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Code Issues Releases Wiki Activity

Fixes in RINEX files and RTCM messages related to time

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This commit is contained in:
Carles Fernandez
2019-05-10 20:50:49 +02:00
parent eff3513029
commit b676fd7a1d
4 changed files with 158 additions and 95 deletions
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86
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@@ -1931,7 +1931,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
@@ -1940,7 +1940,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
@@ -1949,7 +1949,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
@@ -2019,7 +2019,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
@@ -2060,7 +2060,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
}
if (d_rinex_version == 2)
@@ -2102,7 +2102,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::string gal_signal("1B 5X");
std::string gps_signal("1C L5");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
@@ -2113,7 +2113,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
b_rinex_header_written = true; // do not write header anymore
}
@@ -2262,12 +2262,12 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true;
}
}
break;
case 13: // L5+E5a
@@ -2346,12 +2346,12 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
@@ -2382,12 +2382,12 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
@@ -2418,32 +2418,32 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
}
else
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
}
b_rinex_header_updated = true; // do not write header anymore
}
else
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
}
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
}
break;
case 50: // BDS B1I only

118
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -599,7 +599,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
}
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
@@ -696,7 +696,28 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
if (eph.i_GPS_week < 512)
{
if (gps_utc_model.i_WN_T == 0)
{
line += Rinex_Printer::rightJustify(std::to_string(eph.i_GPS_week + 2048), 5); // valid from 2019 to 2029
}
else
{
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 2048), 5); // valid from 2019 to 2029
}
}
else
{
if (gps_utc_model.i_WN_T == 0)
{
line += Rinex_Printer::rightJustify(std::to_string(eph.i_GPS_week + 1024), 5); // valid from 2009 to 2019
}
else
{
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 1024), 5); // valid from 2009 to 2019
}
}
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
@@ -820,7 +841,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T), 5);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
@@ -1146,7 +1167,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& ion
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T), 5);
/* if ( SBAS )
{
line += string(1, ' ');
@@ -1288,7 +1309,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& ion
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T), 5);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
@@ -1534,7 +1555,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
}
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model)
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model)
{
std::string line;
@@ -1638,7 +1659,28 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
if (eph.i_GPS_week < 512)
{
if (gps_utc_model.i_WN_T == 0)
{
line += Rinex_Printer::rightJustify(std::to_string(eph.i_GPS_week + 2048), 5); // valid from 2019 to 2029
}
else
{
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 2048), 5); // valid from 2019 to 2029
}
}
else
{
if (gps_utc_model.i_WN_T == 0)
{
line += Rinex_Printer::rightJustify(std::to_string(eph.i_GPS_week + 1024), 5); // valid from 2009 to 2019
}
else
{
line += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 1024), 5); // valid from 2009 to 2019
}
}
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
@@ -2119,7 +2161,6 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Utc_Model& ut
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 18, 2), 19);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 18, 2), 19);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 9);
if (eph.i_GPS_week < 512)
{
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 2048), 9); // valid from 2019 to 2029
@@ -2285,7 +2326,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Mode
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T), 5);
line_aux += std::string(10, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
@@ -2415,7 +2456,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Mode
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T), 5);
line_aux += std::string(10, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
@@ -2459,7 +2500,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Mode
}
void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model)
void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model)
{
std::vector<std::string> data;
std::string line_aux;
@@ -2522,7 +2563,14 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
if (eph.i_GPS_week < 512)
{
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 2048), 5); // valid from 2019 to 2029
}
else
{
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 1024), 5); // valid from 2009 to 2019
}
line_aux += std::string(10, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
@@ -2589,7 +2637,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
}
void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
@@ -2630,7 +2678,14 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
if (eph.i_GPS_week < 512)
{
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 2048), 5); // valid from 2019 to 2029
}
else
{
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + (eph.i_GPS_week / 256) * 256 + 1024), 5); // valid from 2009 to 2019
}
line_aux += std::string(10, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
@@ -2738,7 +2793,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gp
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.d_t_OT), 7);
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
line_aux += Rinex_Printer::rightJustify(std::to_string(gps_utc_model.i_WN_T), 5);
line_aux += std::string(10, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
@@ -2929,7 +2984,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M
if (line_str.find("BDSA", 0) != std::string::npos)
{
line_aux += std::string("GPSA");
line_aux += std::string("BDSA");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
@@ -2941,7 +2996,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M
}
else if (line_str.find("BDSB", 0) != std::string::npos)
{
line_aux += std::string("GPSB");
line_aux += std::string("BDSB");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
@@ -2953,7 +3008,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M
}
else if (line_str.find("BDUT", 0) != std::string::npos)
{
line_aux += std::string("GPUT");
line_aux += std::string("BDUT");
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16);
line_aux += std::string(22, ' ');
@@ -3250,7 +3305,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps
// This week goes with Toe. This is different from the GPS week in the original satellite message!
if (gps_ephemeris_iter->second.d_Toe < 7200.0)
{
GPS_week_continuous_number += 1;
GPS_week_continuous_number += 1.0;
}
line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2);
line += std::string(1, ' ');
@@ -3499,7 +3554,13 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps
double my_zero = 0.0;
line += Rinex_Printer::doub2for(my_zero, 18, 2);
line += std::string(1, ' ');
auto GPS_week_continuous_number = static_cast<double>(gps_ephemeris_iter->second.i_GPS_week + 1024); // valid until April 7, 2019 (check http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm)
auto GPS_week_continuous_number = static_cast<double>(gps_ephemeris_iter->second.i_GPS_week);
// This week goes with Toe. This is different from the GPS week in the original satellite message!
if (gps_ephemeris_iter->second.d_Toe1 < 7200.0)
{
GPS_week_continuous_number += 1.0;
}
line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2);
line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(my_zero, 18, 2);
@@ -3525,7 +3586,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_TOW, 18, 2);
line += std::string(1, ' ');
double curve_fit_interval = 3; /// ?? Not defined in CNAV
double curve_fit_interval = 0.0; /// ?? Not defined in CNAV
line += Rinex_Printer::doub2for(curve_fit_interval, 18, 2);
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
@@ -11220,18 +11281,9 @@ boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_CNAV_Ephemeri
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
if (eph.i_GPS_week < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
return p_time;
}
else
{
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((obs_time + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}

8
src/algorithms/PVT/libs/rinex_printer.h
View File

@@ -122,7 +122,7 @@ public:
/*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model);
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model);
/*!
* \brief Generates the Mixed (GPS CNAV/Galileo) Navigation Data header
@@ -142,7 +142,7 @@ public:
/*!
* \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
*/
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*!
* \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
@@ -386,7 +386,7 @@ public:
void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model);
void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model);
void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model);
@@ -394,7 +394,7 @@ public:
void update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Gps_Ephemeris& eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);

41
src/algorithms/PVT/libs/rtcm.cc
View File

@@ -3401,7 +3401,7 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000)); // NOLINT(google-runtime-int)
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000)); // NOLINT(google-runtime-int)
if (eph.i_GPS_week < 512)
{
@@ -3417,14 +3417,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000)); // NOLINT(google-runtime-int)
if (eph.i_GPS_week < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
return p_time;
}
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000)); // NOLINT(google-runtime-int)
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
@@ -4226,9 +4219,18 @@ int32_t Rtcm::set_DF050(const Gnss_Synchro& gnss_synchro)
int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
std::string now_ptime = to_iso_string(p_time);
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
std::string now_ptime;
if (gps_eph.i_GPS_week < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
now_ptime = to_iso_string(p_time);
}
else
{
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
now_ptime = to_iso_string(p_time);
}
std::string today_ptime = now_ptime.substr(0, 8);
boost::gregorian::date d(boost::gregorian::from_undelimited_string(today_ptime));
uint32_t mjd = d.modjulian_day();
@@ -4240,9 +4242,18 @@ int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
std::string now_ptime = to_iso_string(p_time);
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
std::string now_ptime;
if (gps_eph.i_GPS_week < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
now_ptime = to_iso_string(p_time);
}
else
{
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
now_ptime = to_iso_string(p_time);
}
std::string hours = now_ptime.substr(9, 2);
std::string minutes = now_ptime.substr(11, 2);
std::string seconds = now_ptime.substr(13, 8);