mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-04-04 17:57:03 +00:00
Merge branch 'dmiralles2009-glonass_dec' into next
This commit is contained in:
Carles Fernandez
commit
bc1ce24570
src
algorithms
PVT/libs
telemetry_decoder/gnuradio_blocks
core/system_parameters
@ -505,7 +505,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
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line += Rinex_Printer::rightJustify(month, 6);
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line += Rinex_Printer::rightJustify(day, 6);
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line += std::string(3, ' ');
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line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 16, 2), 19);
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line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(glonass_gnav_utc_model.d_tau_c, 19, 2), 19);
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line += std::string(20, ' ');
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line += Rinex_Printer::leftJustify("CORR TO SYSTEM TIME", 20);
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Rinex_Printer::lengthCheck(line);
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@ -767,7 +767,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
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void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac)
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{
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if(glonass_gnav_almanac.i_satellite_freq_channel){} //Avoid compiler warning
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//Avoid compiler warning, there is not time system correction between Galileo and GLONASS
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//Avoid compiler warning, there is not time system correction between Galileo and GLONASS
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if(galileo_almanac.A_0G_10){}
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std::string line;
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@ -2991,8 +2991,8 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int, Galileo
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E1B_DVS = "0"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
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std::string SVhealth_str = E5B_HS + boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E5b_DVS_5)
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+ "11" + "1" + E1B_DVS + E1B_HS
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+ boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
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+ "11" + "1" + E1B_DVS + E1B_HS
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+ boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
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SVhealth_str = "000000000"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
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int SVhealth = Rinex_Printer::toInt(SVhealth_str, 9);
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line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2);
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@ -3319,12 +3319,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
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out << line << std::endl;
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// -------- Line MARKER TYPE
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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if (version == 2)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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if (version == 3)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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// -------- Line OBSERVER / AGENCY
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line.clear();
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@ -3512,48 +3524,48 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
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// -------- GLONASS SLOT / FRQ # (On;y version 3)
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if (version == 3)
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{
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// -------- GLONASS SLOT / FRQ #
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// TODO Need to provide system with list of all satellites and update this accordingly
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line.clear();
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
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line += std::string(1, ' ');
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line += satelliteSystem["GLONASS"];
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
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line += std::string(1, ' ');
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line += std::string(60-line.size(), ' ');
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line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- GLONASS SLOT / FRQ #
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// TODO Need to provide system with list of all satellites and update this accordingly
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line.clear();
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3); // Number of satellites in list
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line += std::string(1, ' ');
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line += satelliteSystem["GLONASS"];
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
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line += std::string(1, ' ');
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line += std::string(60-line.size(), ' ');
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line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- GLONASS CODE/PHS/BIS
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// No GLONASS Phase bias correction used to align code and phase observations.
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line.clear();
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G1_CA"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G1_P"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G2_CA"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G2_P"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(60-line.size(), ' ');
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line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- GLONASS CODE/PHS/BIS
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// No GLONASS Phase bias correction used to align code and phase observations.
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line.clear();
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G1_CA"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G1_P"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G2_CA"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(1, ' ');
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line += observationType["PSEUDORANGE"];
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line += observationCode["GLONASS_G2_P"];
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line += std::string(1, ' ');
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line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
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line += std::string(60-line.size(), ' ');
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line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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// -------- END OF HEADER
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@ -3619,12 +3631,25 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line MARKER NAME
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line.clear();
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line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
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line += Rinex_Printer::leftJustify("MARKER NAME", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line MARKER NAME / TYPE
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if (version == 2)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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if (version == 3)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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// -------- Line MARKER TYPE
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line.clear();
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@ -3958,11 +3983,24 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
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out << line << std::endl;
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// -------- Line MARKER NAME
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line.clear();
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line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
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line += Rinex_Printer::leftJustify("MARKER NAME", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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if (version == 2)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER NUMBER", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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if (version == 3)
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{
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line.clear();
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line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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}
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// -------- Line MARKER TYPE
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line.clear();
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@ -4264,17 +4302,17 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
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// -------- Line MARKER NAME
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line.clear();
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line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
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line += Rinex_Printer::leftJustify("MARKER NAME", 20);
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line MARKER TYPE
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//line.clear();
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//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
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//line += std::string(40, ' ');
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//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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//Rinex_Printer::lengthCheck(line);
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//out << line << std::endl;
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line.clear();
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line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
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line += std::string(40, ' ');
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line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
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Rinex_Printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line OBSERVER / AGENCY
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line.clear();
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@ -6133,9 +6171,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
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double seconds = fmod(glonass_t, 60);
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// Add extra 0 if seconds are < 10
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if (seconds < 10)
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{
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line += std::string(1, '0');
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}
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{
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line += std::string(1, '0');
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}
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line += Rinex_Printer::asString(seconds, 7);
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line += std::string(2, ' ');
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// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
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@ -150,7 +150,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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@ -295,7 +295,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
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{
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eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
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obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2);//Band 3 (L5)
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@ -313,7 +313,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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obsd_t newobs = {{0,0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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{}, {0.0, 0.0, 0.0}, {}};
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obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
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obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2);//Band 3 (L5)
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@ -194,6 +194,7 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
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if (d_nav.have_new_ephemeris() == true)
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{
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// get object for this SV (mandatory)
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d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
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std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite;
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@ -223,7 +223,13 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
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}
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signed int Gnss_Satellite::get_rf_link() const
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{
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// Get satellite's rf link. Identifies the GLONASS Frequency Channel
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signed int rf_link_;
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rf_link_ = rf_link;
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return rf_link_;
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}
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unsigned int Gnss_Satellite::get_PRN() const
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@ -50,12 +50,13 @@ public:
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Gnss_Satellite(); //!< Default Constructor.
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Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor.
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~Gnss_Satellite(); //!< Default Destructor.
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void update_PRN(unsigned int PRN); //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
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void update_PRN(unsigned int PRN); //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages
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unsigned int get_PRN() const; //!< Gets satellite's PRN
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signed int get_rf_link() const; //!< Gets the satellite's rf link
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std::string get_system() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
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std::string get_system_short() const; //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
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std::string get_block() const; //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}
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std::string what_block(const std::string& system_, unsigned int PRN_); //!< Gets the block of a given satellite
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std::string what_block(const std::string& system_, unsigned int PRN_); //!< Gets the block of a given satellite
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friend bool operator== (const Gnss_Satellite &, const Gnss_Satellite &); //!< operator== for comparison
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friend std::ostream& operator<<(std::ostream &, const Gnss_Satellite &); //!< operator<< for pretty printing
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//Gnss_Satellite& operator=(const Gnss_Satellite &);
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