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Code Issues Releases Wiki Activity

bds: removal of unused fields

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This commit is contained in:
Damian Miralles
2019-07-10 10:49:41 -05:00
parent 81ad7484bd
commit c2f4b39bb2
6 changed files with 15 additions and 26 deletions
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7
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -54,6 +54,7 @@
#include "rtklib_solver.h" #include "rtklib_solver.h"
#include "Beidou_B1I.h" #include "Beidou_B1I.h"
#include "Beidou_B3I.h" #include "Beidou_B3I.h"
#include "Beidou_DNAV.h"
#include "GLONASS_L1_L2_CA.h" #include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
@@ -730,7 +731,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0); 0);
valid_obs++; valid_obs++;
} }
@@ -752,7 +753,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
1); // Band 3 (L2/G2/B3) 1); // Band 3 (L2/G2/B3)
found_B1I_obs = true; found_B1I_obs = true;
break; break;
@@ -770,7 +771,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
1); // Band 2 (L2/G2) 1); // Band 2 (L2/G2)
valid_obs++; valid_obs++;
} }

3
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
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@@ -33,6 +33,7 @@
#include "beidou_b1i_telemetry_decoder_gs.h" #include "beidou_b1i_telemetry_decoder_gs.h"
#include "Beidou_B1I.h" #include "Beidou_B1I.h"
#include "Beidou_DNAV.h"
#include "beidou_dnav_ephemeris.h" #include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h" #include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h" #include "beidou_dnav_utc_model.h"
@@ -546,7 +547,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
// update TOW at the preamble instant // update TOW at the preamble instant
{ {
// Reporting sow as gps time of week // Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0); d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS); d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
flag_SOW_set = true; flag_SOW_set = true;
d_nav.flag_new_SOW_available = false; d_nav.flag_new_SOW_available = false;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
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@@ -611,7 +611,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
// update TOW at the preamble instant // update TOW at the preamble instant
{ {
// Reporting sow as gps time of week // Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0); d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms =
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) *
BEIDOU_B3I_CODE_PERIOD_MS); BEIDOU_B3I_CODE_PERIOD_MS);

23
src/core/system_parameters/Beidou_B1I.h
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@@ -36,16 +36,6 @@
#include <cstdint> #include <cstdint>
#include <string> #include <string>
// Physical constants
const double BEIDOU_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double BEIDOU_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double BEIDOU_PI = 3.1415926535898; //!< Pi
const double BEIDOU_TWO_PI = 6.283185307179586; //!< 2Pi
const double BEIDOU_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000
const double BEIDOU_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000
const double BEIDOU_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2
// carrier and code frequencies // carrier and code frequencies
const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< B1I [Hz] const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< B1I [Hz]
const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< Beidou B1I code rate [chips/s] const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< Beidou B1I code rate [chips/s]
@@ -54,27 +44,20 @@ const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< Beidou B1I code period
const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms] const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms]
const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< Beidou B1I chip period [seconds] const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< Beidou B1I chip period [seconds]
const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20; const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B1I_SECONDARY_CODE = "00000100110101001110";
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110"; const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"}; const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
const int32_t BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22; const int32_t BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22;
const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00"; const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00";
const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11; const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // ************** const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220;
const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220; const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220; const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s] const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50;
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; const int BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2;
const int BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS; const int BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s] const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;
const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes
const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes
const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds]
const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
#endif /* GNSS_SDR_BEIDOU_B1I_H_ */ #endif /* GNSS_SDR_BEIDOU_B1I_H_ */

1
src/core/system_parameters/Beidou_B3I.h
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@@ -42,7 +42,6 @@ const double BEIDOU_B3I_CODE_LENGTH_CHIPS = 10230.0; //!< BeiDou B3I code lengt
const double BEIDOU_B3I_CODE_PERIOD = 0.001; //!< BeiDou B3I code period [seconds] const double BEIDOU_B3I_CODE_PERIOD = 0.001; //!< BeiDou B3I code period [seconds]
const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< BeiDou B3I code period [ms] const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< BeiDou B3I code period [ms]
const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20; const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B3I_SECONDARY_CODE = "00000100110101001110";
const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110"; const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"}; const std::string BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
const int32_t BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22; const int32_t BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22;

5
src/core/system_parameters/Beidou_DNAV.h
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@@ -51,6 +51,11 @@ const double BEIDOU_D1NAV_SYMBOL_RATE_SPS = 50;
const double BEIDOU_D2NAV_SYMBOL_RATE_SPS = 500; const double BEIDOU_D2NAV_SYMBOL_RATE_SPS = 500;
const std::string BEIDOU_DNAV_PREAMBLE = "11100010010"; const std::string BEIDOU_DNAV_PREAMBLE = "11100010010";
// Number of leap seconds passed from the start of the GPS epoch up to the start of BeiDou epoch
const int32_t BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET = 14;
// Number of weeks passed from the start of the GPS epoch up to the start of BeiDou epoch
const int32_t BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET = 1356;
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE // BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
// GENERAL // GENERAL
const std::vector<std::pair<int32_t, int32_t> > D1_PRE({{1, 11}}); const std::vector<std::pair<int32_t, int32_t> > D1_PRE({{1, 11}});