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This commit is contained in:
Antonio Ramos
2018-02-23 12:00:20 +01:00
parent c0f1d95b32
commit c849738da0
4 changed files with 12 additions and 69 deletions
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60
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@@ -60,7 +60,6 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
d_dump = dump;
d_nchannels = nchannels_out;
d_dump_filename = dump_filename;
d_dump_filename_in = d_dump_filename;
T_rx_s = 0.0;
T_rx_step_s = 0.001; // 1 ms
max_delta = 0.15; // 150 ms
@@ -90,21 +89,6 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
d_dump = false;
}
}
if (!d_dump_in.is_open())
{
try
{
d_dump_in.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_filename_in.append("_in.bin");
d_dump_in.open(d_dump_filename_in.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
d_dump = false;
}
}
}
}
@@ -119,14 +103,6 @@ hybrid_observables_cc::~hybrid_observables_cc()
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
if (d_dump_in.is_open())
{
try { d_dump_in.close(); }
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
if(d_dump)
{
std::cout << "Writing observables .mat files ...";
@@ -425,25 +401,30 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
/////////////////////// DEBUG //////////////////////////
#ifndef NDEBUG
std::vector<Gnss_Synchro>::iterator it2;
double thr_ = 250.0 / 3e8;
double thr_ = 250.0 / 3e8; // Maximum pseudorange difference = 250 meters
for(it = data.begin(); it != (data.end() - 1); it++)
{
for(it2 = it + 1; it2 != data.end(); it2++)
{
if(it->PRN == it2->PRN)
if(it->PRN == it2->PRN and it->System == it2->System)
{
double tow_dif_ = std::fabs(it->TOW_at_current_symbol_s - it2->TOW_at_current_symbol_s);
if(tow_dif_ > thr_)
{
std::cout << TEXT_RED << "L1 - L2 TOW difference in PRN " << it->PRN <<
" = " << tow_dif_ << "[ms]. Equivalent to " << tow_dif_ * 3e8 << " meters in pseudorange"
<< TEXT_RESET << std::endl;
DLOG(INFO) << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * 3e8
<< " meters in pseudorange";
}
}
}
}
#endif
///////////////////////////////////////////////////////////
for(it = data.begin(); it != data.end(); it++)
{
if(it->TOW_at_current_symbol_s > TOW_ref) { TOW_ref = it->TOW_at_current_symbol_s; }
@@ -490,31 +471,12 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if(in[i][aux].Flag_valid_word)
{
bool __dump = false;
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
__dump = true;
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if(it->size() > 1)
{
if(it->front().PRN != it->back().PRN) { it->clear(); __dump = false; }
}
if(d_dump and __dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
int tmp_int = static_cast<int>(it->back().PRN);
d_dump_in.write(reinterpret_cast<char*>(&tmp_int), sizeof(int));
d_dump_in.write(reinterpret_cast<char*>(&it->back().RX_time), sizeof(double));
d_dump_in.write(reinterpret_cast<char*>(&it->back().TOW_at_current_symbol_s), sizeof(double));
d_dump_in.write(it->back().Signal, 3 * sizeof(char));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
d_dump = false;
}
if(it->front().PRN != it->back().PRN) { it->clear(); }
}
}
}

4
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
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@@ -70,6 +70,7 @@ private:
double interpolate_data(const std::pair<Gnss_Synchro, Gnss_Synchro>& a, const double& ti, int parameter);
std::pair<Gnss_Synchro, Gnss_Synchro> find_closest(std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();
//Tracking observable history
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
@@ -81,11 +82,8 @@ private:
unsigned int d_nchannels;
unsigned int d_num_valid_channels;
std::string d_dump_filename;
std::string d_dump_filename_in;
std::ofstream d_dump_file;
std::ofstream d_dump_in;
int save_matfile();
};
#endif

8
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@@ -350,19 +350,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency)
double tmp_tow = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
flag_TOW_set = true;
d_flag_new_tow_available = false;
double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
if (tmp_diff > 0.000001)
{
std::cout << TEXT_RED <<
"GPS L1 C/A. TOW incoherence on PRN: "<< current_symbol.PRN << ". TOW difference = " <<
tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
}
}
else
{

9
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
View File

@@ -155,17 +155,8 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
//* delay by the formulae:
//* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
double tmp_tow = d_TOW_at_current_symbol + GPS_L2_M_PERIOD;
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
//d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
if (tmp_diff > 0.000001)
{
std::cout << TEXT_RED <<
"GPS L2C. TOW incoherence on PRN: "<< current_synchro_data.PRN << ". TOW difference = " <<
tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
}
d_flag_valid_word = true;
}
else