zone = false; } diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h index ea67a178f..ad79fd2e6 100644 --- a/src/algorithms/PVT/libs/pvt_conf.h +++ b/src/algorithms/PVT/libs/pvt_conf.h @@ -91,6 +91,7 @@ public: bool enable_rx_clock_correction; bool show_local_time_zone; + int custom_year; Pvt_Conf(); }; diff --git a/src/algorithms/PVT/libs/pvt_solution.cc b/src/algorithms/PVT/libs/pvt_solution.cc index b61f985e7..ef53a9a44 100644 --- a/src/algorithms/PVT/libs/pvt_solution.cc +++ b/src/algorithms/PVT/libs/pvt_solution.cc @@ -53,6 +53,7 @@ Pvt_Solution::Pvt_Solution() d_valid_observations = 0; d_rx_pos = arma::zeros(3, 1); d_rx_dt_s = 0.0; + d_custom_year = 0; //disabled by default } @@ -431,3 +432,8 @@ void Pvt_Solution::set_num_valid_observations(int num) { d_valid_observations = num; } + +void Pvt_Solution::set_custom_year(int custom_year) +{ + d_custom_year = custom_year; +} diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h index df98835d0..2ece97903 100644 --- a/src/algorithms/PVT/libs/pvt_solution.h +++ b/src/algorithms/PVT/libs/pvt_solution.h @@ -49,7 +49,7 @@ class Pvt_Solution { public: Pvt_Solution(); - + void set_custom_year(int custom_year); //!< Set a custom year for the week rollover computation instead of using the system clock, useful in post processing mode double get_time_offset_s() const; //!< Get RX time offset [s] void set_time_offset_s(double offset); //!< Set RX time offset [s] @@ -129,6 +129,8 @@ public: */ int tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km); +protected: + int d_custom_year; //custom year to guess the correct week rollover in post processing mode private: double d_rx_dt_s; // RX time offset [s] diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index a6183d854..61085af33 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -496,13 +496,14 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure - eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); + eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second, d_custom_year); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5, - 0); + 0, + d_custom_year); valid_obs++; } else // the ephemeris are not available for this SV @@ -526,7 +527,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5, - 2); // Band 3 (L5/E5) + 2, // Band 3 (L5/E5) + d_custom_year); found_E1_obs = true; break; } @@ -535,7 +537,7 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ { // insert Galileo E5 obs as new obs and also insert its ephemeris // convert ephemeris from GNSS-SDR class to RTKLIB structure - eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); + eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second, d_custom_year); // convert observation from GNSS-SDR class to RTKLIB structure auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, @@ -544,7 +546,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5, - 2); // Band 3 (L5/E5) + 2, // Band 3 (L5/E5) + d_custom_year); valid_obs++; } } @@ -566,13 +569,14 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ if (gps_ephemeris_iter != gps_ephemeris_map.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure - eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second); + eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, d_custom_year); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_ephemeris_iter->second.i_GPS_week, - 0); + 0, + d_custom_year); valid_obs++; } else // the ephemeris are not available for this SV @@ -611,7 +615,7 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ { // 3. If not found, insert the GPS L2 ephemeris and the observation // convert ephemeris from GNSS-SDR class to RTKLIB structure - eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); + eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second, d_custom_year); // convert observation from GNSS-SDR class to RTKLIB structure auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, @@ -620,7 +624,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, - 1); // Band 2 (L2) + 1, // Band 2 (L2) + d_custom_year); valid_obs++; } } @@ -645,11 +650,12 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ { if (eph_data[i].sat == static_cast(gnss_observables_iter->second.PRN)) { - eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); + eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second, d_custom_year); obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i], gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, - 2); // Band 3 (L5) + 2, // Band 3 (L5) + d_custom_year); break; } } @@ -658,7 +664,7 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ { // 3. If not found, insert the GPS L5 ephemeris and the observation // convert ephemeris from GNSS-SDR class to RTKLIB structure - eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); + eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second, d_custom_year); // convert observation from GNSS-SDR class to RTKLIB structure auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, @@ -667,7 +673,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, - 2); // Band 3 (L5) + 2, // Band 3 (L5) + d_custom_year); valid_obs++; } } @@ -695,7 +702,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, - 0); // Band 0 (L1) + 0, // Band 0 (L1) + d_custom_year); glo_valid_obs++; } else // the ephemeris are not available for this SV @@ -718,7 +726,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs], gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, - 1); // Band 1 (L2) + 1, // Band 1 (L2) + d_custom_year); found_L1_obs = true; break; } @@ -733,7 +742,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, - 1); // Band 1 (L2) + 1, // Band 1 (L2) + d_custom_year); glo_valid_obs++; } } @@ -761,7 +771,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, - 0); + 0, + d_custom_year); valid_obs++; } else // the ephemeris are not available for this SV @@ -783,7 +794,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, - 2); // Band 3 (L2/G2/B3) + 2, // Band 3 (L2/G2/B3) + d_custom_year); found_B1I_obs = true; break; } @@ -801,7 +813,8 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, - 2); // Band 2 (L2/G2) + 2, // Band 2 (L2/G2) + d_custom_year); valid_obs++; } } @@ -1025,7 +1038,7 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ // TOW monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms; // WEEK - monitor_pvt.week = adjgpsweek(nav_data.eph[0].week); + monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, d_custom_year); // PVT GPS time monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time; // User clock offset [s] @@ -1083,7 +1096,7 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms; d_dump_file.write(reinterpret_cast(&tmp_uint32), sizeof(uint32_t)); // WEEK - tmp_uint32 = adjgpsweek(nav_data.eph[0].week); + tmp_uint32 = adjgpsweek(nav_data.eph[0].week, d_custom_year); d_dump_file.write(reinterpret_cast(&tmp_uint32), sizeof(uint32_t)); // PVT GPS time tmp_double = gnss_observables_map.begin()->second.RX_time; diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc index f26bbd8dd..e58c70db7 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.cc +++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc @@ -45,7 +45,7 @@ #include #include -obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band) +obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band, int custom_year) { // Get signal type info to adjust code type based on constellation std::string sig_ = gnss_synchro.Signal; @@ -118,7 +118,7 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro // rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); // } // - rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); + rtklib_obs.time = gpst2time(adjgpsweek(week, custom_year), gnss_synchro.RX_time); // account for the TOW crossover transitory in the first 18 seconds where the week is not yet updated! if (gnss_synchro.RX_time < 18.0) { @@ -158,19 +158,19 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glona // Time expressed in GPS Time but using RTKLib format glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec); - adj_week = adjgpsweek(static_cast(week)); + adj_week = adjgpsweek(static_cast(week), 0); rtklib_sat.toe = gpst2time(adj_week, sec); // Time expressed in GPS Time but using RTKLib format glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec); - adj_week = adjgpsweek(static_cast(week)); + adj_week = adjgpsweek(static_cast(week), 0); rtklib_sat.tof = gpst2time(adj_week, sec); return rtklib_sat; } -eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph) +eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph, int custom_year) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0}; @@ -188,7 +188,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph) rtklib_sat.Adot = 0; // only in CNAV; rtklib_sat.ndot = 0; // only in CNAV; - rtklib_sat.week = adjgpsweek(gal_eph.WN_5); /* week of tow */ + rtklib_sat.week = adjgpsweek(gal_eph.WN_5, custom_year); /* week of tow */ rtklib_sat.cic = gal_eph.C_ic_4; rtklib_sat.cis = gal_eph.C_is_4; rtklib_sat.cuc = gal_eph.C_uc_3; @@ -229,7 +229,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph) } -eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph) +eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, int custom_year) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0}; @@ -246,7 +246,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph) rtklib_sat.Adot = 0; // only in CNAV; rtklib_sat.ndot = 0; // only in CNAV; - rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week); /* week of tow */ + rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week, custom_year); /* week of tow */ rtklib_sat.cic = gps_eph.d_Cic; rtklib_sat.cis = gps_eph.d_Cis; rtklib_sat.cuc = gps_eph.d_Cuc; @@ -356,7 +356,7 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) } -eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph) +eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph, int custom_year) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0}; @@ -377,7 +377,7 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph) rtklib_sat.Adot = gps_cnav_eph.d_A_DOT; // only in CNAV; rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N; // only in CNAV; - rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */ + rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week, custom_year); /* week of tow */ rtklib_sat.cic = gps_cnav_eph.d_Cic; rtklib_sat.cis = gps_cnav_eph.d_Cis; rtklib_sat.cuc = gps_cnav_eph.d_Cuc; diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h index 47cc6c5bb..6621b6ae9 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.h +++ b/src/algorithms/libs/rtklib/rtklib_conversions.h @@ -43,9 +43,9 @@ class Gps_Almanac; class Gps_CNAV_Ephemeris; class Gps_Ephemeris; -eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph); -eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph); -eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph); +eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph, int custom_year); +eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, int custom_year); +eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph, int custom_year); eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph); alm_t alm_to_rtklib(const Gps_Almanac& gps_alm); @@ -58,6 +58,6 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm); */ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& gnav_clock_model); -obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band); +obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band, int custom_year); #endif /* GNSS_SDR_RTKLIB_CONVERSIONS_H_ */ diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc index 7bab22997..4eefac11e 100644 --- a/src/algorithms/libs/rtklib/rtklib_rtcm2.cc +++ b/src/algorithms/libs/rtklib/rtklib_rtcm2.cc @@ -192,7 +192,7 @@ int decode_type3(rtcm_t *rtcm) /* decode type 14: gps time of week ------------------------------------------*/ -int decode_type14(rtcm_t *rtcm) +int decode_type14(rtcm_t *rtcm, int custom_year) { double zcnt; int i = 48; @@ -216,7 +216,7 @@ int decode_type14(rtcm_t *rtcm) trace(2, "rtcm2 14 length error: len=%d\n", rtcm->len); return -1; } - week = adjgpsweek(week); + week = adjgpsweek(week, custom_year); rtcm->time = gpst2time(week, hour * 3600.0 + zcnt * 0.6); rtcm->nav.leaps = leaps; return 6; @@ -244,7 +244,7 @@ int decode_type16(rtcm_t *rtcm) /* decode type 17: gps ephemerides -------------------------------------------*/ -int decode_type17(rtcm_t *rtcm) +int decode_type17(rtcm_t *rtcm, int custom_year) { eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -329,7 +329,7 @@ int decode_type17(rtcm_t *rtcm) } sat = satno(SYS_GPS, prn); eph.sat = sat; - eph.week = adjgpsweek(week); + eph.week = adjgpsweek(week, custom_year); eph.toe = gpst2time(eph.week, eph.toes); eph.toc = gpst2time(eph.week, toc); eph.ttr = rtcm->time; diff --git a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc index 62db7d8ae..623e0d618 100644 --- a/src/algorithms/libs/rtklib/rtklib_rtcm3.cc +++ b/src/algorithms/libs/rtklib/rtklib_rtcm3.cc @@ -1036,7 +1036,7 @@ int decode_type1013(rtcm_t *rtcm __attribute__((unused))) /* decode type 1019: gps ephemerides -----------------------------------------*/ -int decode_type1019(rtcm_t *rtcm) +int decode_type1019(rtcm_t *rtcm, int custom_year) { eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -1136,7 +1136,7 @@ int decode_type1019(rtcm_t *rtcm) return -1; } eph.sat = sat; - eph.week = adjgpsweek(week); + eph.week = adjgpsweek(week, custom_year); eph.toe = gpst2time(eph.week, eph.toes); eph.toc = gpst2time(eph.week, toc); eph.ttr = rtcm->time; @@ -1535,7 +1535,7 @@ int decode_type1039(rtcm_t *rtcm __attribute__((unused))) /* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/ -int decode_type1044(rtcm_t *rtcm) +int decode_type1044(rtcm_t *rtcm, int custom_year) { eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -1628,7 +1628,7 @@ int decode_type1044(rtcm_t *rtcm) return -1; } eph.sat = sat; - eph.week = adjgpsweek(week); + eph.week = adjgpsweek(week, custom_year); eph.toe = gpst2time(eph.week, eph.toes); eph.toc = gpst2time(eph.week, toc); eph.ttr = rtcm->time; diff --git a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc index 549e9079b..8df33a3d3 100644 --- a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc +++ b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc @@ -2114,27 +2114,45 @@ double time2doy(gtime_t t) * args : int week I not-adjusted gps week number * return : adjusted gps week number *-----------------------------------------------------------------------------*/ -int adjgpsweek(int week) +int adjgpsweek(int week, int custom_year) { // int w; // if (week < 512) // { // //assume receiver date > 7 april 2019 - // w = week + 2048; //add weeks from 6-january-1980 to week rollover in 7 april 2019 + // w = week + 2048; //add weeks from 6-january-1980 to week rollover in 6 april 2019 // } // else // { // //assume receiver date < 7 april 2019 - // w = week + 1024; //add weeks from 6-january-1980 to week rollover in 22 august 2019 + // w = week + 1024; //add weeks from 6-january-1980 to week rollover in 21 august 1999 // } int w; - (void)time2gpst(utc2gpst(timeget()), &w); - if (w < 1560) + if (custom_year == 0) { - w = 1560; /* use 2009/12/1 if time is earlier than 2009/12/1 */ + (void)time2gpst(utc2gpst(timeget()), &w); + if (w < 1560) + { + w = 1560; /* use 2009/12/1 if time is earlier than 2009/12/1 */ + } + return week + (w - week + 512) / 1024 * 1024; + } + else + { + if (custom_year >= 2019) + { + w = week + 2048; //add weeks from 6-january-1980 to week rollover in 6 april 2019 + } + else if (custom_year < 2019 and custom_year >= 1999) + { + w = week + 1024; //add weeks from 6-january-1980 to week rollover in 21 august 1999 + } + else + { + w = week; //no rollover + } + return w; } - return week + (w - week + 512) / 1024 * 1024; - // return w; } diff --git a/src/algorithms/libs/rtklib/rtklib_rtkcmn.h b/src/algorithms/libs/rtklib/rtklib_rtkcmn.h index 1e622269c..9eb64207a 100644 --- a/src/algorithms/libs/rtklib/rtklib_rtkcmn.h +++ b/src/algorithms/libs/rtklib/rtklib_rtkcmn.h @@ -189,7 +189,7 @@ double utc2gmst(gtime_t t, double ut1_utc); void time2str(gtime_t t, char *s, int n); char *time_str(gtime_t t, int n); double time2doy(gtime_t t); -int adjgpsweek(int week); +int adjgpsweek(int week, int custom_year); unsigned int tickget(); void sleepms(int ms); void deg2dms(double deg, double *dms, int ndec); diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc index 9cb34f999..86f5903a0 100644 --- a/src/core/receiver/control_thread.cc +++ b/src/core/receiver/control_thread.cc @@ -116,6 +116,8 @@ ControlThread::ControlThread(const std::shared_ptr &conf void ControlThread::init() { + //OPTIONAL: specify a custom year to override the system time in order to postprocess old gnss records and avoid wrong week rollover + custom_year_ = configuration_->property("GNSS-SDR.custom_year", 0); // Instantiates a control queue, a GNSS flowgraph, and a control message factory control_queue_ = std::make_shared>(); cmd_interface_.set_msg_queue(control_queue_); // set also the queue pointer for the telecommand thread @@ -942,7 +944,7 @@ std::vector> ControlThread::get_visible_sats(time std::map gps_eph_map = pvt_ptr->get_gps_ephemeris(); for (auto &it : gps_eph_map) { - eph_t rtklib_eph = eph_to_rtklib(it.second); + eph_t rtklib_eph = eph_to_rtklib(it.second, custom_year_); std::array r_sat{}; double clock_bias_s; double sat_pos_variance_m2; @@ -967,7 +969,7 @@ std::vector> ControlThread::get_visible_sats(time std::map gal_eph_map = pvt_ptr->get_galileo_ephemeris(); for (auto &it : gal_eph_map) { - eph_t rtklib_eph = eph_to_rtklib(it.second); + eph_t rtklib_eph = eph_to_rtklib(it.second, custom_year_); std::array r_sat{}; double clock_bias_s; double sat_pos_variance_m2; diff --git a/src/core/receiver/control_thread.h b/src/core/receiver/control_thread.h index 6e1f2ab2f..1069d0b0c 100644 --- a/src/core/receiver/control_thread.h +++ b/src/core/receiver/control_thread.h @@ -171,6 +171,7 @@ private: std::shared_ptr flowgraph_; std::shared_ptr configuration_; std::shared_ptr> control_queue_; + int custom_year_; //to override the system time to postprocess old gnss records and avoid wrong week rollover bool stop_; bool restart_; bool delete_configuration_;