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Merge branch 'feature/expose-rtk-debug' of https://github.com/jwmelto/gnss-sdr into jwmelto-feature/expose-rtk-debug

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Carles Fernandez 2021-09-28 04:21:37 +02:00
commit af2b6db808
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6 changed files with 208 additions and 144 deletions
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62
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -16,17 +16,18 @@
#include "rtklib_pvt.h"
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gnss_sdr_string_literals.h" // for std::string_literals
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for std::cout
#if USE_OLD_BOOST_MATH_COMMON_FACTOR
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
@ -35,6 +36,7 @@ namespace bc = boost::math;
namespace bc = boost::integer;
#endif
using namespace std::string_literals;
Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
const std::string& role,
@ -54,6 +56,8 @@ Rtklib_Pvt::Rtklib_Pvt(const 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);
pvt_output_parameters.rtk_trace_level = configuration->property(role + ".rtk_trace_level"s, 0);
// Flag to postprocess old gnss records (older than 2009) and avoid wrong week rollover
pvt_output_parameters.pre_2009_file = configuration->property("GNSS-SDR.pre_2009_file", false);
@ -442,10 +446,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (positioning_mode == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode.\n";
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n";
std::cout << "positioning_mode specified value: " << positioning_mode_str << '\n';
std::cout << "Setting positioning_mode to Single\n";
std::cout << "WARNING: Bad specification of positioning mode.\n"
<< "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n"
<< "positioning_mode specified value: " << positioning_mode_str << "\n"
<< "Setting positioning_mode to Single\n"
<< std::flush;
positioning_mode = PMODE_SINGLE;
}
@ -529,10 +534,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (iono_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model.\n";
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n";
std::cout << "iono_model specified value: " << iono_model_str << '\n';
std::cout << "Setting iono_model to OFF\n";
std::cout << "WARNING: Bad specification of ionospheric model.\n"
<< "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n"
<< "iono_model specified value: " << iono_model_str << "\n"
<< "Setting iono_model to OFF\n"
<< std::flush;
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
@ -562,10 +568,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (trop_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model.\n";
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n";
std::cout << "trop_model specified value: " << trop_model_str << '\n';
std::cout << "Setting trop_model to OFF\n";
std::cout << "WARNING: Bad specification of tropospheric model.\n"
<< "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n"
<< "trop_model specified value: " << trop_model_str << "\n"
<< "Setting trop_model to OFF\n"
<< std::flush;
trop_model = TROPOPT_OFF;
}
@ -640,10 +647,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (integer_ambiguity_resolution_gps == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n";
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n";
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << '\n';
std::cout << "Setting AR_GPS to OFF\n";
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n"
<< "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n"
<< "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << "\n"
<< "Setting AR_GPS to OFF\n"
<< std::flush;
integer_ambiguity_resolution_gps = ARMODE_OFF;
}

125
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -44,6 +44,131 @@ class Gps_Ephemeris;
/*!
* \brief This class implements a PvtInterface for the RTKLIB PVT block
*
* Global configuration options used:
*
* GNSS-SDR.pre_2009_file - flag indicating a file older than 2009 rollover should be processed (false)
* GNSS-SDR.observable_interval_ms - (20)
*
* It supports the following configuration options:
*
* .dump - (false)
* .dump_filename - ("./pvt.dat")
* .dump_mat - (true)
* .rtk_trace_level - debug level for the RTKLIB methods (0)
*
* .output_rate_ms - (500)
* Note that the actual rate is the least common multiple of this value and GNSS-SDR.observable_interval_ms
* .display_rate_ms - (500)
*
* .flag_nmea_tty_port - (false)
* .nmea_dump_filename - ("./nmea_pvt.nmea")
* .nmea_dump_devname - ("/dev/tty1")
*
* .rinex_version - (3) overridden by -RINEX_version=n.nn command line argument
* .rinexobs_rate_ms - rate at which RINEX observations are written (1000). Note that
* the actual rate is the least common multiple of this value and
* .output_rate_ms
* .rinex_name - (-RINEX_name command-line argument)
*
* .flag_rtcm_tty_port - (false)
* .rtcm_dump_devname - ("/dev/pts/1")
* .flag_rtcm_server - (false)
* .rtcm_tcp_port - (2101)
* .rtcm_station_id - (1234)
* Output rates ... all values are LCM with the computed output rate (above)
* .rtcm_MT1019_rate_ms - (5000)
* .rtcm_MT1020_rate_ms - (5000)
* .rtcm_MT1045_rate_ms - (5000)
* .rtcm_MSM_rate_ms - (1000)
* .rtcm_MT1077_rate_ms - (.rtcm_MSM_rate_ms)
* .rtcm_MT1087_rate_ms - (.rtcm_MSM_rate_ms)
* .rtcm_MT1097_rate_ms - (.rtcm_MSM_rate_ms)
*
* .kml_rate_ms - (1000)
* .gpx_rate_ms - (1000)
* .geojson_rate_ms - (1000)
* .nmea_rate_ms - (1000)
*
* .positioning_mode - The RTKLIB positioning mode. ("Single") Supported values are "Single",
* "Static", "Kinematic", "PPP_Static" and "PPP_Kinematic". Unsupported modes
* include DGPS/DGNSS, Moving Baseline, Fixed, and PPP-fixed
* .num_bands - number of frequencies to use, between 1 and 3. Default is based on the channels configured
* .elevation_mask - (15.0). Value must be in the range [0,90.0]
* .dynamics_model - (0) 0:none, 1:velocity, 2:acceleration
* .iono_model - ("OFF"). Supported values are "OFF", "Broadcast", "SBAS", "Iono-Free-LC",
* "Estimate_STEC", "IONEX". Unsupported values include QZSS broadcast, QZSS
* LEX, and SLANT TEC.
* .trop_model - ("OFF"). Supported values are "OFF", "Saastamoinen", "SBAS", "Estimate_ZTD", and
* "Estimate_ZTD_Grad". Unsupported values include ZTD correction and ZTD+grad
* correction
* .phwindup - phase windup correction for PPP modes (0)
* .reject_GPS_IIA - whether the GPS Block IIA satellites in eclipse are excluded (0). Only applies in PPP-* modes
* .raim_fde - whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) is enabled (0)
* .earth_tide - (0)
* .navigation_system - mask of navigation systems to use. Default based on configured channels
* 0x01:GPS, 0x02:SBAS, 0x04:GLONASS, 0x08:Galileo, 0x10:QZSS, 0x20:BeiDou,
* 0x40:IRNS, 0x80:LEO
*
* .AR_GPS - Ambiguity Resolution mode for GPS ("Continuous"). Supported values are "OFF",
* "Continuous", "Instantaneous", "Fix-and-Hold", "PPP-AR". Unsupported values
* include PPP-AR ILS, WLNL, and TCAR.
* .AR_GLO - Ambiguity Resolution mode for GLONASS (1). Value must be in the range [0,3]. (0:off,1:on,2:auto cal,3:ext cal)
* .AR_DBS - Ambiguity Resolution Mode for BeiDou (1). Value must be in the range [0,1]. (0:off,1:on)
* .min_ratio_to_fix_ambiguity - (3.0)
* .min_lock_to_fix_ambiguity - (0)
* .min_elevation_to_fix_ambiguity - minimum elevation (deg) to fix integer ambiguity (0.0)
* .outage_reset_ambiguity - (5)
* .slip_threshold - (0.05)
* .threshold_reject_gdop - if GDOP is over this value, the observable is excluded (30.0)
* .threshold_reject_innovation - if innovation is over this value, the observable is excluded (30.0)
* .number_filter_iter - number of iterations for the estimation filter (1)
* .bias_0 - (30.0)
* .iono_0 - (0.03)
* .trop_0 - (0.3)
* .sigma_bias - process noise stddev of carrier-phase bias(ambiguity)(cycle/sqrt(s)) (1e-4)
* .sigma_iono - process noise stddev of vertical ionospheric delay per 10km baseline (m/sqrt(s)) (1e-3)
* .sigma_trop - process noise stddev of zenith tropospheric delay (m/sqrt(s)) (1e-4)
* .sigma_acch - process noise stddev of the receiver acceleration horizontal component (m/s2/sqrt(s)) (1e-1)
* .sigma_accv - process noise stddev of the receiver acceleration vertical component (m/s2/sqrt(s)) (1e-2)
* .sigma_pos - (0.0)
* .code_phase_error_ratio_l1 - (100.0)
* .code_phase_error_ratio_l2 - (100.0)
* .code_phase_error_ratio_l5 - (100.0)
* .carrier_phase_error_factor_a - (0.003)
* .carrier_phase_error_factor_b - (0.003)
*
* .output_enabled - (true)
* .rinex_output_enabled - (.output_enabled)
* .gpx_output_enabled - (.output_enabled)
* .geojson_output_enabled - (.output_enabled)
* .kml_output_enabled - (.output_enabled)
* .xml_output_enabled - (.output_enabled)
* .nmea_output_enabled - (.output_enabled)
* .rtcm_output_enabled - (false)
* .output_path - directory to which output files are written (".")
* .rinex_output_path - (.output_path)
* .gpx_output_path - (.output_path)
* .geojson_output_path - (.output_path)
* .kml_output_path - (.output_path)
* .xml_output_path - (.output_path)
* .nmea_output_path - (.output_path)
* .rtcm_output_path - (.output_path)
*
* .enable_monitor - enable the PVT monitor (false)
* .monitor_client_addresses - ("127.0.0.1")
* .monitor_udp_port - DO NOT USE THE DEFAULT (1234)
* .enable_protobuf - serialize using protocol buffers (true). Monitor.enable_protobuf if true, sets this to true
*
* .enable_monitor_ephemeris - enable the ephemeris monitor (false)
* .monitor_ephemeris_client_addresses - ("127.0.0.1")
* .monitor_ephemeris_udp_port - DO NOT USE THE DEFAULT (1234)
*
* .show_local_time_zone - (false)
* .enable_rx_clock_correction - (false)
* .max_clock_offset_ms - (40)
*/
class Rtklib_Pvt : public PvtInterface
{

4
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -53,6 +53,7 @@
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_solver.h"
#include <boost/any.hpp> // for any_cast, any
#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
@ -538,6 +539,9 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_beidou_dnav_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code();
d_galileo_has_data_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_HAS_data>).hash_code();
// set the RTKLIB trace (debug) level
tracelevel(conf_.rtk_trace_level);
d_start = std::chrono::system_clock::now();
}

1
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -9,7 +9,6 @@ protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/
protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
set(PVT_LIB_SOURCES
pvt_conf.cc
pvt_solution.cc
geojson_printer.cc
gpx_printer.cc

71
src/algorithms/PVT/libs/pvt_conf.cc
View File

@ -1,71 +0,0 @@
/*!
* \file pvt_conf.cc
* \brief Class that contains all the configuration parameters for a PVT block
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "pvt_conf.h"
Pvt_Conf::Pvt_Conf()
{
type_of_receiver = 0U;
observable_interval_ms = 20U;
output_rate_ms = 0;
display_rate_ms = 0;
kml_rate_ms = 1000;
gpx_rate_ms = 1000;
geojson_rate_ms = 1000;
nmea_rate_ms = 1000;
max_obs_block_rx_clock_offset_ms = 40;
rinex_version = 0;
rinexobs_rate_ms = 0;
rinex_name = std::string("-");
dump = false;
dump_mat = true;
flag_nmea_tty_port = false;
flag_rtcm_server = false;
flag_rtcm_tty_port = false;
rtcm_tcp_port = 0U;
rtcm_station_id = 0U;
output_enabled = true;
rinex_output_enabled = true;
gpx_output_enabled = true;
geojson_output_enabled = true;
nmea_output_file_enabled = true;
kml_output_enabled = true;
xml_output_enabled = true;
rtcm_output_file_enabled = true;
output_path = std::string(".");
rinex_output_path = std::string(".");
gpx_output_path = std::string(".");
geojson_output_path = std::string(".");
nmea_output_file_path = std::string(".");
kml_output_path = std::string(".");
xml_output_path = std::string(".");
rtcm_output_file_path = std::string(".");
enable_rx_clock_correction = true;
monitor_enabled = false;
monitor_ephemeris_enabled = false;
protobuf_enabled = true;
udp_port = 0;
udp_eph_port = 0;
pre_2009_file = false;
show_local_time_zone = false;
}

89
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -30,63 +30,62 @@
class Pvt_Conf
{
public:
Pvt_Conf();
std::map<int, int> rtcm_msg_rate_ms;
std::string rinex_name;
std::string rinex_name = std::string("-");
std::string dump_filename;
std::string nmea_dump_filename;
std::string nmea_dump_devname;
std::string rtcm_dump_devname;
std::string output_path;
std::string rinex_output_path;
std::string gpx_output_path;
std::string geojson_output_path;
std::string nmea_output_file_path;
std::string kml_output_path;
std::string xml_output_path;
std::string rtcm_output_file_path;
std::string output_path = std::string(".");
std::string rinex_output_path = std::string(".");
std::string gpx_output_path = std::string(".");
std::string geojson_output_path = std::string(".");
std::string nmea_output_file_path = std::string(".");
std::string kml_output_path = std::string(".");
std::string xml_output_path = std::string(".");
std::string rtcm_output_file_path = std::string(".");
std::string udp_addresses;
std::string udp_eph_addresses;
uint32_t type_of_receiver;
uint32_t observable_interval_ms;
uint32_t type_of_receiver = 0;
uint32_t observable_interval_ms = 20;
int32_t output_rate_ms;
int32_t display_rate_ms;
int32_t kml_rate_ms;
int32_t gpx_rate_ms;
int32_t geojson_rate_ms;
int32_t nmea_rate_ms;
int32_t rinex_version;
int32_t rinexobs_rate_ms;
int32_t max_obs_block_rx_clock_offset_ms;
int udp_port;
int udp_eph_port;
int32_t output_rate_ms = 0;
int32_t display_rate_ms = 0;
int32_t kml_rate_ms = 1000;
int32_t gpx_rate_ms = 1000;
int32_t geojson_rate_ms = 1000;
int32_t nmea_rate_ms = 1000;
int32_t rinex_version = 0;
int32_t rinexobs_rate_ms = 0;
int32_t max_obs_block_rx_clock_offset_ms = 40;
int udp_port = 0;
int udp_eph_port = 0;
int rtk_trace_level = 0;
uint16_t rtcm_tcp_port;
uint16_t rtcm_station_id;
uint16_t rtcm_tcp_port = 0;
uint16_t rtcm_station_id = 0;
bool flag_nmea_tty_port;
bool flag_rtcm_server;
bool flag_rtcm_tty_port;
bool output_enabled;
bool rinex_output_enabled;
bool gpx_output_enabled;
bool geojson_output_enabled;
bool nmea_output_file_enabled;
bool kml_output_enabled;
bool xml_output_enabled;
bool rtcm_output_file_enabled;
bool monitor_enabled;
bool monitor_ephemeris_enabled;
bool protobuf_enabled;
bool enable_rx_clock_correction;
bool show_local_time_zone;
bool pre_2009_file;
bool dump;
bool dump_mat;
bool flag_nmea_tty_port = false;
bool flag_rtcm_server = false;
bool flag_rtcm_tty_port = false;
bool output_enabled = true;
bool rinex_output_enabled = true;
bool gpx_output_enabled = true;
bool geojson_output_enabled = true;
bool nmea_output_file_enabled = true;
bool kml_output_enabled = true;
bool xml_output_enabled = true;
bool rtcm_output_file_enabled = true;
bool monitor_enabled = false;
bool monitor_ephemeris_enabled = false;
bool protobuf_enabled = true;
bool enable_rx_clock_correction = true;
bool show_local_time_zone = false;
bool pre_2009_file = false;
bool dump = false;
bool dump_mat = true;
};