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Use E6 channels in PVT

This commit is contained in:
Carles Fernandez 2022-06-01 12:17:50 +02:00
parent 1ae6cac249
commit b6762bf438
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
5 changed files with 96 additions and 3 deletions
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9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -651,6 +651,11 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
// Annotate as full GPS week number
for (auto& gal_eph_iter : d_internal_pvt_solver->galileo_ephemeris_map)
{
gal_eph_iter.second.WN += 1024;
}
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
@ -2049,6 +2054,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
store_valid_observable = true;
}
}
if (std::string(in[i][epoch].Signal) == std::string("E6"))
{
store_valid_observable = true;
}
if (store_valid_observable)
{

48
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -407,6 +407,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool band1 = false;
bool band2 = false;
bool gal_e5_is_e5b = false;
bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
@ -514,6 +515,48 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
gal_e5_is_e5b = true;
}
}
if (sig_ == "E6")
{
gal_e6 = true;
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{
bool found_E1_obs = false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band E6
found_E1_obs = true;
break;
}
}
if (!found_E1_obs)
{
// insert Galileo E6 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);
// convert observation from GNSS-SDR class to RTKLIB structure
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band E6
// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
case 'G':
@ -879,6 +922,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
if (j == 2 && gal_e6)
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
}
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function

35
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -42,6 +42,7 @@
#include <cstddef> // for size_t
#include <exception> // for std::exception
#include <iostream> // for std::cout
#include <limits> // for std::numeric_limits
#include <map> // for std::map
#include <stdexcept> // for std::out_of_range
#include <typeinfo> // for typeid
@ -79,6 +80,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_sample_counter(0ULL),
d_preamble_index(0ULL),
d_last_valid_preamble(0),
d_received_sample_counter(0),
d_frame_type(frame_type),
d_CRC_error_counter(0),
d_channel(0),
@ -86,6 +88,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_stat(0),
d_TOW_at_Preamble_ms(0),
d_TOW_at_current_symbol_ms(0),
d_received_tow(std::numeric_limits<uint32_t>::max()),
d_band('1'),
d_sent_tlm_failed_msg(false),
d_flag_frame_sync(false),
@ -324,8 +327,11 @@ void galileo_telemetry_decoder_gs::msg_handler_read_galileo_tow_map(const pmt::p
{
const auto received_tow_map = wht::any_cast<std::shared_ptr<std::map<uint32_t, std::pair<uint32_t, uint64_t>>>>(pmt::any_ref(msg));
const std::pair<uint32_t, uint64_t> received_tow_sample = received_tow_map->at(d_satellite.get_PRN());
std::cout << "Received TOW: " << received_tow_sample.first << '\n';
std::cout << "Received sample counter: " << received_tow_sample.second << '\n';
if (received_tow_sample.first < 604800)
{
d_received_tow = received_tow_sample.first;
d_received_sample_counter = received_tow_sample.second;
}
}
}
catch (const wht::bad_any_cast &e)
@ -1105,7 +1111,30 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
}
case 3: // CNAV
{
// TODO
if (!d_valid_timetag)
{
if (d_received_tow < 604800)
{
const int64_t diff = d_received_sample_counter - current_symbol.Tracking_sample_counter;
bool overflowed = (diff < 0) ^ (d_received_sample_counter < current_symbol.Tracking_sample_counter);
if (!overflowed && (std::abs(diff) / static_cast<int64_t>(current_symbol.fs) < 1.0))
{
d_TOW_at_Preamble_ms = d_received_tow;
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_CNAV_SYMBOLS_PER_PAGE * GALILEO_CNAV_PAGE_MS);
d_E6_TOW_set = true;
}
}
}
if (d_E6_TOW_set && d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
{
d_nav_msg_packet.system = std::string(1, current_symbol.System);
d_nav_msg_packet.signal = std::string(current_symbol.Signal);
d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
d_nav_msg_packet.nav_message = "";
}
}
}
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -113,6 +113,7 @@ private:
uint64_t d_sample_counter;
uint64_t d_preamble_index;
uint64_t d_last_valid_preamble;
uint64_t d_received_sample_counter;
int32_t d_mm;
int32_t d_codelength;
@ -132,6 +133,7 @@ private:
uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms;
uint32_t d_max_symbols_without_valid_frame;
uint32_t d_received_tow;
char d_band; // This variable will store which band we are dealing with (Galileo E1 or E5b)

5
src/core/libs/gnss_sdr_supl_client.cc
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@ -414,6 +414,11 @@ bool Gnss_Sdr_Supl_Client::load_gal_ephemeris_xml(const std::string& file_name)
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
// Convert to full GPS week number
for (auto& gal_eph_iter : this->gal_ephemeris_map)
{
gal_eph_iter.second.WN -= 1024;
}
}
catch (std::exception& e)
{