From a1b9b092f57185fef5681c0687efcf6f5cbce1b5 Mon Sep 17 00:00:00 2001 From: Damian Miralles Date: Thu, 19 Oct 2017 13:22:55 -0600 Subject: [PATCH] Debugging GLONASS code to obtain position solution --- CMakeLists.txt | 2 +- .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 6 +- src/algorithms/PVT/libs/rtklib_solver.cc | 5 +- src/algorithms/PVT/libs/rtklib_solver.h | 2 +- .../libs/rtklib/rtklib_conversions.cc | 37 ++--- .../libs/rtklib/rtklib_conversions.h | 3 +- .../glonass_l1_ca_telemetry_decoder_cc.cc | 3 +- src/core/system_parameters/GLONASS_L1_CA.h | 2 - .../glonass_gnav_ephemeris.cc | 71 ++++++++- .../glonass_gnav_ephemeris.h | 11 ++ .../glonass_gnav_navigation_message.cc | 12 +- .../glonass_gnav_navigation_message.h | 4 + src/core/system_parameters/gnss_satellite.cc | 20 +++ src/core/system_parameters/gnss_satellite.h | 1 + .../glonass_gnav_nav_message_test.cc | 32 ++++ .../matlab/hybrid_observables_plot_sample.m | 146 +++++++++--------- 16 files changed, 242 insertions(+), 115 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 265e79ec5..b49ad4217 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -271,7 +271,7 @@ endif(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "") # Append -O2 optimization flag for Debug builds -set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2") +set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0") # allow 'large' files in 32 bit builds if(UNIX) diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index 3e6758e58..b0c0c5666 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -190,8 +190,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) // TODO Add GLONASS with gps week number and tow, // insert new ephemeris record DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW - << ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN - << " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b) + << ", Week Number =" << glonass_gnav_eph->d_WN + << " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b) << " from SV = " << glonass_gnav_eph->i_satellite_slot_number; // update/insert new ephemeris record to the global ephemeris map d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph; @@ -542,7 +542,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite std::map::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN); std::map::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN); std::map::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN); - std::map::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN); + std::map::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN); if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index de34231d7..06dcc618b 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -116,6 +116,7 @@ bool rtklib_solver::get_PVT(const std::map & gnss_observables_ std::map::const_iterator gps_ephemeris_iter; std::map::const_iterator gps_cnav_ephemeris_iter; std::map::const_iterator glonass_gnav_ephemeris_iter; + const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model; this->set_averaging_flag(flag_averaging); @@ -290,7 +291,7 @@ bool rtklib_solver::get_PVT(const std::map & gnss_observables_ if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend()) { //convert ephemeris from GNSS-SDR class to RTKLIB structure - geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); + geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); //convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs, @@ -329,7 +330,7 @@ bool rtklib_solver::get_PVT(const std::map & gnss_observables_ { //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //convert ephemeris from GNSS-SDR class to RTKLIB structure - geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second); + geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); //convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs, diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index 40e0ab250..d8703548e 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -87,7 +87,7 @@ public: std::map galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris - std::map glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris + std::map glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris Galileo_Utc_Model galileo_utc_model; Galileo_Iono galileo_iono; diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc index 8b1c8c726..3257ab0bf 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.cc +++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc @@ -30,10 +30,11 @@ #include "rtklib_conversions.h" #include "rtklib_rtkcmn.h" +#include obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band) { - rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz; + rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz; rtklib_obs.P[band] = gnss_synchro.Pseudorange_m; rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI); @@ -64,13 +65,12 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch return rtklib_obs; } -geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) +geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model) { - int week; + double week, sec; + int adj_week; geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0}; - gtime_t t_utc; - struct tm utcinfo; rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */ rtklib_sat.iode = static_cast(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */ @@ -91,26 +91,15 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph) rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */ rtklib_sat.age = static_cast(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */ - utcinfo.tm_mon = 0; - utcinfo.tm_mday = glonass_gnav_eph.d_N_T; - utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; - utcinfo.tm_hour = -6; - utcinfo.tm_min = 0; - utcinfo.tm_sec = glonass_gnav_eph.d_tod; - t_utc.time = mktime(&utcinfo); - t_utc.sec = glonass_gnav_eph.d_tau_c; - rtklib_sat.toe = utc2gpst(t_utc); /* message frame time (gpst) */ - - utcinfo.tm_mon = 0; - utcinfo.tm_mday = glonass_gnav_eph.d_N_T; - utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900; - utcinfo.tm_hour = -6; - utcinfo.tm_min = 0; - utcinfo.tm_sec = glonass_gnav_eph.d_t_k; - t_utc.time = mktime(&utcinfo); - t_utc.sec = glonass_gnav_eph.d_tau_c; - rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */ + // Time expressed in GPS Time but using RTKLib format + glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec); + adj_week = adjgpsweek(static_cast(week)); + rtklib_sat.toe = gpst2time(adj_week, sec); + // Time expressed in GPS Time but using RTKLib format + glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec); + adj_week = adjgpsweek(static_cast(week)); + rtklib_sat.tof = gpst2time(adj_week, sec); return rtklib_sat; } diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h index e620adaaa..e5a73e88d 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.h +++ b/src/algorithms/libs/rtklib/rtklib_conversions.h @@ -37,6 +37,7 @@ #include "gps_ephemeris.h" #include "gps_cnav_ephemeris.h" #include "glonass_gnav_ephemeris.h" +#include "glonass_gnav_utc_model.h" eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph); eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph); @@ -46,7 +47,7 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph); * \param glonass_gnav_eph GLONASS GNAV Ephemeris structure * \return Ephemeris structure for RTKLIB parsing */ -geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph); +geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model); obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band); diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 5a61f5b5a..d04224ed5 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -221,7 +221,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int if(d_nav.flag_update_slot_number == true) { LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel; - d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n); + d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n); + d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n); d_nav.flag_update_slot_number = false; } } diff --git a/src/core/system_parameters/GLONASS_L1_CA.h b/src/core/system_parameters/GLONASS_L1_CA.h index 83a768c93..8da14ffe2 100644 --- a/src/core/system_parameters/GLONASS_L1_CA.h +++ b/src/core/system_parameters/GLONASS_L1_CA.h @@ -91,8 +91,6 @@ const int GLONASS_L1_CA_NBR_SATS = 24; // STRING DATA WITHOUT PREAMB //FIXME Probably should use leap seconds definitions of rtklib const double GLONASS_LEAP_SECONDS[21][7] = { /* leap seconds (y,m,d,h,m,s,utc-gpst) */ - {2019, 1, 1, 0, 0, 0, -20}, - {2018, 1, 1, 0, 0, 0, -19}, {2017, 1, 1, 0, 0, 0, -18}, {2015, 7, 1, 0, 0, 0, -17}, {2012, 7, 1, 0, 0, 0, -16}, diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.cc b/src/core/system_parameters/glonass_gnav_ephemeris.cc index b7b8e2d3a..b3e73e115 100644 --- a/src/core/system_parameters/glonass_gnav_ephemeris.cc +++ b/src/core/system_parameters/glonass_gnav_ephemeris.cc @@ -79,20 +79,87 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris() d_tau_c = 0.0; d_TOW = 0.0; // tow of the start of frame d_WN = 0.0; // week number of the start of frame + d_tod = 0.0; } boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const { - boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c); + boost::posix_time::time_duration t(0, 0, offset_time + d_tau_c + d_tau_n); boost::gregorian::date d1(d_yr, 1, 1); - boost::gregorian::days d2(d_N_T); + boost::gregorian::days d2(d_N_T - 1); boost::posix_time::ptime glonass_time(d1+d2, t); return glonass_time; } +boost::posix_time::ptime Glonass_Gnav_Ephemeris::glot_to_utc(const double offset_time, const double glot2utc_corr) const +{ + double tod = 0.0; + double utcsu2utc = 3*3600; + double glot2utcsu = 3*3600; + + tod = offset_time - glot2utcsu - utcsu2utc + glot2utc_corr + d_tau_n; + boost::posix_time::time_duration t(0, 0, tod); + boost::gregorian::date d1(d_yr, 1, 1); + boost::gregorian::days d2(d_N_T - 1); + boost::posix_time::ptime utc_time(d1+d2, t); + + return utc_time; +} + +void Glonass_Gnav_Ephemeris::glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * wn, double * tow) const +{ + double tod = 0.0; + double dayofweek = 0.0; + double utcsu2utc = 3*3600; + double glot2utcsu = 3*3600; + double days = 0.0; + double total_sec = 0.0, sec_of_day = 0.0; + int i = 0; + + boost::gregorian::date gps_epoch { 1980, 1, 6 }; + + // tk is relative to UTC(SU) + 3.00 hrs, so we need to convert to utc and add corrections + // tk plus 10 sec is the true tod since get_TOW is called when in str5 + tod = tod_offset - glot2utcsu - utcsu2utc ; + + + boost::posix_time::time_duration t(0, 0, tod); + boost::gregorian::date d1(d_yr, 1, 1); + boost::gregorian::days d2(d_N_T - 1); + boost::posix_time::ptime glonass_time(d1+d2, t); + boost::gregorian::date utc_date = glonass_time.date(); + + // Total number of days + days = static_cast((utc_date - gps_epoch).days()); + + // Total number of seconds + sec_of_day = static_cast((glonass_time.time_of_day()).total_seconds()); + total_sec = days*86400 + sec_of_day; + + for (i = 0; GLONASS_LEAP_SECONDS[i][0]>0; i++) + { + if (GLONASS_LEAP_SECONDS[i][0] == d_yr) + { + // We add the leap second when going from utc to gpst + total_sec += abs(GLONASS_LEAP_SECONDS[i][6]); + } + } + + // Compute Week number + *wn = floor(total_sec/604800); + + // Compute day of week + dayofweek = modf (total_sec/604800 , wn); + dayofweek = round(7*dayofweek); + // Compute the arithmetic modules to wrap around range + *tow = total_sec - 604800*floor(total_sec/604800); + *tow = dayofweek*86400 + tod_offset + glot2utc_corr + glot2gpst_corr + d_tau_n; + +} + double Glonass_Gnav_Ephemeris::check_t(double time) { double corrTime; diff --git a/src/core/system_parameters/glonass_gnav_ephemeris.h b/src/core/system_parameters/glonass_gnav_ephemeris.h index 46ece9f95..929fa7262 100644 --- a/src/core/system_parameters/glonass_gnav_ephemeris.h +++ b/src/core/system_parameters/glonass_gnav_ephemeris.h @@ -159,6 +159,17 @@ public: */ boost::posix_time::ptime compute_GLONASS_time(const double offset_time) const; + /*! + * \brief Converts from GLONASST to UTC + * \ param [I] + * \ param offset_time Is the start of day offset to compute the time + * \ returns UTC time as a boost::posix_time::ptime object + */ + boost::posix_time::ptime glot_to_utc(const double offset_time, const double glot2utc_corr) const; + + + void glot_to_gpst(double tod_offset, double glot2utc_corr, double glot2gpst_corr, double * WN, double * TOW) const; + /*! * Default constructor */ diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc index 7a9ea4ea8..403e8eb1e 100644 --- a/src/core/system_parameters/glonass_gnav_navigation_message.cc +++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc @@ -43,6 +43,7 @@ void Glonass_Gnav_Navigation_Message::reset() { //!< Satellite Identification + i_satellite_PRN = 0; i_alm_satellite_slot_number = 0; //!< SV Orbit Slot Number flag_update_slot_number = false; @@ -325,7 +326,7 @@ double Glonass_Gnav_Navigation_Message::get_WN() boost::gregorian::date gps_epoch { 1980, 1, 6 }; // Map to UTC boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1); - boost::gregorian::days d2(gnav_ephemeris.d_N_T); + boost::gregorian::days d2(gnav_ephemeris.d_N_T-1); glo_date = glo_date + d2; @@ -367,7 +368,7 @@ double Glonass_Gnav_Navigation_Message::get_TOW() boost::gregorian::date glo_date(gnav_ephemeris.d_yr, 1, 1); - boost::gregorian::days d2(gnav_ephemeris.d_N_T); + boost::gregorian::days d2(gnav_ephemeris.d_N_T-1); glo_date = glo_date + d2; dayofweek = static_cast(glo_date.day_of_week()); @@ -514,9 +515,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) // 3). Set TOW once the year has been defined, it helps with leap second determination if (flag_ephemeris_str_1 == true) { - d_TOW = get_TOW(); - gnav_ephemeris.d_TOW = d_TOW; - gnav_ephemeris.d_WN = get_WN(); + //d_TOW = get_TOW(); + gnav_ephemeris.glot_to_gpst(gnav_ephemeris.d_t_k+10, gnav_utc_model.d_tau_c, gnav_utc_model.d_tau_gps, &gnav_ephemeris.d_WN, &gnav_ephemeris.d_TOW); + d_TOW = gnav_ephemeris.d_TOW; + //gnav_ephemeris.d_WN = d_WN(); flag_TOW_set = true; flag_TOW_new = true; } diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.h b/src/core/system_parameters/glonass_gnav_navigation_message.h index 743f4cefa..1b24eaf64 100644 --- a/src/core/system_parameters/glonass_gnav_navigation_message.h +++ b/src/core/system_parameters/glonass_gnav_navigation_message.h @@ -65,6 +65,10 @@ public: unsigned int d_string_ID; bool flag_update_slot_number; + // satellite identification info + int i_channel_ID; + unsigned int i_satellite_PRN; + Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information Glonass_Gnav_Almanac gnav_almanac[GLONASS_L1_CA_NBR_SATS]; //!< Almanac information for all 24 satellites diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc index 7fb9c38ec..ba7d35b73 100644 --- a/src/core/system_parameters/gnss_satellite.cc +++ b/src/core/system_parameters/gnss_satellite.cc @@ -135,6 +135,26 @@ void Gnss_Satellite::set_system(const std::string& system_) } +void Gnss_Satellite::update_PRN(unsigned int PRN_) +{ + if (system.compare("Glonass") != 0) + { + DLOG(INFO) << "Trying to update PRN for not GLONASS system"; + PRN = 0; + } + else + { + if (PRN_ < 1 or PRN_ > 24) + { + DLOG(INFO) << "This PRN is not defined"; + PRN = 0; + } + else + { + PRN = PRN_; + } + } +} void Gnss_Satellite::set_PRN(unsigned int PRN_) diff --git a/src/core/system_parameters/gnss_satellite.h b/src/core/system_parameters/gnss_satellite.h index cfdf1369f..1db5691c2 100644 --- a/src/core/system_parameters/gnss_satellite.h +++ b/src/core/system_parameters/gnss_satellite.h @@ -50,6 +50,7 @@ public: Gnss_Satellite(); //!< Default Constructor. Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor. ~Gnss_Satellite(); //!< Default Destructor. + void update_PRN(unsigned int PRN); //!< Updates the PRN Number when information is decoded, only applies to GLONASS GNAV messages unsigned int get_PRN() const; //!< Gets satellite's PRN std::string get_system() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"} std::string get_system_short() const; //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"} diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc index 5fabb4676..f4ea3577d 100644 --- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc +++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc @@ -80,6 +80,38 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure) ASSERT_FALSE(test_result); } +/*! + * \brief Testing string decoding for GLONASS GNAV messages + * \test The provided string (str1.....str15) was generated with a version of + * MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS + * GNAV signals. The same assumption is to be applied for ephemeris and almanac + * data provided. + */ +TEST(GlonassGnavNavigationMessageTest, ComputeTOWandWN1) +{ + // Variable declarations + double tow, wn; + Glonass_Gnav_Navigation_Message gnav_nav_message; + Glonass_Gnav_Ephemeris gnav_ephemeris; + + // Fill out ephemeris values for truth + gnav_nav_message.gnav_ephemeris.d_t_k = 70200; + gnav_nav_message.gnav_ephemeris.d_tau_c = 9.6391886472702e-08; + gnav_nav_message.gnav_ephemeris.d_yr = 2005; + gnav_nav_message.gnav_ephemeris.d_N_T = 28; + + // Call target test method + tow = gnav_nav_message.get_TOW(); + wn = gnav_nav_message.get_WN(); + + // Perform assertions of decoded fields + ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON ); + ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < FLT_EPSILON ); + ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < FLT_EPSILON ); + ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < FLT_EPSILON ); + ASSERT_TRUE(gnav_ephemeris.d_Xn - gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON ); +} + /*! * \brief Testing string decoding for GLONASS GNAV messages * \test The provided string (str1.....str15) was generated with a version of diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m index 538575bee..45b6bf31d 100644 --- a/src/utils/matlab/hybrid_observables_plot_sample.m +++ b/src/utils/matlab/hybrid_observables_plot_sample.m @@ -41,76 +41,76 @@ title('Doppler frequency') xlabel('TOW [s]') ylabel('[Hz]'); - -%read true obs from simulator (optional) -GPS_STARTOFFSET_s = 68.802e-3; - -true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin'; -GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path); - -%correct the clock error using true values (it is not possible for a receiver to correct -%the receiver clock offset error at the observables level because it is required the -%decoding of the ephemeris data and solve the PVT equations) - -SPEED_OF_LIGHT_M_S = 299792458.0; - -%find the reference satellite -[~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1)); -shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s; - - -%Compute deltas if required and interpolate to measurement time -delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:); -delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... - delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap'); -true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... - GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap'); -true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... - GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap'); - -%Compute measurement errors - -delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end); -psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m; -psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m)) - -acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz... - -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1); - -acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz)) - -acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz... - -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1); -acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz)) - - -%plot results -figure; -plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g'); -hold on; -plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b'); -title('TRUE vs. measured Pseudoranges [m]') -xlabel('TOW [s]') -ylabel('[m]'); - -figure; -plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m) -title('Pseudoranges error [m]') -xlabel('TOW [s]') -ylabel('[m]'); - -figure; -plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz) -title('Accumulated carrier phase error CH1 [hz]') -xlabel('TOW [s]') -ylabel('[hz]'); - -figure; -plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz) -title('Accumulated carrier phase error CH2 [hz]') -xlabel('TOW [s]') -ylabel('[hz]'); - - - - +% +% %read true obs from simulator (optional) +% GPS_STARTOFFSET_s = 68.802e-3; +% +% true_observables_log_path='/home/javier/git/gnss-sdr/build/obs_out.bin'; +% GNSS_true_observables= read_true_sim_observables_dump(true_observables_log_path); +% +% %correct the clock error using true values (it is not possible for a receiver to correct +% %the receiver clock offset error at the observables level because it is required the +% %decoding of the ephemeris data and solve the PVT equations) +% +% SPEED_OF_LIGHT_M_S = 299792458.0; +% +% %find the reference satellite +% [~,ref_sat_ch]=min(GNSS_observables.Pseudorange_m(:,min_idx+1)); +% shift_time_s=GNSS_true_observables.Pseudorange_m(ref_sat_ch,:)/SPEED_OF_LIGHT_M_S-GPS_STARTOFFSET_s; +% +% +% %Compute deltas if required and interpolate to measurement time +% delta_true_psudorange_m=GNSS_true_observables.Pseudorange_m(1,:)-GNSS_true_observables.Pseudorange_m(2,:); +% delta_true_interp_psudorange_m=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... +% delta_true_psudorange_m,GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap'); +% true_interp_acc_carrier_phase_ch1_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... +% GNSS_true_observables.Carrier_phase_hz(1,:),GNSS_observables.RX_time(1,min_idx+1:end),'lineal','extrap'); +% true_interp_acc_carrier_phase_ch2_hz=interp1(GNSS_true_observables.RX_time(1,:)-shift_time_s, ... +% GNSS_true_observables.Carrier_phase_hz(2,:),GNSS_observables.RX_time(2,min_idx+1:end),'lineal','extrap'); +% +% %Compute measurement errors +% +% delta_measured_psudorange_m=GNSS_observables.Pseudorange_m(1,min_idx+1:end)-GNSS_observables.Pseudorange_m(2,min_idx+1:end); +% psudorange_error_m=delta_measured_psudorange_m-delta_true_interp_psudorange_m; +% psudorange_rms_m=sqrt(sum(psudorange_error_m.^2)/length(psudorange_error_m)) +% +% acc_carrier_error_ch1_hz=GNSS_observables.Carrier_phase_hz(1,min_idx+1:end)-true_interp_acc_carrier_phase_ch1_hz... +% -GNSS_observables.Carrier_phase_hz(1,min_idx+1)+true_interp_acc_carrier_phase_ch1_hz(1); +% +% acc_phase_rms_ch1_hz=sqrt(sum(acc_carrier_error_ch1_hz.^2)/length(acc_carrier_error_ch1_hz)) +% +% acc_carrier_error_ch2_hz=GNSS_observables.Carrier_phase_hz(2,min_idx+1:end)-true_interp_acc_carrier_phase_ch2_hz... +% -GNSS_observables.Carrier_phase_hz(2,min_idx+1)+true_interp_acc_carrier_phase_ch2_hz(1); +% acc_phase_rms_ch2_hz=sqrt(sum(acc_carrier_error_ch2_hz.^2)/length(acc_carrier_error_ch2_hz)) +% +% +% %plot results +% figure; +% plot(GNSS_true_observables.RX_time(1,:),delta_true_psudorange_m,'g'); +% hold on; +% plot(GNSS_observables.RX_time(1,min_idx+1:end),delta_measured_psudorange_m,'b'); +% title('TRUE vs. measured Pseudoranges [m]') +% xlabel('TOW [s]') +% ylabel('[m]'); +% +% figure; +% plot(GNSS_observables.RX_time(1,min_idx+1:end),psudorange_error_m) +% title('Pseudoranges error [m]') +% xlabel('TOW [s]') +% ylabel('[m]'); +% +% figure; +% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch1_hz) +% title('Accumulated carrier phase error CH1 [hz]') +% xlabel('TOW [s]') +% ylabel('[hz]'); +% +% figure; +% plot(GNSS_observables.RX_time(1,min_idx+1:end),acc_carrier_error_ch2_hz) +% title('Accumulated carrier phase error CH2 [hz]') +% xlabel('TOW [s]') +% ylabel('[hz]'); +% +% +% +%