mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 12:10:34 +00:00
Fixes error after rebase operation from upstream/next
This commit is contained in:
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85f7e333bb
commit
bf9345ebd2
@ -717,7 +717,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
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std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
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std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
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std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
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std::map<int, Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter;
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std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
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std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
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if (!b_rinex_header_written) // & we have utc data in nav message!
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@ -134,74 +134,77 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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{
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switch(gnss_observables_iter->second.System)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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case 'E':
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// Galileo E1
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if(sig_.compare("1B") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// Galileo E1
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if(sig_.compare("1B") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// Galileo E5
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if(sig_.compare("5X") == 0)
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{
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}
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// Galileo E5
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if(sig_.compare("5X") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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bool found_E1_obs=false;
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
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{
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2);//Band 3 (L5/E5)
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found_E1_obs=true;
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break;
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}
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}
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if (!found_E1_obs)
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{
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//insert Galileo E5 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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bool found_E1_obs=false;
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
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{
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2);//Band 3 (L5/E5)
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found_E1_obs=true;
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break;
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}
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}
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if (!found_E1_obs)
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{
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//insert Galileo E5 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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}
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break;
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}
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case 'G':
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@ -276,75 +279,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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break;
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}
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case 'R': //TODO This should be using rtk lib nomenclature
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// GLONASS GNAV L1
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if(sig_.compare("1C") == 0)
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{
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// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_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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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.WN_5,
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0);//TODO are THESE VALUES OK
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// GLONASS GNAV L1
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if(sig_.compare("1C") == 0)
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{
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// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_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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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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0);//TODO are THESE VALUES OK
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// GLONASS GNAV L2
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if(sig_.compare("2C") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
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{
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bool found_L1_obs=false;
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for (int i = 0; i < valid_obs; i++)
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{
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// TODO what is this?
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if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
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{
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.WN_5,
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2);//Band 3 (L5/E5)
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found_L1_obs=true;
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break;
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}
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}
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if (!found_L1_obs)
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{
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//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// GLONASS GNAV L2
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if(sig_.compare("2C") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
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{
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bool found_L1_obs=false;
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for (int i = 0; i < valid_obs; i++)
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{
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// TODO what is this?
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if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
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{
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obs_data[i] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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2);//Band 3 (L5/E5)
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found_L1_obs=true;
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break;
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}
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}
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if (!found_L1_obs)
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{
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//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_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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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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}
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break;
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}
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default :
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DLOG(INFO) << "Hybrid observables: Unknown GNSS";
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break;
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@ -439,8 +442,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
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}
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}
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}
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}
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}
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}
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return b_valid_position;
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return this->is_valid_position();
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}
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@ -103,14 +103,6 @@ public:
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Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
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int count_valid_position;
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bool d_flag_dump_enabled;
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sol_t pvt_sol;
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rtk_t rtk_;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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};
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#endif
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