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Code Issues Releases Wiki Activity

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_filename = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true); 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 // output rate
pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500)); 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 // 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 = 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_averaging_depth(1);
d_user_pvt_solver->set_custom_year(conf_.custom_year);
// internal PVT solver, mainly used to estimate the receiver clock // internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk; rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver 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 = 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_averaging_depth(1);
d_internal_pvt_solver->set_custom_year(conf_.custom_year);
} }
else else
{ {
// only one solver, customized by the user options // 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 = 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_averaging_depth(1);
d_internal_pvt_solver->set_custom_year(conf_.custom_year);
d_user_pvt_solver = d_internal_pvt_solver; 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; monitor_enabled = false;
protobuf_enabled = true; protobuf_enabled = true;
udp_port = 0; udp_port = 0;
custom_year = 0;
show_local_time_zone = false; 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 enable_rx_clock_correction;
bool show_local_time_zone; bool show_local_time_zone;
int custom_year;
Pvt_Conf(); 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_valid_observations = 0;
d_rx_pos = arma::zeros(3, 1); d_rx_pos = arma::zeros(3, 1);
d_rx_dt_s = 0.0; 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; 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: public:
Pvt_Solution(); 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] double get_time_offset_s() const; //!< Get RX time offset [s]
void set_time_offset_s(double offset); //!< Set 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); 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: private:
double d_rx_dt_s; // RX time offset [s] 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()) if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{ {
// convert ephemeris from GNSS-SDR class to RTKLIB structure // 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 // convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
0); 0,
d_custom_year);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV 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], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); // Band 3 (L5/E5) 2, // Band 3 (L5/E5)
d_custom_year);
found_E1_obs = true; found_E1_obs = true;
break; 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 // insert Galileo E5 obs as new obs and also insert its ephemeris
// convert ephemeris from GNSS-SDR class to RTKLIB structure // 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 // convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE); auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); // Band 3 (L5/E5) 2, // Band 3 (L5/E5)
d_custom_year);
valid_obs++; 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()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{ {
// convert ephemeris from GNSS-SDR class to RTKLIB structure // 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 // convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week, gps_ephemeris_iter->second.i_GPS_week,
0); 0,
d_custom_year);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV 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 // 3. If not found, insert the GPS L2 ephemeris and the observation
// convert ephemeris from GNSS-SDR class to RTKLIB structure // 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 // convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE); auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1); // Band 2 (L2) 1, // Band 2 (L2)
d_custom_year);
valid_obs++; 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)) 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], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2); // Band 3 (L5) 2, // Band 3 (L5)
d_custom_year);
break; 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 // 3. If not found, insert the GPS L5 ephemeris and the observation
// convert ephemeris from GNSS-SDR class to RTKLIB structure // 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 // convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE); auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2); // Band 3 (L5) 2, // Band 3 (L5)
d_custom_year);
valid_obs++; 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1) 0, // Band 0 (L1)
d_custom_year);
glo_valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV 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], obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2) 1, // Band 1 (L2)
d_custom_year);
found_L1_obs = true; found_L1_obs = true;
break; 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2) 1, // Band 1 (L2)
d_custom_year);
glo_valid_obs++; 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0); 0,
d_custom_year);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV 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], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, 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; found_B1I_obs = true;
break; 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, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, 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++; valid_obs++;
} }
} }
@@ -1025,7 +1038,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// TOW // TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms; monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
// WEEK // 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 // PVT GPS time
monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time; monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time;
// User clock offset [s] // 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; tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t)); d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// WEEK // 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)); d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time // PVT GPS time
tmp_double = gnss_observables_map.begin()->second.RX_time; tmp_double = gnss_observables_map.begin()->second.RX_time;

20
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -45,7 +45,7 @@
#include <cstdint> #include <cstdint>
#include <string> #include <string>
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 // Get signal type info to adjust code type based on constellation
std::string sig_ = gnss_synchro.Signal; 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), 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! // 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) 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 // 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); 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<int>(week)); adj_week = adjgpsweek(static_cast<int>(week), 0);
rtklib_sat.toe = gpst2time(adj_week, sec); rtklib_sat.toe = gpst2time(adj_week, sec);
// Time expressed in GPS Time but using RTKLib format // 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); 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<int>(week)); adj_week = adjgpsweek(static_cast<int>(week), 0);
rtklib_sat.tof = gpst2time(adj_week, sec); rtklib_sat.tof = gpst2time(adj_week, sec);
return rtklib_sat; 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, 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}; 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.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 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.cic = gal_eph.C_ic_4;
rtklib_sat.cis = gal_eph.C_is_4; rtklib_sat.cis = gal_eph.C_is_4;
rtklib_sat.cuc = gal_eph.C_uc_3; 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, 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}; 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.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 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.cic = gps_eph.d_Cic;
rtklib_sat.cis = gps_eph.d_Cis; rtklib_sat.cis = gps_eph.d_Cis;
rtklib_sat.cuc = gps_eph.d_Cuc; 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, 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}; 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.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.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.cic = gps_cnav_eph.d_Cic;
rtklib_sat.cis = gps_cnav_eph.d_Cis; rtklib_sat.cis = gps_cnav_eph.d_Cis;
rtklib_sat.cuc = gps_cnav_eph.d_Cuc; rtklib_sat.cuc = gps_cnav_eph.d_Cuc;

8
src/algorithms/libs/rtklib/rtklib_conversions.h
View File

@@ -43,9 +43,9 @@ class Gps_Almanac;
class Gps_CNAV_Ephemeris; class Gps_CNAV_Ephemeris;
class Gps_Ephemeris; class Gps_Ephemeris;
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 eph_to_rtklib(const Gps_Ephemeris& gps_eph); 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); 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); eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph);
alm_t alm_to_rtklib(const Gps_Almanac& gps_alm); 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); 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_ */ #endif /* GNSS_SDR_RTKLIB_CONVERSIONS_H_ */

8
src/algorithms/libs/rtklib/rtklib_rtcm2.cc
View File

@@ -192,7 +192,7 @@ int decode_type3(rtcm_t *rtcm)
/* decode type 14: gps time of week ------------------------------------------*/ /* decode type 14: gps time of week ------------------------------------------*/
int decode_type14(rtcm_t *rtcm) int decode_type14(rtcm_t *rtcm, int custom_year)
{ {
double zcnt; double zcnt;
int i = 48; int i = 48;
@@ -216,7 +216,7 @@ int decode_type14(rtcm_t *rtcm)
trace(2, "rtcm2 14 length error: len=%d\n", rtcm->len); trace(2, "rtcm2 14 length error: len=%d\n", rtcm->len);
return -1; return -1;
} }
week = adjgpsweek(week); week = adjgpsweek(week, custom_year);
rtcm->time = gpst2time(week, hour * 3600.0 + zcnt * 0.6); rtcm->time = gpst2time(week, hour * 3600.0 + zcnt * 0.6);
rtcm->nav.leaps = leaps; rtcm->nav.leaps = leaps;
return 6; return 6;
@@ -244,7 +244,7 @@ int decode_type16(rtcm_t *rtcm)
/* decode type 17: gps ephemerides -------------------------------------------*/ /* 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}, 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, 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); sat = satno(SYS_GPS, prn);
eph.sat = sat; eph.sat = sat;
eph.week = adjgpsweek(week); eph.week = adjgpsweek(week, custom_year);
eph.toe = gpst2time(eph.week, eph.toes); eph.toe = gpst2time(eph.week, eph.toes);
eph.toc = gpst2time(eph.week, toc); eph.toc = gpst2time(eph.week, toc);
eph.ttr = rtcm->time; eph.ttr = rtcm->time;

8
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
View File

@@ -1036,7 +1036,7 @@ int decode_type1013(rtcm_t *rtcm __attribute__((unused)))
/* decode type 1019: gps ephemerides -----------------------------------------*/ /* 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}, 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, 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; return -1;
} }
eph.sat = sat; eph.sat = sat;
eph.week = adjgpsweek(week); eph.week = adjgpsweek(week, custom_year);
eph.toe = gpst2time(eph.week, eph.toes); eph.toe = gpst2time(eph.week, eph.toes);
eph.toc = gpst2time(eph.week, toc); eph.toc = gpst2time(eph.week, toc);
eph.ttr = rtcm->time; eph.ttr = rtcm->time;
@@ -1535,7 +1535,7 @@ int decode_type1039(rtcm_t *rtcm __attribute__((unused)))
/* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/ /* 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}, 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, 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; return -1;
} }
eph.sat = sat; eph.sat = sat;
eph.week = adjgpsweek(week); eph.week = adjgpsweek(week, custom_year);
eph.toe = gpst2time(eph.week, eph.toes); eph.toe = gpst2time(eph.week, eph.toes);
eph.toc = gpst2time(eph.week, toc); eph.toc = gpst2time(eph.week, toc);
eph.ttr = rtcm->time; eph.ttr = rtcm->time;

34
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@@ -2114,27 +2114,45 @@ double time2doy(gtime_t t)
* args : int week I not-adjusted gps week number * args : int week I not-adjusted gps week number
* return : adjusted gps week number * return : adjusted gps week number
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
int adjgpsweek(int week) int adjgpsweek(int week, int custom_year)
{ {
// int w; // int w;
// if (week < 512) // if (week < 512)
// { // {
// //assume receiver date > 7 april 2019 // //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 // else
// { // {
// //assume receiver date < 7 april 2019 // //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; int w;
(void)time2gpst(utc2gpst(timeget()), &w); if (custom_year == 0)
if (w < 1560)
{ {
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;
} }

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
View File

@@ -189,7 +189,7 @@ double utc2gmst(gtime_t t, double ut1_utc);
void time2str(gtime_t t, char *s, int n); void time2str(gtime_t t, char *s, int n);
char *time_str(gtime_t t, int n); char *time_str(gtime_t t, int n);
double time2doy(gtime_t t); double time2doy(gtime_t t);
int adjgpsweek(int week); int adjgpsweek(int week, int custom_year);
unsigned int tickget(); unsigned int tickget();
void sleepms(int ms); void sleepms(int ms);
void deg2dms(double deg, double *dms, int ndec); void deg2dms(double deg, double *dms, int ndec);

6
src/core/receiver/control_thread.cc
View File

@@ -116,6 +116,8 @@ ControlThread::ControlThread(const std::shared_ptr<ConfigurationInterface> &conf
void ControlThread::init() 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 // Instantiates a control queue, a GNSS flowgraph, and a control message factory
control_queue_ = std::make_shared<Concurrent_Queue<pmt::pmt_t>>(); control_queue_ = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
cmd_interface_.set_msg_queue(control_queue_); // set also the queue pointer for the telecommand thread cmd_interface_.set_msg_queue(control_queue_); // set also the queue pointer for the telecommand thread
@@ -942,7 +944,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
std::map<int, Gps_Ephemeris> gps_eph_map = pvt_ptr->get_gps_ephemeris(); std::map<int, Gps_Ephemeris> gps_eph_map = pvt_ptr->get_gps_ephemeris();
for (auto &it : gps_eph_map) 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<double, 3> r_sat{}; std::array<double, 3> r_sat{};
double clock_bias_s; double clock_bias_s;
double sat_pos_variance_m2; double sat_pos_variance_m2;
@@ -967,7 +969,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
std::map<int, Galileo_Ephemeris> gal_eph_map = pvt_ptr->get_galileo_ephemeris(); std::map<int, Galileo_Ephemeris> gal_eph_map = pvt_ptr->get_galileo_ephemeris();
for (auto &it : gal_eph_map) 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<double, 3> r_sat{}; std::array<double, 3> r_sat{};
double clock_bias_s; double clock_bias_s;
double sat_pos_variance_m2; double sat_pos_variance_m2;

1
src/core/receiver/control_thread.h
View File

@@ -171,6 +171,7 @@ private:
std::shared_ptr<GNSSFlowgraph> flowgraph_; std::shared_ptr<GNSSFlowgraph> flowgraph_;
std::shared_ptr<ConfigurationInterface> configuration_; std::shared_ptr<ConfigurationInterface> configuration_;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue_; std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue_;
int custom_year_; //to override the system time to postprocess old gnss records and avoid wrong week rollover
bool stop_; bool stop_;
bool restart_; bool restart_;
bool delete_configuration_; bool delete_configuration_;