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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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Carles Fernandez 2019-08-02 12:30:11 +02:00
commit b844f1f5a4
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15 changed files with 865 additions and 621 deletions
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2
docs/changelog
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@ -2,7 +2,7 @@
### Improvements in Accuracy
- Local clock correction based on PVT solution (error kept below 1 ms).
- Local clock correction based on PVT solution, allowing the delivery of continuous observables.
- Fix a bug in broadcast ionospheric parameters usage.

4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -69,10 +69,10 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
// output rate
pvt_output_parameters.output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500));
// display rate
pvt_output_parameters.display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));
// NMEA Printer settings
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);

1383
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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File diff suppressed because it is too large Load Diff

32
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -139,6 +139,30 @@ private:
void msg_handler_telemetry(const pmt::pmt_t& msg);
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G,
evBDS_B1,
evBDS_B2,
evBDS_B3
};
std::map<std::string, StringValue> mapStringValues_;
void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
double rx_clock_offset_s);
std::map<int, Gnss_Synchro> interpolate_observables(std::map<int, Gnss_Synchro>& observables_map_t0,
std::map<int, Gnss_Synchro>& observables_map_t1,
double rx_time_s);
bool d_dump;
bool d_dump_mat;
bool b_rinex_output_enabled;
@ -184,10 +208,14 @@ private:
bool d_kml_output_enabled;
bool d_nmea_output_file_enabled;
std::shared_ptr<Rtklib_Solver> d_pvt_solver;
std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
int32_t max_obs_block_rx_clock_offset_ms;
bool d_waiting_obs_block_rx_clock_offset_correction_msg;
std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
std::map<int, Gnss_Synchro> gnss_observables_map_t0;
std::map<int, Gnss_Synchro> gnss_observables_map_t1;
uint32_t type_of_rx;

1
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -45,7 +45,6 @@ Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_galileo_current_time = 0;
count_valid_position = 0;
this->set_averaging_flag(false);
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)

1
src/algorithms/PVT/libs/hybrid_ls_pvt.h
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@ -69,7 +69,6 @@ public:
Gps_CNAV_Utc_Model gps_cnav_utc_model;
private:
int count_valid_position;
bool d_flag_dump_enabled;
std::string d_dump_filename;
std::ofstream d_dump_file;

1
src/algorithms/PVT/libs/pvt_conf.cc
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@ -40,6 +40,7 @@ Pvt_Conf::Pvt_Conf()
geojson_rate_ms = 1000;
nmea_rate_ms = 1000;
max_obs_block_rx_clock_offset_ms = 40;
rinex_version = 0;
rinexobs_rate_ms = 0;

2
src/algorithms/PVT/libs/pvt_conf.h
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@ -73,6 +73,8 @@ public:
bool xml_output_enabled;
bool rtcm_output_file_enabled;
int32_t max_obs_block_rx_clock_offset_ms;
std::string output_path;
std::string rinex_output_path;
std::string gpx_output_path;

7
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -3,8 +3,8 @@
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2017-2019, Javier Arribas
* <li> 2017-2019, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
@ -94,7 +94,6 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
count_valid_position = 0;
this->set_averaging_flag(false);
rtk_ = rtk;
@ -443,7 +442,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
std::array<obsd_t, MAXOBS> obs_data{};
obs_data.fill({});
std::vector<eph_t> eph_data(MAXOBS);
std::vector<geph_t> geph_data(MAXOBS);

11
src/algorithms/PVT/libs/rtklib_solver.h
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@ -126,18 +126,17 @@ public:
Beidou_Dnav_Iono beidou_dnav_iono;
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
int count_valid_position;
private:
rtk_t rtk_{};
Monitor_Pvt monitor_pvt{};
std::array<obsd_t, MAXOBS> obs_data{};
std::array<double, 4> dop_{};
std::string d_dump_filename;
std::ofstream d_dump_file;
bool save_matfile();
int d_nchannels; // Number of available channels for positioning
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
std::array<double, 4> dop_{};
Monitor_Pvt monitor_pvt{};
bool save_matfile();
};
#endif

33
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -93,8 +93,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
d_dump_filename = std::move(dump_filename);
d_nchannels_out = nchannels_out;
d_nchannels_in = nchannels_in;
T_rx_offset_ms = 0;
d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(500, d_nchannels_out);
d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@ -141,7 +140,6 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
}
}
T_rx_TOW_ms = 0U;
T_rx_remnant_to_20ms = 0;
T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_TOW_set = false;
T_status_report_timer_ms = 0;
@ -197,16 +195,14 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
{
double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]";
LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
}
}
catch (boost::bad_any_cast &e)
@ -440,8 +436,6 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
// << d_gnss_synchro_history->at(ch, t2_idx).RX_time - d_gnss_synchro_history->at(ch, t1_idx).RX_time
// << " trx - t1: "
// << T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time;
//
// std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
return true;
@ -489,8 +483,7 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
}
}
}
T_rx_TOW_ms = TOW_ref - (TOW_ref % 20);
T_rx_remnant_to_20ms = 0;
T_rx_TOW_ms = TOW_ref;
}
else
{
@ -509,7 +502,7 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
// std::cout.precision(17);
// std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
std::vector<Gnss_Synchro>::iterator it;
double current_T_rx_TOW_ms = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms));
auto current_T_rx_TOW_ms = static_cast<double>(T_rx_TOW_ms);
double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
for (it = data.begin(); it != data.end(); it++)
{
@ -582,9 +575,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
Gnss_Synchro interpolated_gnss_synchro{};
uint32_t T_rx_remnant_to_20ms_samples = T_rx_remnant_to_20ms * in[d_nchannels_in - 1][0].fs / 1000;
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() - T_rx_remnant_to_20ms_samples))
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
{
// Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro();
@ -666,7 +657,17 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
d_dump = false;
}
}
return 1;
if (n_valid > 0)
{
// LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug;
// old_time_debug = out[0][0].RX_time * 1000.0;
return 1;
}
else
{
return 0;
}
}
return 0;
}

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@ -87,12 +87,10 @@ private:
bool d_dump;
bool d_dump_mat;
uint32_t T_rx_TOW_ms;
uint32_t T_rx_remnant_to_20ms;
uint32_t T_rx_step_ms;
uint32_t T_status_report_timer_ms;
uint32_t d_nchannels_in;
uint32_t d_nchannels_out;
double T_rx_offset_ms;
std::string d_dump_filename;
std::ofstream d_dump_file;
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
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@ -550,7 +550,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
{
LOG(INFO) << "Warning: BEIDOU B1I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
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@ -581,7 +581,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(d_symbol_duration_ms))
{
LOG(INFO) << "Warning: BEIDOU B3I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";

3
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
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@ -1680,9 +1680,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_current_fpga_integration_period = d_fpga_integration_period;
d_current_extended_correlation_in_fpga = true;
d_P_accu_old.real(d_P_accu_old.real() * d_fpga_integration_period);
d_P_accu_old.imag(d_P_accu_old.imag() * d_fpga_integration_period);
if (d_sc_demodulate_enabled)
{
multicorrelator_fpga->enable_secondary_codes();