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bugreport: Time managment with boost posix time

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Need to fix bug in time duration with posix time and deal with day
offsets in the code. Something seems off with day duration for long
periods of time.
This commit is contained in:
Damian Miralles
2017-10-24 08:51:38 -06:00
parent 619158d731 a1b9b092f5
commit c9fba22307
17 changed files with 324 additions and 207 deletions
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6
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@@ -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<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::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))

127
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -116,6 +116,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging);
@@ -279,75 +280,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
}
break;
}
case 'R': //TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if(sig_.compare("1G") == 0)
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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);
//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,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1)
glo_valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
case 'R': //TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if(sig_.compare("1G") == 0)
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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, 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,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1)
glo_valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// GLONASS GNAV L2
if(sig_.compare("2G") == 0)
{
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{
bool found_L1_obs=false;
for (int i = 0; i < glo_valid_obs; i++)
{
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2)
found_L1_obs=true;
break;
}
}
if (!found_L1_obs)
}
// GLONASS GNAV L2
if(sig_.compare("2G") == 0)
{
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{
bool found_L1_obs=false;
for (int i = 0; i < glo_valid_obs; i++)
{
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
{
//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);
//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,
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2)
glo_valid_obs++;
1);//Band 1 (L2)
found_L1_obs=true;
break;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
if (!found_L1_obs)
{
//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, 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,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2)
glo_valid_obs++;
}
break;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;

2
src/algorithms/PVT/libs/rtklib_solver.h
View File

@@ -87,7 +87,7 @@ public:
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

64
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -45,18 +45,18 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
switch(gnss_synchro.System)
{
case 'G':
rtklib_obs.sat = gnss_synchro.PRN;
break;
case 'E':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
break;
case 'G':
rtklib_obs.sat = gnss_synchro.PRN;
break;
case 'E':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
break;
default:
rtklib_obs.sat = gnss_synchro.PRN;
default:
rtklib_obs.sat = gnss_synchro.PRN;
}
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1;
@@ -64,14 +64,12 @@ 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;
0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */
@@ -92,25 +90,15 @@ 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<int>(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) */
// 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<int>(week));
rtklib_sat.toe = gpst2time(adj_week, sec);
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_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.tof = gpst2time(adj_week, sec);
return rtklib_sat;
}
@@ -119,7 +107,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
{
eph_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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.i_satellite_PRN+NSATGPS+NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
@@ -169,7 +157,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
{
eph_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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
@@ -220,7 +208,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
{
eph_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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;

3
src/algorithms/libs/rtklib/rtklib_conversions.h
View File

@@ -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);

6
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@@ -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;
}
}
@@ -354,7 +355,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
//update TOW at the preamble instant
{
d_TOW_at_current_symbol = floor((d_nav.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
double dummy_dtow = d_nav.get_TOW() - GLONASS_GNAV_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol = d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S;
d_nav.flag_TOW_new = false;
}