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https://github.com/gnss-sdr/gnss-sdr
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Adds unit test for RINEX and RTCM messages printer
Adds set of unit test to check functionality of GLONASS processing for RINEX and RTCM messages. It also fixes a couple of bug fixes with formatting in existing code.
This commit is contained in:
Damian Miralles
Damian Miralles
parent
f720ddf208
commit
bc8d0bbe64
@ -95,8 +95,8 @@ public:
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double d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
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double d_P_3; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
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double d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
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double d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
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double d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
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double d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
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double d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
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// Inmediate deliverables of ephemeris information
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//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
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@ -3310,6 +3310,13 @@ boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & ep
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}
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boost::posix_time::ptime Rtcm::compute_GLONASS_time(const Glonass_Gnav_Ephemeris & eph, double obs_time) const
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{
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boost::posix_time::ptime p_time = eph.compute_GLONASS_time(obs_time);
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return p_time;
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}
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unsigned int Rtcm::lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
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{
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unsigned int lock_time_in_seconds;
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@ -3385,6 +3392,49 @@ unsigned int Rtcm::lock_time(const Galileo_Ephemeris & eph, double obs_time, con
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}
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unsigned int Rtcm::lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro)
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{
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unsigned int lock_time_in_seconds;
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boost::posix_time::ptime current_time = Rtcm::compute_GLONASS_time(eph, obs_time);
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boost::posix_time::ptime last_lock_time;
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std::string sig_(gnss_synchro.Signal);
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if(sig_.compare("1C") == 0)
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{
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last_lock_time = Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
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}
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if(sig_.compare("2C") == 0)
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{
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last_lock_time = Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
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}
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if(last_lock_time.is_not_a_date_time() )// || CHECK LLI!!......)
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{
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if(sig_.compare("1C") == 0)
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{
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Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN] = current_time;
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}
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if(sig_.compare("2C") == 0)
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{
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Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN] = current_time;
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}
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}
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boost::posix_time::time_duration lock_duration = current_time - current_time;
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if(sig_.compare("1C") == 0)
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{
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lock_duration = current_time - Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
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}
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if(sig_.compare("2C") == 0)
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{
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lock_duration = current_time - Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
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}
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lock_time_in_seconds = static_cast<unsigned int>(lock_duration.total_seconds());
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return lock_time_in_seconds;
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}
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unsigned int Rtcm::lock_time_indicator(unsigned int lock_time_period_s)
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{
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// Table 3.4-2
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@ -87,6 +87,35 @@ TEST(RinexPrinterTest, GalileoObsHeader)
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}
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TEST(RinexPrinterTest, GlonassObsHeader)
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{
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std::string line_aux;
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std::string line_str;
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bool no_more_finds = false;
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const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
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std::shared_ptr<Rinex_Printer> rp1;
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rp1 = std::make_shared<Rinex_Printer>();
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rp1->rinex_obs_header(rp1->obsFile, eph, 0.0);
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rp1->obsFile.seekp(0);
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while(!rp1->obsFile.eof())
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{
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std::getline(rp1->obsFile, line_str);
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if(!no_more_finds)
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{
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if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
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{
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no_more_finds = true;
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line_aux = std::string(line_str);
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}
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}
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}
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std::string expected_str("R 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
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EXPECT_EQ(0, expected_str.compare(line_aux));
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if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
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line_aux.clear();
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}
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TEST(RinexPrinterTest, MixedObsHeader)
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@ -133,6 +162,50 @@ TEST(RinexPrinterTest, MixedObsHeader)
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}
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TEST(RinexPrinterTest, MixedObsHeaderGpsGlo)
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{
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std::string line_aux;
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std::string line_aux2;
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std::string line_str;
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bool no_more_finds = false;
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const Glonass_Gnav_Ephemeris eph_glo = Glonass_Gnav_Ephemeris();
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const Gps_Ephemeris eph_gps = Gps_Ephemeris();
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std::shared_ptr<Rinex_Printer> rp1;
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rp1 = std::make_shared<Rinex_Printer>();
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rp1->rinex_obs_header(rp1->obsFile, eph_gps, eph_glo, 0.0, "1C");
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rp1->obsFile.seekp(0);
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int systems_found = 0;
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while(!rp1->obsFile.eof())
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{
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std::getline(rp1->obsFile, line_str);
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if(!no_more_finds)
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{
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if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
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{
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systems_found++;
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if(systems_found == 1)
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{
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line_aux = std::string(line_str);
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}
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if(systems_found == 2)
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{
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line_aux2 = std::string(line_str);
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no_more_finds = true;
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}
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}
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}
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}
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std::string expected_str("G 4 C1C L1C D1C S1C SYS / # / OBS TYPES ");
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std::string expected_str2("R 8 C1C L1C D1C S1C SYS / # / OBS TYPES ");
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EXPECT_EQ(0, expected_str.compare(line_aux));
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EXPECT_EQ(0, expected_str2.compare(line_aux2));
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if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
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}
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TEST(RinexPrinterTest, GalileoObsLog)
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{
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std::string line_aux;
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@ -201,6 +274,74 @@ TEST(RinexPrinterTest, GalileoObsLog)
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}
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TEST(RinexPrinterTest, GlonassObsLog)
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{
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std::string line_aux;
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std::string line_str;
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bool no_more_finds = false;
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const Glonass_Gnav_Ephemeris eph = Glonass_Gnav_Ephemeris();
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std::shared_ptr<Rinex_Printer> rp;
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rp = std::make_shared<Rinex_Printer>();
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rp->rinex_obs_header(rp->obsFile, eph, 0.0);
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std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
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Gnss_Synchro gs1 = Gnss_Synchro();
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Gnss_Synchro gs2 = Gnss_Synchro();
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Gnss_Synchro gs3 = Gnss_Synchro();
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Gnss_Synchro gs4 = Gnss_Synchro();
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std::string sys = "R";
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gs1.System = *sys.c_str();
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gs2.System = *sys.c_str();
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gs3.System = *sys.c_str();
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gs4.System = *sys.c_str();
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std::string sig = "1C";
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std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
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gs1.PRN = 3;
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gs2.PRN = 8;
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gs3.PRN = 10;
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gs4.PRN = 22;
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gs4.Pseudorange_m = 22000000;
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gs4.Carrier_phase_rads = 23.4;
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gs4.Carrier_Doppler_hz = 1534;
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gs4.CN0_dB_hz = 42;
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
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rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map);
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rp->obsFile.seekp(0);
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while(!rp->obsFile.eof())
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{
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std::getline(rp->obsFile, line_str);
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if(!no_more_finds)
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{
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if (line_str.find("R22", 0) != std::string::npos)
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{
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no_more_finds = true;
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line_aux = std::string(line_str);
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}
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}
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}
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std::string expected_str("R22 22000000.000 7 3.724 7 1534.000 7 42.000 ");
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EXPECT_EQ(0, expected_str.compare(line_aux));
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if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
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}
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TEST(RinexPrinterTest, GpsObsLogDualBand)
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{
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std::string line_aux;
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@ -473,3 +614,111 @@ TEST(RinexPrinterTest, MixedObsLog)
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if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
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}
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TEST(RinexPrinterTest, MixedObsLogGpsGlo)
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{
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std::string line_aux;
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std::string line_str;
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bool no_more_finds = false;
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const Glonass_Gnav_Ephemeris eph_glo = Glonass_Gnav_Ephemeris();
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const Gps_Ephemeris eph_gps = Gps_Ephemeris();
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std::shared_ptr<Rinex_Printer> rp;
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rp = std::make_shared<Rinex_Printer>();
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rp->rinex_obs_header(rp->obsFile, eph_gps, eph_glo, 0.0, "1C");
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std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
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Gnss_Synchro gs1 = Gnss_Synchro();
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Gnss_Synchro gs2 = Gnss_Synchro();
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Gnss_Synchro gs3 = Gnss_Synchro();
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Gnss_Synchro gs4 = Gnss_Synchro();
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Gnss_Synchro gs5 = Gnss_Synchro();
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Gnss_Synchro gs6 = Gnss_Synchro();
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Gnss_Synchro gs7 = Gnss_Synchro();
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Gnss_Synchro gs8 = Gnss_Synchro();
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std::string sys = "G";
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gs1.System = *sys.c_str();
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gs2.System = *sys.c_str();
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gs3.System = *sys.c_str();
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gs4.System = *sys.c_str();
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sys = "R";
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gs5.System = *sys.c_str();
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gs6.System = *sys.c_str();
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gs7.System = *sys.c_str();
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gs8.System = *sys.c_str();
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std::string sig = "1C";
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std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
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sig = "1C";
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std::memcpy((void*)gs5.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs6.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs7.Signal, sig.c_str(), 3);
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std::memcpy((void*)gs8.Signal, sig.c_str(), 3);
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gs1.PRN = 3;
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gs2.PRN = 8;
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gs3.PRN = 14;
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gs4.PRN = 16;
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gs5.PRN = 3;
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gs6.PRN = 16;
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gs7.PRN = 14;
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gs8.PRN = 16;
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gs2.Pseudorange_m = 22000002.1;
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gs2.Carrier_phase_rads = 45.4;
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gs2.Carrier_Doppler_hz = 321;
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gs2.CN0_dB_hz = 39;
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gs4.Pseudorange_m = 22000000;
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gs4.Carrier_phase_rads = 23.4;
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gs4.Carrier_Doppler_hz = -1534;
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gs4.CN0_dB_hz = 40;
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gs6.Pseudorange_m = 22000000;
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gs6.Carrier_phase_rads = 52.1;
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gs6.Carrier_Doppler_hz = 1534;
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gs6.CN0_dB_hz = 41;
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gs8.Pseudorange_m = 22000000;
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gs8.Carrier_phase_rads = 0.8;
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gs8.Carrier_Doppler_hz = -20;
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gs8.CN0_dB_hz = 42;
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(5,gs5) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(6,gs6) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(7,gs7) );
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gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(8,gs8) );
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rp->log_rinex_obs(rp->obsFile, eph_gps, eph_glo, 0.0, gnss_pseudoranges_map);
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rp->obsFile.seekp(0);
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while(!rp->obsFile.eof())
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{
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std::getline(rp->obsFile, line_str);
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if(!no_more_finds)
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{
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if (line_str.find("R16", 0) != std::string::npos)
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{
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no_more_finds = true;
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line_aux = std::string(line_str);
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}
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}
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}
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std::string expected_str("R16 22000000.000 7 0.127 7 -20.000 7 42.000 22000000.000 6 8.292 6 1534.000 6 41.000");
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EXPECT_EQ(0, expected_str.compare(line_aux));
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if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
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}
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@ -276,6 +276,33 @@ TEST(RtcmTest, MT1019)
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}
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TEST(RtcmTest, MT1020)
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{
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auto rtcm = std::make_shared<Rtcm>();
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bool expected_true = true;
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Glonass_Gnav_Ephemeris glonass_gnav_eph = Glonass_Gnav_Ephemeris();
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Glonass_Gnav_Utc_Model glonass_gnav_utc_model = Glonass_Gnav_Utc_Model();
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Glonass_Gnav_Ephemeris glonass_gnav_eph_read = Glonass_Gnav_Ephemeris();
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Glonass_Gnav_Utc_Model glonass_gnav_utc_model_read = Glonass_Gnav_Utc_Model();
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glonass_gnav_eph.i_satellite_PRN = 3;
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glonass_gnav_eph.d_t_b = 4;
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glonass_gnav_eph.d_E_n = 2.0 * E_LSB;
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glonass_gnav_eph.d_l3rd_n = true;
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glonass_gnav_utc_model.d_tau_gps = 5;
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std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
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EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
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EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_PRN);
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EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
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EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
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EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);
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EXPECT_EQ(expected_true, glonass_gnav_eph_read.d_l3rd_n);
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EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), glonass_gnav_eph_read, glonass_gnav_utc_model_read));
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}
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TEST(RtcmTest, MT1029)
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{
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auto rtcm = std::make_shared<Rtcm>();
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@ -321,6 +348,7 @@ TEST(RtcmTest, MSMCell)
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auto rtcm = std::make_shared<Rtcm>();
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
|
||||
Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
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||||
Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
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std::map<int, Gnss_Synchro> pseudoranges;
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Gnss_Synchro gnss_synchro;
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@ -328,15 +356,18 @@ TEST(RtcmTest, MSMCell)
|
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Gnss_Synchro gnss_synchro3;
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||||
Gnss_Synchro gnss_synchro4;
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Gnss_Synchro gnss_synchro5;
|
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Gnss_Synchro gnss_synchro6;
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|
||||
gnss_synchro.PRN = 4;
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||||
gnss_synchro2.PRN = 8;
|
||||
gnss_synchro3.PRN = 32;
|
||||
gnss_synchro4.PRN = 10;
|
||||
gnss_synchro5.PRN = 10;
|
||||
gnss_synchro6.PRN = 10;
|
||||
|
||||
std::string gps = "G";
|
||||
std::string gal = "E";
|
||||
std::string glo = "R";
|
||||
|
||||
std::string c1 = "1C";
|
||||
std::string s2 = "2S";
|
||||
@ -347,24 +378,28 @@ TEST(RtcmTest, MSMCell)
|
||||
gnss_synchro3.System = *gps.c_str();
|
||||
gnss_synchro4.System = *gal.c_str();
|
||||
gnss_synchro5.System = *gps.c_str();
|
||||
gnss_synchro6.System = *glo.c_str();
|
||||
|
||||
std::memcpy(static_cast<void*>(gnss_synchro.Signal), x5.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro2.Signal), s2.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro3.Signal), c1.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro4.Signal), x5.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro5.Signal), c1.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro6.Signal), c1.c_str(), 3);
|
||||
|
||||
gnss_synchro.Pseudorange_m = 20000000.0;
|
||||
gnss_synchro2.Pseudorange_m = 20001010.0;
|
||||
gnss_synchro3.Pseudorange_m = 24002020.0;
|
||||
gnss_synchro4.Pseudorange_m = 20003010.1;
|
||||
gnss_synchro5.Pseudorange_m = 22003010.1;
|
||||
gnss_synchro6.Pseudorange_m = 22003010.1;
|
||||
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
|
||||
pseudoranges.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro5));
|
||||
|
||||
unsigned int ref_id = 1234;
|
||||
unsigned int clock_steering_indicator = 0;
|
||||
@ -376,10 +411,12 @@ TEST(RtcmTest, MSMCell)
|
||||
|
||||
gps_eph.i_satellite_PRN = gnss_synchro2.PRN;
|
||||
gal_eph.i_satellite_PRN = gnss_synchro.PRN;
|
||||
glo_gnav_eph.i_satellite_PRN = gnss_synchro.PRN;
|
||||
|
||||
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
glo_gnav_eph,
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
@ -397,14 +434,17 @@ TEST(RtcmTest, MSMCell)
|
||||
EXPECT_EQ(0, MSM1_bin.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
|
||||
|
||||
std::map<int, Gnss_Synchro> pseudoranges2;
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro6));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro5));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro4));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro2));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro));
|
||||
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
glo_gnav_eph,
|
||||
obs_time,
|
||||
pseudoranges2,
|
||||
ref_id,
|
||||
@ -416,22 +456,23 @@ TEST(RtcmTest, MSMCell)
|
||||
std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
|
||||
EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
|
||||
|
||||
Gnss_Synchro gnss_synchro6;
|
||||
gnss_synchro6.PRN = 10;
|
||||
gnss_synchro6.System = *gps.c_str();
|
||||
std::memcpy(static_cast<void*>(gnss_synchro6.Signal), s2.c_str(), 3);
|
||||
gnss_synchro6.Pseudorange_m = 24000000.0;
|
||||
Gnss_Synchro gnss_synchro7;
|
||||
gnss_synchro7.PRN = 10;
|
||||
gnss_synchro7.System = *gps.c_str();
|
||||
std::memcpy(static_cast<void*>(gnss_synchro7.Signal), s2.c_str(), 3);
|
||||
gnss_synchro7.Pseudorange_m = 24000000.0;
|
||||
|
||||
std::map<int, Gnss_Synchro> pseudoranges3;
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro6));
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro7));
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
|
||||
|
||||
std::string MSM1_3 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
{},
|
||||
obs_time,
|
||||
pseudoranges3,
|
||||
ref_id,
|
||||
@ -498,7 +539,7 @@ TEST(RtcmTest, MSM1)
|
||||
gps_eph.i_satellite_PRN = gnss_synchro.PRN;
|
||||
|
||||
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
||||
{}, {},
|
||||
{}, {}, {},
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
@ -545,7 +586,7 @@ TEST(RtcmTest, MSM1)
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro2));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro));
|
||||
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
||||
{}, {},
|
||||
{}, {}, {},
|
||||
obs_time,
|
||||
pseudoranges2,
|
||||
ref_id,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user