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Code Issues Releases Wiki Activity

Better logging and minor code cleaning

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@492 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
2014-03-17 20:01:32 +00:00
parent 885c5f364c
commit cda42d060f
1 changed files with 64 additions and 68 deletions
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116
src/utils/front-end-cal/front_end_cal.cc
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@@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@@ -63,7 +63,8 @@ bool FrontEndCal::read_assistance_from_XML()
{ {
gnss_sdr_supl_client supl_client_ephemeris_; gnss_sdr_supl_client supl_client_ephemeris_;
std::string eph_xml_filename = "gps_ephemeris.xml"; std::string eph_xml_filename = "gps_ephemeris.xml";
std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl; std::cout << "SUPL: Trying to read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
LOG(INFO) << "SUPL: Trying to read GPS ephemeris from XML file " << eph_xml_filename;
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true) if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
{ {
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter; std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
@@ -72,7 +73,8 @@ bool FrontEndCal::read_assistance_from_XML()
gps_eph_iter++) gps_eph_iter++)
{ {
std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl; std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
std::cout << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week << std::endl; LOG(INFO) << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first;
LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week;
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second); global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
} }
return true; return true;
@@ -80,26 +82,28 @@ bool FrontEndCal::read_assistance_from_XML()
else else
{ {
std::cout << "ERROR: SUPL client error reading XML" << std::endl; std::cout << "ERROR: SUPL client error reading XML" << std::endl;
LOG(WARNING) << "ERROR: SUPL client error reading XML";
return false; return false;
} }
} }
int FrontEndCal::Get_SUPL_Assist() int FrontEndCal::Get_SUPL_Assist()
{ {
//#########GNSS Asistence ################################# //######### GNSS Assistance #################################
gnss_sdr_supl_client supl_client_acquisition_; gnss_sdr_supl_client supl_client_acquisition_;
gnss_sdr_supl_client supl_client_ephemeris_; gnss_sdr_supl_client supl_client_ephemeris_;
int supl_mcc; // Current network MCC (Mobile country code), 3 digits. int supl_mcc; // Current network MCC (Mobile country code), 3 digits.
int supl_mns; //Current network MNC (Mobile Network code), 2 or 3 digits. int supl_mns; //Current network MNC (Mobile Network code), 2 or 3 digits.
int supl_lac; // Current network LAC (Location area code),16 bits, 1-65520 are valid values. int supl_lac; // Current network LAC (Location area code),16 bits, 1-65520 are valid values.
int supl_ci; // Cell Identity (16 bits, 0-65535 are valid values). int supl_ci; // Cell Identity (16 bits, 0-65535 are valid values).
// GNSS Assistance configuration // GNSS Assistance configuration
int error = 0; int error = 0;
bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false); bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
if (enable_gps_supl_assistance == true) if (enable_gps_supl_assistance == true)
//SUPL SERVER TEST. Not operational yet! //SUPL SERVER TEST. Not operational yet!
{ {
LOG(INFO) << "SUPL RRLP GPS assistance enabled!" << std::endl; LOG(INFO) << "SUPL RRLP GPS assistance enabled!";
std::string default_acq_server = "supl.nokia.com"; std::string default_acq_server = "supl.nokia.com";
std::string default_eph_server = "supl.google.com"; std::string default_eph_server = "supl.google.com";
supl_client_ephemeris_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server", default_acq_server); supl_client_ephemeris_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server", default_acq_server);
@@ -138,7 +142,8 @@ int FrontEndCal::Get_SUPL_Assist()
{ {
// Request ephemeris from SUPL server // Request ephemeris from SUPL server
supl_client_ephemeris_.request = 1; supl_client_ephemeris_.request = 1;
DLOG(INFO) << "SUPL: Trying to read GPS ephemeris from SUPL server..."; LOG(INFO) << "SUPL: Trying to read GPS ephemeris from SUPL server...";
std::cout << "SUPL: Trying to read GPS ephemeris from SUPL server..." << std::endl;
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci); error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0) if (error == 0)
{ {
@@ -147,26 +152,27 @@ int FrontEndCal::Get_SUPL_Assist()
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end(); gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
gps_eph_iter++) gps_eph_iter++)
{ {
DLOG(INFO) << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first; LOG(INFO) << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first;
DLOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week; std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
LOG(INFO) << "New Ephemeris record inserted with Toe=" << gps_eph_iter->second.d_Toe << " and GPS Week=" << gps_eph_iter->second.i_GPS_week;
global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second); global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
} }
//Save ephemeris to XML file //Save ephemeris to XML file
std::string eph_xml_filename = "gps_ephemeris.xml"; std::string eph_xml_filename = "gps_ephemeris.xml";
if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename) == true) if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename) == true)
{ {
DLOG(INFO) << "SUPL: XML Ephemeris file created."; LOG(INFO) << "SUPL: XML Ephemeris file created.";
} }
} }
else else
{ {
DLOG(INFO) << "ERROR: SUPL client for Ephemeris returned " << error; LOG(WARNING) << "ERROR: SUPL client for Ephemeris returned " << error;
DLOG(INFO) << "Please check Internet connection and SUPL server configuration" << error; std::cout << "ERROR in SUPL client. Please check your Internet connection and SUPL server configuration" << std::endl;
} }
// Request almanac , IONO and UTC Model // Request almanac , IONO and UTC Model
supl_client_ephemeris_.request = 0; supl_client_ephemeris_.request = 0;
DLOG(INFO) << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server..."; LOG(INFO) << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server...";
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci); error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0) if (error == 0)
{ {
@@ -175,29 +181,33 @@ int FrontEndCal::Get_SUPL_Assist()
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end(); gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end();
gps_alm_iter++) gps_alm_iter++)
{ {
DLOG(INFO) << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first; LOG(INFO) << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first;
std::cout << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first << std::endl;
global_gps_almanac_map.write(gps_alm_iter->first, gps_alm_iter->second); global_gps_almanac_map.write(gps_alm_iter->first, gps_alm_iter->second);
} }
if (supl_client_ephemeris_.gps_iono.valid == true) if (supl_client_ephemeris_.gps_iono.valid == true)
{ {
DLOG(INFO) << "SUPL: Received GPS Iono"; LOG(INFO) << "SUPL: Received GPS Iono";
std::cout << "SUPL: Received GPS Iono" << std::endl;
global_gps_iono_map.write(0,supl_client_ephemeris_.gps_iono); global_gps_iono_map.write(0,supl_client_ephemeris_.gps_iono);
} }
if (supl_client_ephemeris_.gps_utc.valid == true) if (supl_client_ephemeris_.gps_utc.valid == true)
{ {
DLOG(INFO) << "SUPL: Received GPS UTC Model"; LOG(INFO) << "SUPL: Received GPS UTC Model";
std::cout << "SUPL: Received GPS UTC Model" << std::endl;
global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc); global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc);
} }
} }
else else
{ {
DLOG(INFO) << "ERROR: SUPL client for Almanac returned " << error; LOG(WARNING) << "ERROR: SUPL client for Almanac returned " << error;
DLOG(INFO) << "Please check Internet connection and SUPL server configuration" << error; std::cout << "ERROR in SUPL client. Please check your Internet connection and SUPL server configuration" << std::endl;
} }
// Request acquisition assistance // Request acquisition assistance
supl_client_acquisition_.request = 2; supl_client_acquisition_.request = 2;
DLOG(INFO) << "SUPL: Trying to read Acquisition assistance from SUPL server..."; LOG(INFO) << "SUPL: Trying to read Acquisition assistance from SUPL server...";
std::cout << "SUPL: Trying to read Acquisition assistance from SUPL server..." << std::endl;
error = supl_client_acquisition_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci); error = supl_client_acquisition_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0) if (error == 0)
@@ -207,15 +217,16 @@ int FrontEndCal::Get_SUPL_Assist()
gps_acq_iter != supl_client_acquisition_.gps_acq_map.end(); gps_acq_iter != supl_client_acquisition_.gps_acq_map.end();
gps_acq_iter++) gps_acq_iter++)
{ {
DLOG(INFO) << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first; LOG(INFO) << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first;
DLOG(INFO) << "New acq assist record inserted"; std::cout << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first << std::endl;
LOG(INFO) << "New acq assist record inserted";
global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second); global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second);
} }
} }
else else
{ {
DLOG(INFO) << "ERROR: SUPL client for Acquisition assistance returned " << error; LOG(WARNING) << "ERROR: SUPL client for Acquisition assistance returned " << error;
DLOG(INFO) << "Please check internet connection and SUPL server configuration" << error; std::cout << "ERROR in SUPL client. Please check your Internet connection and SUPL server configuration" << std::endl;
} }
} }
} }
@@ -236,9 +247,11 @@ bool FrontEndCal::get_ephemeris()
if (read_ephemeris_from_xml == true) if (read_ephemeris_from_xml == true)
{ {
std::cout << "Trying to read ephemeris from XML file..." << std::endl; std::cout << "Trying to read ephemeris from XML file..." << std::endl;
LOG(INFO) << "Trying to read ephemeris from XML file...";
if (read_assistance_from_XML() == false) if (read_assistance_from_XML() == false)
{ {
std::cout << "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server..." << std::endl; std::cout << "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server..." << std::endl;
LOG(INFO) << "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server...";
if (Get_SUPL_Assist() == 1) if (Get_SUPL_Assist() == 1)
{ {
return true; return true;
@@ -256,6 +269,7 @@ bool FrontEndCal::get_ephemeris()
else else
{ {
std::cout << "Trying to read ephemeris from SUPL server..." << std::endl; std::cout << "Trying to read ephemeris from SUPL server..." << std::endl;
LOG(INFO) << "Trying to read ephemeris from SUPL server...";
if (Get_SUPL_Assist() == 0) if (Get_SUPL_Assist() == 0)
{ {
return true; return true;
@@ -271,17 +285,14 @@ bool FrontEndCal::get_ephemeris()
arma::vec FrontEndCal::lla2ecef(arma::vec lla) arma::vec FrontEndCal::lla2ecef(arma::vec lla)
{ {
// WGS84 flattening // WGS84 flattening
double f; double f = 1/298.257223563;
f = 1/298.257223563;
// WGS84 equatorial radius // WGS84 equatorial radius
double R; double R = 6378137;
R = 6378137;
double phi, lambda;
arma::vec ellipsoid = "0.0 0.0"; arma::vec ellipsoid = "0.0 0.0";
phi = (lla(0)/360.0) * GPS_TWO_PI; double phi = (lla(0)/360.0) * GPS_TWO_PI;
lambda = (lla(1)/360.0) * GPS_TWO_PI; double lambda = (lla(1)/360.0) * GPS_TWO_PI;
ellipsoid(0) = R; ellipsoid(0) = R;
ellipsoid(1) = sqrt(1-(1-f)*(1-f)); ellipsoid(1) = sqrt(1-(1-f)*(1-f));
@@ -295,18 +306,11 @@ arma::vec FrontEndCal::lla2ecef(arma::vec lla)
arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid) arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid)
{ {
double a; double a = ellipsoid(0);
a = ellipsoid(0); double e2 = ellipsoid(1)*ellipsoid(1);
double e2; double sinphi = sin(phi);
e2 = ellipsoid(1)*ellipsoid(1); double cosphi = cos(phi);
double N = a / sqrt(1 - e2 * sinphi*sinphi);
double sinphi, cosphi;
sinphi = sin(phi);
cosphi = cos(phi);
double N;
N = a / sqrt(1 - e2 * sinphi*sinphi);
arma::vec ecef = "0.0 0.0 0.0 0.0"; arma::vec ecef = "0.0 0.0 0.0 0.0";
ecef(0) = (N + h) * cosphi * cos(lambda); ecef(0) = (N + h) * cosphi * cos(lambda);
@@ -354,7 +358,6 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
SV_pos_ecef(2) = eph_it->second.d_satpos_Z; SV_pos_ecef(2) = eph_it->second.d_satpos_Z;
// SV distances to observer (true range) // SV distances to observer (true range)
ranges(i) = arma::norm(SV_pos_ecef - obs_ecef, 2); ranges(i) = arma::norm(SV_pos_ecef - obs_ecef, 2);
obs_time += step_secs; obs_time += step_secs;
} }
// Observer to satellite radial velocity // Observer to satellite radial velocity
@@ -365,7 +368,6 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
// Doppler equations are formulated accounting for positive velocities if the // Doppler equations are formulated accounting for positive velocities if the
// tx and rx are approaching to each other. So, the satellite velocity must // tx and rx are approaching to each other. So, the satellite velocity must
// be redefined as: // be redefined as:
obs_to_sat_velocity = -obs_to_sat_velocity; obs_to_sat_velocity = -obs_to_sat_velocity;
//Doppler estimation //Doppler estimation
@@ -385,34 +387,28 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
void FrontEndCal::GPS_L1_front_end_model_E4000(double f_bb_true_Hz, double f_bb_meas_Hz, double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm) void FrontEndCal::GPS_L1_front_end_model_E4000(double f_bb_true_Hz, double f_bb_meas_Hz, double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm)
{ {
double f_osc_n = 28.8e6; const double f_osc_n = 28.8e6;
//PLL registers settings (according to E4000 datasheet) //PLL registers settings (according to E4000 datasheet)
const double N = 109;
const double Y = 65536;
const double X = 26487;
const double R = 2;
double N = 109;
double Y = 65536;
double X = 26487;
double R = 2;
// Obtained RF center frequency // Obtained RF center frequency
double f_rf_pll; double f_rf_pll = (f_osc_n*(N+X/Y))/R;
f_rf_pll = (f_osc_n*(N+X/Y))/R;
// RF frequency error caused by fractional PLL roundings // RF frequency error caused by fractional PLL roundings
double f_bb_err_pll; double f_bb_err_pll = GPS_L1_FREQ_HZ - f_rf_pll;
f_bb_err_pll = GPS_L1_FREQ_HZ - f_rf_pll;
// Measured F_rf error // Measured F_rf error
double f_rf_err; double f_rf_err = (f_bb_meas_Hz - f_bb_true_Hz) - f_bb_err_pll;
f_rf_err = (f_bb_meas_Hz - f_bb_true_Hz) - f_bb_err_pll; double f_osc_err_hz = (f_rf_err*R)/(N+X/Y);
double f_osc_err_hz;
f_osc_err_hz = (f_rf_err*R)/(N+X/Y);
// OJO,segun los datos gnss, la IF positiva hace disminuir la fs!! // OJO,segun los datos gnss, la IF positiva hace disminuir la fs!!
f_osc_err_hz = -f_osc_err_hz; f_osc_err_hz = -f_osc_err_hz;
*f_osc_err_ppm = f_osc_err_hz/(f_osc_n/1e6); *f_osc_err_ppm = f_osc_err_hz/(f_osc_n/1e6);
double frac;
frac = fs_nominal_hz/f_osc_n;
double frac = fs_nominal_hz/f_osc_n;
*estimated_fs_Hz = frac*(f_osc_n + f_osc_err_hz); *estimated_fs_Hz = frac*(f_osc_n + f_osc_err_hz);
*estimated_f_if_Hz = f_rf_err; *estimated_f_if_Hz = f_rf_err;
} }