Create a base class for Gnss almanacs, unify parameter names

docs/xml-schemas/gal_almanac_map.xsd

@@ -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"/>

docs/xml-schemas/gps_almanac_map.xsd

@@ -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"/>

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -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 = gal_alm.sqrtA * gal_alm.sqrtA;
-    rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
     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;

src/core/libs/gnss_sdr_supl_client.cc

@@ -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.week = static_cast<double>(assist.time.gps_week);
-            gps_time.d_tv_sec = static_cast<double>(assist.time.stamp.tv_sec);
+            gps_time.seconds = static_cast<double>(assist.time.stamp.tv_sec);
-            gps_time.d_tv_usec = static_cast<double>(assist.time.stamp.tv_usec);
+            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"));

src/core/receiver/control_thread.cc

@@ -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);
+                    agnss_ref_time_.seconds = timegm(&tm);
-                    if (agnss_ref_time_.d_tv_sec > 0)
+                    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);

src/core/system_parameters/CMakeLists.txt

@@ -27,6 +27,7 @@ set(SYSTEM_PARAMETERS_SOURCES
 )
 
 set(SYSTEM_PARAMETERS_HEADERS
+    gnss_almanac.h
     gnss_ephemeris.h
     gnss_satellite.h
     gnss_signal.h

src/core/system_parameters/agnss_ref_time.h

@@ -39,9 +39,9 @@ public:
     Agnss_Ref_Time() = default;
 
     double tow{};
-    double d_Week{};
+    double week{};
-    double d_tv_sec{};
+    double seconds{};
-    double d_tv_usec{};
+    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(week);
-        archive& BOOST_SERIALIZATION_NVP(d_tv_sec);
+        archive& BOOST_SERIALIZATION_NVP(seconds);
-        archive& BOOST_SERIALIZATION_NVP(d_tv_usec);
+        archive& BOOST_SERIALIZATION_NVP(microseconds);
         archive& BOOST_SERIALIZATION_NVP(valid);
     }
 };

src/core/system_parameters/beidou_dnav_almanac.h

@@ -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
+    int SV_health{};  //!< SV Health
-    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]
 
     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);
     }
 };
 

src/core/system_parameters/galileo_almanac.h

@@ -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);

src/core/system_parameters/galileo_almanac_helper.cc

@@ -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;

src/core/system_parameters/gnss_almanac.h

@@ -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

src/core/system_parameters/gps_almanac.h

@@ -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);
     }
 };