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Adding global configuration option to specify a custom year in order to postprocess old GNSS captures and avoid wrong week rollover

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This commit is contained in:
Javier
2019-09-13 16:36:41 +02:00
parent e80122f4ff
commit ad51654fbf
15 changed files with 105 additions and 56 deletions
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3
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -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));

3
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -467,18 +467,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// user PVT solver
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(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<Rtklib_Solver>(static_cast<int32_t>(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<Rtklib_Solver>(static_cast<int32_t>(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;
}

2
src/algorithms/PVT/libs/pvt_conf.cc
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@@ -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;
}

1
src/algorithms/PVT/libs/pvt_conf.h
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@@ -91,6 +91,7 @@ public:
bool enable_rx_clock_correction;
bool show_local_time_zone;
int custom_year;
Pvt_Conf();
};

6
src/algorithms/PVT/libs/pvt_solution.cc
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@@ -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;
}

4
src/algorithms/PVT/libs/pvt_solution.h
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@@ -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]

55
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -496,13 +496,14 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
@@ -544,7 +546,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
@@ -620,7 +624,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &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<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == static_cast<int>(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<int, Gnss_Synchro> &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<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
@@ -667,7 +673,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &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<int, Gnss_Synchro> &gnss_observables_
tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char *>(&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<char *>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time;