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Create a base class for Gnss almanacs, unify parameter names

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This commit is contained in:
Carles Fernandez 2021-02-23 11:57:24 +01:00
parent a479d4c1eb
commit c2223e3dad
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GPG Key ID: 4C583C52B0C3877D
12 changed files with 97 additions and 74 deletions
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8
docs/xml-schemas/gal_almanac_map.xsd
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@ -17,18 +17,18 @@
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="PRN"/>
<xs:element type="xs:int" name="toa"/>
<xs:element type="xs:byte" name="WNa"/>
<xs:element type="xs:byte" name="IODa"/>
<xs:element type="xs:float" name="delta_i"/>
<xs:element type="xs:byte" name="toa"/>
<xs:element type="xs:byte" name="WNa"/>
<xs:element type="xs:float" name="M_0"/>
<xs:element type="xs:float" name="ecc"/>
<xs:element type="xs:float" name="delta_sqrtA"/>
<xs:element type="xs:float" name="sqrtA"/>
<xs:element type="xs:float" name="OMEGA_0"/>
<xs:element type="xs:float" name="omega"/>
<xs:element type="xs:float" name="OMEGAdot"/>
<xs:element type="xs:float" name="af0"/>
<xs:element type="xs:float" name="af1"/>
<xs:element type="xs:byte" name="IODa"/>
<xs:element type="xs:byte" name="E5b_HS"/>
<xs:element type="xs:byte" name="E1B_HS"/>
<xs:element type="xs:byte" name="E5a_HS"/>

4
docs/xml-schemas/gps_almanac_map.xsd
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@ -26,10 +26,10 @@
<xs:element type="xs:float" name="OMEGA_0"/>
<xs:element type="xs:float" name="omega"/>
<xs:element type="xs:float" name="OMEGAdot"/>
<xs:element type="xs:byte" name="SV_health"/>
<xs:element type="xs:byte" name="AS_status"/>
<xs:element type="xs:float" name="af0"/>
<xs:element type="xs:float" name="af1"/>
<xs:element type="xs:byte" name="SV_health"/>
<xs:element type="xs:byte" name="AS_status"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

3
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -454,8 +454,7 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
toa.time = gal_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = 5440.588203494 + gal_alm.delta_sqrtA;
rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
rtklib_alm.A = gal_alm.sqrtA * gal_alm.sqrtA;
rtklib_alm.e = gal_alm.ecc;
rtklib_alm.i0 = (gal_alm.delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.OMEGA_0 * GNSS_PI;

8
src/core/libs/gnss_sdr_supl_client.cc
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@ -201,9 +201,9 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
{
/* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
gps_time.tow = static_cast<double>(assist.time.gps_tow) * 0.08;
gps_time.d_Week = static_cast<double>(assist.time.gps_week);
gps_time.d_tv_sec = static_cast<double>(assist.time.stamp.tv_sec);
gps_time.d_tv_usec = static_cast<double>(assist.time.stamp.tv_usec);
gps_time.week = static_cast<double>(assist.time.gps_week);
gps_time.seconds = static_cast<double>(assist.time.stamp.tv_sec);
gps_time.microseconds = static_cast<double>(assist.time.stamp.tv_usec);
gps_time.valid = true;
}
@ -871,7 +871,7 @@ bool Gnss_Sdr_Supl_Client::read_gal_almanac_from_gsa(const std::string& file_nam
gal_alm.delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
gal_alm.M_0 = std::stod(almanac.child("almanac").child_value("m0"));
gal_alm.ecc = std::stod(almanac.child("almanac").child_value("ecc"));
gal_alm.delta_sqrtA = std::stod(almanac.child("almanac").child_value("aSqRoot"));
gal_alm.sqrtA = std::stod(almanac.child("almanac").child_value("aSqRoot"));
gal_alm.OMEGA_0 = std::stod(almanac.child("almanac").child_value("omega0"));
gal_alm.omega = std::stod(almanac.child("almanac").child_value("w"));
gal_alm.OMEGAdot = std::stod(almanac.child("almanac").child_value("omegaDot"));

8
src/core/receiver/control_thread.cc
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@ -209,7 +209,7 @@ void ControlThread::init()
// Make an educated guess
time_t rawtime;
time(&rawtime);
agnss_ref_time_.d_tv_sec = rawtime;
agnss_ref_time_.seconds = rawtime;
agnss_ref_time_.valid = true;
}
else
@ -220,8 +220,8 @@ void ControlThread::init()
};
if (strptime(ref_time_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) != nullptr)
{
agnss_ref_time_.d_tv_sec = timegm(&tm);
if (agnss_ref_time_.d_tv_sec > 0)
agnss_ref_time_.seconds = timegm(&tm);
if (agnss_ref_time_.seconds > 0)
{
agnss_ref_time_.valid = true;
}
@ -883,7 +883,7 @@ void ControlThread::assist_GNSS()
time_t ref_rx_utc_time = 0;
if (agnss_ref_time_.valid == true)
{
ref_rx_utc_time = static_cast<time_t>(agnss_ref_time_.d_tv_sec);
ref_rx_utc_time = static_cast<time_t>(agnss_ref_time_.seconds);
}
const std::vector<std::pair<int, Gnss_Satellite>> visible_sats = get_visible_sats(ref_rx_utc_time, ref_LLH);

1
src/core/system_parameters/CMakeLists.txt
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@ -27,6 +27,7 @@ set(SYSTEM_PARAMETERS_SOURCES
)
set(SYSTEM_PARAMETERS_HEADERS
gnss_almanac.h
gnss_ephemeris.h
gnss_satellite.h
gnss_signal.h

12
src/core/system_parameters/agnss_ref_time.h
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@ -39,9 +39,9 @@ public:
Agnss_Ref_Time() = default;
double tow{};
double d_Week{};
double d_tv_sec{};
double d_tv_usec{};
double week{};
double seconds{};
double microseconds{};
bool valid{};
template <class Archive>
@ -56,9 +56,9 @@ public:
{
};
archive& BOOST_SERIALIZATION_NVP(tow);
archive& BOOST_SERIALIZATION_NVP(d_Week);
archive& BOOST_SERIALIZATION_NVP(d_tv_sec);
archive& BOOST_SERIALIZATION_NVP(d_tv_usec);
archive& BOOST_SERIALIZATION_NVP(week);
archive& BOOST_SERIALIZATION_NVP(seconds);
archive& BOOST_SERIALIZATION_NVP(microseconds);
archive& BOOST_SERIALIZATION_NVP(valid);
}
};

21
src/core/system_parameters/beidou_dnav_almanac.h
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@ -18,6 +18,7 @@
#ifndef GNSS_SDR_BEIDOU_DNAV_ALMANAC_H
#define GNSS_SDR_BEIDOU_DNAV_ALMANAC_H
#include "gnss_almanac.h"
#include <boost/serialization/nvp.hpp>
/** \addtogroup Core
@ -29,7 +30,7 @@
/*!
* \brief This class is a storage for the BeiDou D1 almanac
*/
class Beidou_Dnav_Almanac
class Beidou_Dnav_Almanac : public Gnss_Almanac
{
public:
/*!
@ -37,18 +38,7 @@ public:
*/
Beidou_Dnav_Almanac() = default;
unsigned int PRN{}; //!< SV PRN NUMBER
double delta_i{};
double toa{}; //!< Almanac data reference time of week [s]
double M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
double ecc{}; //!< Eccentricity [dimensionless]
double sqrtA{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double OMEGA_0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double omega{}; //!< Argument of Perigee [semi-cicles]
double OMEGAdot{}; //!< Rate of Right Ascension [semi-circles/s]
int SV_health{}; //!< SV Health
double af0{}; //!< Coefficient 0 of code phase offset model [s]
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
int SV_health{}; //!< SV Health
template <class Archive>
@ -60,17 +50,16 @@ public:
ar& BOOST_SERIALIZATION_NVP(PRN);
ar& BOOST_SERIALIZATION_NVP(delta_i);
ar& BOOST_SERIALIZATION_NVP(toa);
// ar& BOOST_SERIALIZATION_NVP(WNa);
ar& BOOST_SERIALIZATION_NVP(WNa);
ar& BOOST_SERIALIZATION_NVP(M_0);
ar& BOOST_SERIALIZATION_NVP(ecc);
ar& BOOST_SERIALIZATION_NVP(sqrtA);
ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
ar& BOOST_SERIALIZATION_NVP(omega);
ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
ar& BOOST_SERIALIZATION_NVP(SV_health);
// ar& BOOST_SERIALIZATION_NVP(AS_status);
ar& BOOST_SERIALIZATION_NVP(af0);
ar& BOOST_SERIALIZATION_NVP(af1);
ar& BOOST_SERIALIZATION_NVP(SV_health);
}
};

22
src/core/system_parameters/galileo_almanac.h
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@ -18,8 +18,8 @@
#ifndef GNSS_SDR_GALILEO_ALMANAC_H
#define GNSS_SDR_GALILEO_ALMANAC_H
#include "gnss_almanac.h"
#include <boost/serialization/nvp.hpp>
#include <cstdint>
/** \addtogroup Core
* \{ */
@ -30,7 +30,7 @@
/*!
* \brief This class is a storage for the Galileo SV ALMANAC data
*/
class Galileo_Almanac
class Galileo_Almanac : public Gnss_Almanac
{
public:
/*!
@ -38,19 +38,7 @@ public:
*/
Galileo_Almanac() = default;
uint32_t PRN{}; //!< SV PRN NUMBER
int32_t toa{};
int32_t WNa{};
int32_t IODa{};
double delta_i{}; //!< Inclination at reference time relative to i0 = 56º [semi-circles]
double M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
double ecc{}; //!< Eccentricity [dimensionless]
double delta_sqrtA{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double OMEGA_0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double omega{}; //!< Argument of Perigee [semi-cicles]
double OMEGAdot{}; //!< Rate of Right Ascension [semi-circles/s]
double af0{}; //!< Coefficient 0 of code phase offset model [s]
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
int32_t E5b_HS{};
int32_t E1B_HS{};
int32_t E5a_HS{};
@ -63,18 +51,18 @@ public:
{
};
ar& BOOST_SERIALIZATION_NVP(PRN);
ar& BOOST_SERIALIZATION_NVP(delta_i);
ar& BOOST_SERIALIZATION_NVP(toa);
ar& BOOST_SERIALIZATION_NVP(WNa);
ar& BOOST_SERIALIZATION_NVP(IODa);
ar& BOOST_SERIALIZATION_NVP(delta_i);
ar& BOOST_SERIALIZATION_NVP(M_0);
ar& BOOST_SERIALIZATION_NVP(ecc);
ar& BOOST_SERIALIZATION_NVP(delta_sqrtA);
ar& BOOST_SERIALIZATION_NVP(sqrtA);
ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
ar& BOOST_SERIALIZATION_NVP(omega);
ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
ar& BOOST_SERIALIZATION_NVP(af0);
ar& BOOST_SERIALIZATION_NVP(af1);
ar& BOOST_SERIALIZATION_NVP(IODa);
ar& BOOST_SERIALIZATION_NVP(E5b_HS);
ar& BOOST_SERIALIZATION_NVP(E1B_HS);
ar& BOOST_SERIALIZATION_NVP(E5a_HS);

7
src/core/system_parameters/galileo_almanac_helper.cc
View File

@ -19,6 +19,7 @@
Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i) const
{
Galileo_Almanac galileo_almanac;
const double sqrtAnominal = 5440.588203494; // square root of Galileo nominal orbit semi-major axis
switch (i)
{
case 1:
@ -29,7 +30,7 @@ Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i) const
galileo_almanac.delta_i = this->delta_i_7;
galileo_almanac.M_0 = this->M0_7;
galileo_almanac.ecc = this->e_7;
galileo_almanac.delta_sqrtA = this->DELTA_A_7;
galileo_almanac.sqrtA = sqrtAnominal + this->DELTA_A_7;
galileo_almanac.OMEGA_0 = this->Omega0_7;
galileo_almanac.omega = this->omega_7;
galileo_almanac.OMEGAdot = this->Omega_dot_7;
@ -48,7 +49,7 @@ Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i) const
galileo_almanac.delta_i = this->delta_i_8;
galileo_almanac.M_0 = this->M0_9;
galileo_almanac.ecc = this->e_8;
galileo_almanac.delta_sqrtA = this->DELTA_A_8;
galileo_almanac.sqrtA = sqrtAnominal + this->DELTA_A_8;
galileo_almanac.OMEGA_0 = this->Omega0_8;
galileo_almanac.omega = this->omega_8;
galileo_almanac.OMEGAdot = this->Omega_dot_8;
@ -66,7 +67,7 @@ Galileo_Almanac Galileo_Almanac_Helper::get_almanac(int i) const
galileo_almanac.delta_i = this->delta_i_9;
galileo_almanac.M_0 = this->M0_10;
galileo_almanac.ecc = this->e_9;
galileo_almanac.delta_sqrtA = this->DELTA_A_9;
galileo_almanac.sqrtA = sqrtAnominal + this->DELTA_A_9;
galileo_almanac.OMEGA_0 = this->Omega0_10;
galileo_almanac.omega = this->omega_9;
galileo_almanac.OMEGAdot = this->Omega_dot_10;

57
src/core/system_parameters/gnss_almanac.h Normal file
View File

@ -0,0 +1,57 @@
/*!
* \file gnss_almanac.h
* \brief Base class for GNSS almanac storage
* \author Carles Fernandez, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_ALMANAC_H
#define GNSS_SDR_GNSS_ALMANAC_H
#include <cstdint>
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
* \{ */
/*!
* \brief Base class for GNSS almanac storage
*/
class Gnss_Almanac
{
public:
/*!
* Default constructor
*/
Gnss_Almanac() = default;
uint32_t PRN{}; //!< SV PRN NUMBER
double delta_i{}; //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
int32_t toa{}; //!< Almanac data reference time of week [s]
int32_t WNa{}; //!< Almanac week number
double M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
double ecc{}; //!< Eccentricity [dimensionless]
double sqrtA{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double OMEGA_0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double omega{}; //!< Argument of Perigee [semi-cicles]
double OMEGAdot{}; //!< Rate of Right Ascension [semi-circles/s]
double af0{}; //!< Coefficient 0 of code phase offset model [s]
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
};
/** \} */
/** \} */
#endif // GNSS_SDR_GNSS_ALMANAC_H

20
src/core/system_parameters/gps_almanac.h
View File

@ -18,8 +18,8 @@
#ifndef GNSS_SDR_GPS_ALMANAC_H
#define GNSS_SDR_GPS_ALMANAC_H
#include "gnss_almanac.h"
#include <boost/serialization/nvp.hpp>
#include <cstdint>
/** \addtogroup Core
* \{ */
@ -32,7 +32,7 @@
*
* See https://www.gps.gov/technical/icwg/IS-GPS-200L.pdf Appendix II
*/
class Gps_Almanac
class Gps_Almanac : public Gnss_Almanac
{
public:
/*!
@ -40,20 +40,8 @@ public:
*/
Gps_Almanac() = default;
uint32_t PRN{}; //!< SV PRN NUMBER
double delta_i{}; //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
int32_t toa{}; //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200L) [s]
int32_t WNa{}; //!< Almanac week number
double M_0{}; //!< Mean Anomaly at Reference Time [semi-circles]
double ecc{}; //!< Eccentricity [dimensionless]
double sqrtA{}; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double OMEGA_0{}; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double omega{}; //!< Argument of Perigee [semi-cicles]
double OMEGAdot{}; //!< Rate of Right Ascension [semi-circles/s]
int32_t SV_health{}; //!< SV Health
int32_t AS_status{}; //!< Anti-Spoofing Flags and SV Configuration
double af0{}; //!< Coefficient 0 of code phase offset model [s]
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
template <class Archive>
@ -72,10 +60,10 @@ public:
ar& BOOST_SERIALIZATION_NVP(OMEGA_0);
ar& BOOST_SERIALIZATION_NVP(omega);
ar& BOOST_SERIALIZATION_NVP(OMEGAdot);
ar& BOOST_SERIALIZATION_NVP(SV_health);
ar& BOOST_SERIALIZATION_NVP(AS_status);
ar& BOOST_SERIALIZATION_NVP(af0);
ar& BOOST_SERIALIZATION_NVP(af1);
ar& BOOST_SERIALIZATION_NVP(SV_health);
ar& BOOST_SERIALIZATION_NVP(AS_status);
}
};