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Merge branch 'next' into galileo-e6

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Carles Fernandez 2022-03-30 09:26:32 +02:00
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2
.github/workflows/main.yml vendored
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@ -124,7 +124,7 @@ jobs:
pip install mako
- name: configure
shell: powershell
run: cd build; cmake -G "Visual Studio 16 2019" ..\src\algorithms\libs\volk_gnsssdr_module\volk_gnsssdr
run: cd build; cmake -G "Visual Studio 17 2022" ..\src\algorithms\libs\volk_gnsssdr_module\volk_gnsssdr
- name: build
run: cmake --build build --config Release
- name: test

5
CITATION.cff
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@ -1,7 +1,6 @@
# SPDX-License-Identifier: GPL-3.0-or-later
# SPDX-FileCopyrightText: 2022 C. Fernandez-Prades carles.fernandez(at)cttc.es
---
abstract: "An open-source Global Navigation Satellite Systems software-defined receiver."
authors:
- affiliation: "Centre Tecnològic de Telecomunicacions de Catalunya (CTTC)"
alias: carlesfernandez
@ -102,7 +101,7 @@ authors:
family-names: "van der Linden"
given-names: Stefan
cff-version: "1.2.0"
date-released: "2021-08-23"
date-released: "2022-02-15"
identifiers:
- description: "The concept DOI of the work. This is a DOI always pointing to the latest stable release."
type: doi
@ -326,4 +325,4 @@ repository-code: "https://github.com/gnss-sdr/gnss-sdr"
title: GNSS-SDR
type: software
url: "https://gnss-sdr.org"
version: "0.0.15"
version: "0.0.16"

6
CMakeLists.txt
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@ -166,9 +166,9 @@ endif()
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_API_COMPAT 0)
if(${THIS_IS_A_RELEASE})
set(VERSION_INFO_MINOR_VERSION 15)
set(VERSION_INFO_MINOR_VERSION 16)
else()
set(VERSION_INFO_MINOR_VERSION 15.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
set(VERSION_INFO_MINOR_VERSION 16.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
endif()
set(VERSION ${VERSION_INFO_MAJOR_VERSION}.${VERSION_INFO_API_COMPAT}.${VERSION_INFO_MINOR_VERSION})
@ -330,7 +330,7 @@ else()
endif()
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "8.0.0")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.21")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.22")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.12")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.19.4")
set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.6.1")

6
README.md
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@ -470,9 +470,9 @@ your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.
#### Install [Matio](https://github.com/tbeu/matio "Matio's Homepage"), MATLAB MAT file I/O library:
```
$ wget https://github.com/tbeu/matio/releases/download/v1.5.21/matio-1.5.21.tar.gz
$ tar xvfz matio-1.5.21.tar.gz
$ cd matio-1.5.21
$ wget https://github.com/tbeu/matio/releases/download/v1.5.22/matio-1.5.22.tar.gz
$ tar xvfz matio-1.5.22.tar.gz
$ cd matio-1.5.22
$ ./configure
$ make
$ sudo make install

44
docs/CHANGELOG.md
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@ -16,6 +16,24 @@ All notable changes to GNSS-SDR will be documented in this file.
### Improvements in Availability:
- Compute PVT solutions when using GPS L5 signals even if the satellite is
reported as not healthy in the CNAV message.
### Improvements in Reliability:
- Fix some defects detected by Coverity Scan 2021.12.1.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
 
## [GNSS-SDR v0.0.16](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.16) - 2022-02-15
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.6090349.svg)](https://doi.org/10.5281/zenodo.6090349)
### Improvements in Availability:
- Added the Galileo E5b receiving chain. The software is now able to compute PVT
solutions as a standalone Galileo E5b receiver.
- Improved Time-To-First-Fix when using GPS L1 C/A signals, fixing a bug that
@ -120,6 +138,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.15](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.15) - 2021-08-23
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.5242839.svg)](https://doi.org/10.5281/zenodo.5242839)
### Improvements in Availability:
- Added the reading of reduced clock and ephemeris data (CED) in the Galileo E1B
@ -244,6 +264,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.14](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.14) - 2021-01-08
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.4428100.svg)](https://doi.org/10.5281/zenodo.4428100)
### Improvements in Availability:
- Fixed bug in acquisition detection when the configuration parameter
@ -353,6 +375,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.13](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.13) - 2020-07-29
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.3965566.svg)](https://doi.org/10.5281/zenodo.3965566)
### Improvements in Efficiency:
- Faster internal handling of `Gnss_Synchro` objects by reducing the amount of
@ -467,6 +491,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.12](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.12) - 2020-03-13
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.3709089.svg)](https://doi.org/10.5281/zenodo.3709089)
### Improvements in Accuracy:
- Improved accuracy of the C/N0 estimator.
@ -661,6 +687,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.11](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.11) - 2019-08-04
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.3359989.svg)](https://doi.org/10.5281/zenodo.3359989)
This release has several improvements in different dimensions, addition of new
features and bug fixes:
@ -814,6 +842,8 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10) - 2018-12-14
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.2279988.svg)](https://doi.org/10.5281/zenodo.2279988)
This release has several improvements in different dimensions, addition of new
features and bug fixes:
@ -1046,7 +1076,7 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.9](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.9) - 2017-02-13
DOI: https://doi.org/10.5281/zenodo.291371
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.291371.svg)](https://doi.org/10.5281/zenodo.291371)
This release has several improvements, addition of new features and bug fixes in
many dimensions:
@ -1167,7 +1197,7 @@ https://gnss-sdr.org/design-forces/
## [GNSS-SDR v0.0.8](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.8) - 2016-07-04
DOI: https://doi.org/10.5281/zenodo.57022
[![DOI](https://zenodo.org/badge/doi/10.5281/zenodo.57022.svg)](http://dx.doi.org/10.5281/zenodo.57022)
This is a maintenance and bug fix release with no relevant new features with
respect to v0.0.7. The main changes are:
@ -1193,7 +1223,7 @@ respect to v0.0.7. The main changes are:
## [GNSS-SDR v0.0.7](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.7) - 2016-05-15
DOI: https://doi.org/10.5281/zenodo.51521
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.51521.svg)](https://doi.org/10.5281/zenodo.51521)
This release has several improvements, addition of new features and bug fixes:
@ -1285,6 +1315,8 @@ This release has several improvements, addition of new features and bug fixes:
## [GNSS-SDR v0.0.6](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.6) - 2015-09-02
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.30104.svg)](https://doi.org/10.5281/zenodo.30104)
This release has several improvements and bug fixes:
- Added initial support to multi-band, multi-source configurations (multiple
@ -1335,6 +1367,8 @@ This release has several improvements and bug fixes:
## [GNSS-SDR v0.0.5](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.5) - 2015-01-13
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.13920.svg)](https://doi.org/10.5281/zenodo.13920)
This release has several improvements and bug fixes:
- Now GNSS-SDR can be installed on the system with the usual
@ -1362,6 +1396,8 @@ This release has several improvements and bug fixes:
## [GNSS-SDR v0.0.4](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.4) - 2014-09-08
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.11628.svg)](https://doi.org/10.5281/zenodo.11628)
This release has several improvements and bug fixes:
- Added hybrid processing GPS L1 C/A and Galileo E1B, providing position fixes
@ -1399,6 +1435,8 @@ This release has several improvements and bug fixes:
## [GNSS-SDR v0.0.3](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.3) - 2014-06-30
[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.10708.svg)](https://doi.org/10.5281/zenodo.10708)
This release has several improvements and bug fixes, completing the transition
from Subversion to Git. The main changes are:

2
docs/doxygen/other/main_page.dox
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@ -89,7 +89,7 @@ dependencies and build process. Mainly, it consists on installing <a href="https
\li <a href="https://www.libvolk.org" target="_blank">Volk</a>, a Vector-Optimized Library of Kernels which provides an abstraction of optimized math routines targeting several SIMD processors,
and, optionally,
\li GNU Radio modules for hardware interface (<a href="https://github.com/gnuradio/gnuradio/tree/master/gr-uhd" target="_blank">gr-uhd</a>, <a href="http://git.osmocom.org/gr-osmosdr" target="_blank">gr-osmosdr</a>, <a href="https://github.com/analogdevicesinc/gr-iio" target="_blank">gr-iio</a>),
\li GNU Radio modules for hardware interface (<a href="https://github.com/gnuradio/gnuradio/tree/main/gr-uhd" target="_blank">gr-uhd</a>, <a href="http://git.osmocom.org/gr-osmosdr" target="_blank">gr-osmosdr</a>, <a href="https://github.com/analogdevicesinc/gr-iio" target="_blank">gr-iio</a>),
\li <a href="https://github.com/google/benchmark" target="_blank">Benchmark</a>, a library to benchmark code snippets,
\li <a href="https://github.com/gperftools/gperftools" target="_blank">Gperftools</a>, which provides fast, multi-threaded malloc() and performance analysis tools.

2
docs/manpage/gnss-sdr-manpage
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@ -2,7 +2,7 @@
.\" SPDX-License-Identifier: GPL-3.0-or-later
.\" SPDX-FileCopyrightText: Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
.\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH gnss\-sdr 1 "23 Aug 2021" "0.0.15" "gnss\-sdr man page"
.TH gnss\-sdr 1 "15 Feb 2022" "0.0.16" "gnss\-sdr man page"
.SH NAME
\fBgnss\-sdr\fR \- GNSS Software Defined Receiver.
.SH SYNOPSIS

15
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1254,8 +1254,9 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
if (gps_cnav_ephemeris->signal_health != 0)
{
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_cnav_ephemeris->PRN)
<< " is not healthy, not used for navigation" << TEXT_RESET << '\n';
std::cout << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_cnav_ephemeris->PRN)
<< " does not report a healthy status in the CNAV message,"
<< " use PVT solutions at your own risk.\n";
}
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
@ -1698,7 +1699,7 @@ void rtklib_pvt_gs::log_source_timetag_info(double RX_time_ns, double TAG_time_n
}
catch (const std::exception& e)
{
std::cerr << "Problem writting at the log PVT timetag metadata file: " << e.what() << '\n';
std::cerr << "Problem writing at the log PVT timetag metadata file: " << e.what() << '\n';
}
}
}
@ -2023,7 +2024,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_cnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal) == std::string("2S")) || (std::string(in[i][epoch].Signal) == std::string("L5"))) && (tmp_eph_iter_cnav->second.signal_health == 0)))
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal) == std::string("2S")) || (std::string(in[i][epoch].Signal) == std::string("L5")))))
{
store_valid_observable = true;
}
@ -2114,10 +2115,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
//**************** time tags ****************
// **************** time tags ****************
if (d_enable_rx_clock_correction == false) // todo: currently only works if clock correction is disabled (computed clock offset is applied here)
{
//************ Source TimeTag comparison with GNSS computed TOW *************
// ************ Source TimeTag comparison with GNSS computed TOW *************
if (!d_TimeChannelTagTimestamps.empty())
{
@ -2151,7 +2152,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
//**********************************************
// **********************************************
if (fabs(Rx_clock_offset_s) * 1000.0 > d_max_obs_block_rx_clock_offset_ms)
{

2
src/algorithms/PVT/libs/rinex_printer.h
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@ -98,7 +98,7 @@ public:
* \brief Print RINEX annotation. If it is the first annotation, it also
* prints the RINEX headers for navigation and observation files. If it is
* not the first annotation, it only annotates the observation, and updates
* the navigation header if UTC data was not available when writting it for
* the navigation header if UTC data was not available when writing it for
* the first time. The meaning of type_of_rx is as follows:
*
* type_of_rx | Signals

6
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
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@ -216,7 +216,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
@ -368,7 +368,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -403,7 +403,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

6
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
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@ -226,7 +226,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
@ -389,7 +389,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -424,7 +424,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

8
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
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@ -680,7 +680,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
break;
}
@ -710,7 +710,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
{
// We already have d_max_dwells consecutive blocks in the internal buffer,
// just skip input blocks.
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]);
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0];
}
// We create a new thread to process next block if the following
@ -754,7 +754,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
@ -788,7 +788,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));

8
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
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@ -256,7 +256,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms) * d_samples_per_ms * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
// DLOG(INFO) << "END CASE 0";
break;
@ -290,7 +290,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_test_statistics = 0.0;
d_noise_floor_power = 0.0;
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms); // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms) * d_samples_per_ms; // sample counter
d_well_count++;
@ -495,7 +495,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms) * d_samples_per_ms * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -538,7 +538,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms) * d_samples_per_ms * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

6
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -251,7 +251,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
@ -390,7 +390,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -425,7 +425,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size) * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
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@ -209,7 +209,7 @@ message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_MINOR_VERSION 0)
set(VERSION_INFO_MAINT_VERSION 15)
set(VERSION_INFO_MAINT_VERSION 16)
include(VolkGnsssdrVersion) # setup version info

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Packaging/volk_gnsssdr-config-info-manpage
View File

@ -2,7 +2,7 @@
.\" SPDX-License-Identifier: GPL-3.0-or-later
.\" SPDX-FileCopyrightText: Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
.\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH volk_gnsssdr\-config\-info 1 "23 Aug 2021" "0.0.15" "volk_gnsssdr\-config\-info man page"
.TH volk_gnsssdr\-config\-info 1 "15 Feb 2022" "0.0.16" "volk_gnsssdr\-config\-info man page"
.SH NAME
\fBvolk_gnsssdr\-config\-info\fR \- Prints configuration information of libvolk_gnsssdr functions.
.SH SYNOPSIS

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Packaging/volk_gnsssdr_profile-manpage
View File

@ -2,7 +2,7 @@
.\" SPDX-License-Identifier: GPL-3.0-or-later
.\" SPDX-FileCopyrightText: Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
.\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH volk_gnsssdr_profile 1 "23 Aug 2021" "0.0.15" "volk_gnsssdr_profile man page"
.TH volk_gnsssdr_profile 1 "15 Feb 2022" "0.0.16" "volk_gnsssdr_profile man page"
.SH NAME
\fBvolk_gnsssdr_profile\fR \- Profiler application for libvolk_gnsssdr functions.
.SH SYNOPSIS

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/src/cpuinfo_x86.c
View File

@ -1439,7 +1439,7 @@ static void ParseCpuId(const uint32_t max_cpuid_leaf, X86Info* info,
if (!CpuFeatures_StringView_IsEquals(key, str("flags"))) continue;
features->sse = CpuFeatures_StringView_HasWord(value, "sse", ' ');
features->sse2 = CpuFeatures_StringView_HasWord(value, "sse2", ' ');
features->sse3 = CpuFeatures_StringView_HasWord(value, "sse3", ' ');
features->sse3 = CpuFeatures_StringView_HasWord(value, "pni", ' ');
features->ssse3 = CpuFeatures_StringView_HasWord(value, "ssse3", ' ');
features->sse4_1 = CpuFeatures_StringView_HasWord(value, "sse4_1", ' ');
features->sse4_2 = CpuFeatures_StringView_HasWord(value, "sse4_2", ' ');

4
src/algorithms/signal_source/libs/rtl_tcp_dongle_info.cc
View File

@ -33,11 +33,11 @@ boost::system::error_code Rtl_Tcp_Dongle_Info::read(boost::asio::ip::tcp::socket
{
boost::system::error_code ec;
unsigned char data[sizeof(char) * 4 + sizeof(uint32_t) * 2];
std::vector<unsigned char> data(sizeof(char) * 4 + sizeof(uint32_t) * 2);
size_t received_bits = socket.receive(boost::asio::buffer(data), 0, ec);
if (!ec && (received_bits > 0))
{
std::memcpy(magic_, data, 4);
std::memcpy(magic_, data.data(), 4);
uint32_t type;
std::memcpy(&type, &data[4], 4);

22
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -1003,18 +1003,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
}
if (d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
{
d_nav_msg_packet.system = std::string(1, current_symbol.System);
d_nav_msg_packet.signal = std::string(current_symbol.Signal);
d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
d_nav_msg_packet.nav_message = "";
}
break;
}
if (d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
{
d_nav_msg_packet.system = std::string(1, current_symbol.System);
d_nav_msg_packet.signal = std::string(current_symbol.Signal);
d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
d_nav_msg_packet.nav_message = "";
}
break;
}
case 3: // CNAV
{

3
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@ -178,8 +178,7 @@ void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking()
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_current_prn_length_samples = d_vector_length;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of Galileo E1 signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -263,8 +263,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
d_acc_carrier_phase_initialized = false;
// DEBUG OUTPUT

3
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -263,8 +263,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
d_acc_carrier_phase_initialized = false;
// DEBUG OUTPUT

3
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
View File

@ -205,8 +205,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
d_acc_carrier_phase_initialized = false;
// DEBUG OUTPUT

3
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -259,8 +259,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_cc::start_tracking()
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -260,8 +260,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc
View File

@ -206,8 +206,7 @@ void Glonass_L2_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
View File

@ -218,8 +218,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
const std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
View File

@ -302,8 +302,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

3
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@ -203,8 +203,7 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';

2
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -78,7 +78,7 @@ else()
add_library(tracking_libs ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
endif()
target_link_libraries(tracking_libs
target_link_libraries(tracking_libs
PUBLIC
Armadillo::armadillo
Boost::headers

4
src/core/libs/gnss_sdr_supl_client.cc
View File

@ -19,6 +19,7 @@
#include "gnss_sdr_supl_client.h"
#include "GPS_L1_CA.h"
#include "MATH_CONSTANTS.h"
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/serialization/map.hpp>
@ -858,6 +859,7 @@ bool Gnss_Sdr_Supl_Client::read_gal_almanac_from_gsa(const std::string& file_nam
Galileo_Almanac gal_alm;
try
{
const double sqrtAnominal = 5440.588203494; // square root of Galileo nominal orbit semi-major axis
uint32_t prn = static_cast<uint32_t>(std::stoi(almanac.child_value("SVID")));
gal_alm.PRN = prn;
gal_alm.toa = std::stoi(almanac.child("almanac").child_value("t0a"));
@ -866,7 +868,7 @@ bool Gnss_Sdr_Supl_Client::read_gal_almanac_from_gsa(const std::string& file_nam
gal_alm.delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
gal_alm.M_0 = std::stod(almanac.child("almanac").child_value("m0"));
gal_alm.ecc = std::stod(almanac.child("almanac").child_value("ecc"));
gal_alm.sqrtA = std::stod(almanac.child("almanac").child_value("aSqRoot"));
gal_alm.sqrtA = std::stod(almanac.child("almanac").child_value("aSqRoot")) + sqrtAnominal;
gal_alm.OMEGA_0 = std::stod(almanac.child("almanac").child_value("omega0"));
gal_alm.omega = std::stod(almanac.child("almanac").child_value("w"));
gal_alm.OMEGAdot = std::stod(almanac.child("almanac").child_value("omegaDot"));

1
src/core/system_parameters/CMakeLists.txt
View File

@ -6,6 +6,7 @@
set(SYSTEM_PARAMETERS_SOURCES
gnss_almanac.cc
gnss_ephemeris.cc
gnss_satellite.cc
gnss_signal.cc

5
src/core/system_parameters/beidou_dnav_almanac.h
View File

@ -36,7 +36,10 @@ public:
/*!
* Default constructor
*/
Beidou_Dnav_Almanac() = default;
Beidou_Dnav_Almanac()
{
this->System = 'B';
};
int SV_health{}; //!< SV Health

5
src/core/system_parameters/galileo_almanac.h
View File

@ -36,7 +36,10 @@ public:
/*!
* Default constructor
*/
Galileo_Almanac() = default;
Galileo_Almanac()
{
this->System = 'E';
};
int32_t IODa{};
int32_t E5b_HS{};

275
src/core/system_parameters/gnss_almanac.cc Normal file
View File

@ -0,0 +1,275 @@
/*!
* \file gnss_almanac.cc
* \brief Base class for GNSS almanac storage
* \author Carles Fernandez, 2022. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gnss_almanac.h"
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#include <algorithm>
#include <cmath>
#include <functional>
#include <numeric>
#include <vector>
double Gnss_Almanac::check_t(double time) const
{
const double half_week = 302400.0; // seconds
double corrTime = time;
if (time > half_week)
{
corrTime = time - 2.0 * half_week;
}
else if (time < -half_week)
{
corrTime = time + 2.0 * half_week;
}
return corrTime;
}
double Gnss_Almanac::predicted_doppler(double rx_time_s,
double lat,
double lon,
double h,
double ve,
double vn,
double vu,
int band) const
{
const double RE_WGS84 = 6378137.0; //!< earth semimajor axis (WGS84) (m)
const double FE_WGS84 = (1.0 / 298.257223563); //!< earth flattening (WGS84)
const double lat_rad = lat * D2R;
const double lon_rad = lon * D2R;
const double sinp = sin(lat_rad);
const double cosp = cos(lat_rad);
const double sinl = sin(lon_rad);
const double cosl = cos(lon_rad);
const double e2 = FE_WGS84 * (2.0 - FE_WGS84);
const double v = RE_WGS84 / std::sqrt(1.0 - e2 * sinp * sinp);
// Position in EFEF
const std::vector<double> pos_rx = {(v + h) * cosp * cosl, (v + h) * cosp * sinl, (v * (1.0 - e2) + h) * sinp};
// Velocity in EFEF
const double t = cosp * vu - sinp * vn;
const std::vector<double> vel_rx = {cosl * t - sinl * ve, sinl * t + cosl * ve, sinp * vu + cosp * vn};
std::array<double, 7> sat_pos_vel = {0};
satellitePosVelComputation(rx_time_s, sat_pos_vel);
const std::vector<double> pos_sat = {sat_pos_vel[0], sat_pos_vel[1], sat_pos_vel[2]};
const std::vector<double> vel_sat = {sat_pos_vel[3], sat_pos_vel[4], sat_pos_vel[5]};
std::vector<double> x_sr = pos_sat;
std::transform(x_sr.begin(), x_sr.end(), pos_rx.begin(), x_sr.begin(), std::minus<double>()); // pos_sat - pos_rx
const double norm_x_sr = std::sqrt(std::inner_product(x_sr.begin(), x_sr.end(), x_sr.begin(), 0.0)); // Euclidean norm
std::vector<double> v_sr = vel_sat;
std::transform(v_sr.begin(), v_sr.end(), vel_rx.begin(), v_sr.begin(), std::minus<double>()); // vel_sat - vel_rx
const double radial_vel = std::inner_product(v_sr.begin(), v_sr.end(), x_sr.begin(), 0.0) / norm_x_sr;
const double predicted_doppler_normalized = -(radial_vel / SPEED_OF_LIGHT_M_S);
double predicted_doppler = 0.0;
if (this->System == 'E') // Galileo
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1;
}
else if (band == 5)
{
predicted_doppler = predicted_doppler_normalized * FREQ5;
}
else if (band == 6)
{
predicted_doppler = predicted_doppler_normalized * FREQ6;
}
else if (band == 7)
{
predicted_doppler = predicted_doppler_normalized * FREQ7;
}
else if (band == 8)
{
predicted_doppler = predicted_doppler_normalized * FREQ8;
}
else
{
predicted_doppler = 0.0;
}
}
else if (this->System == 'G') // GPS
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1;
}
else if (band == 2)
{
predicted_doppler = predicted_doppler_normalized * FREQ2;
}
else if (band == 5)
{
predicted_doppler = predicted_doppler_normalized * FREQ5;
}
else
{
predicted_doppler = 0.0;
}
}
else if (this->System == 'B') // Beidou
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1_BDS;
}
else if (band == 2)
{
predicted_doppler = predicted_doppler_normalized * FREQ2_BDS;
}
else if (band == 3)
{
predicted_doppler = predicted_doppler_normalized * FREQ3_BDS;
}
else
{
predicted_doppler = 0.0;
}
}
else
{
predicted_doppler = 0.0;
}
return predicted_doppler;
}
void Gnss_Almanac::satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const
{
// Restore semi-major axis
const double a = this->sqrtA * this->sqrtA;
// Computed mean motion
double n;
if (this->System == 'E')
{
n = sqrt(GALILEO_GM / (a * a * a));
}
else if (this->System == 'B')
{
n = sqrt(BEIDOU_GM / (a * a * a));
}
else
{
n = sqrt(GPS_GM / (a * a * a));
}
// Time from ephemeris reference epoch
const double tk = check_t(transmitTime - static_cast<double>(this->toa));
// Mean anomaly
const double M = this->M_0 * GNSS_PI + n * tk;
// Initial guess of eccentric anomaly
double E = M;
double E_old;
double dE;
// --- Iteratively compute eccentric anomaly -------------------------------
for (int32_t ii = 1; ii < 20; ii++)
{
E_old = E;
E = M + this->ecc * sin(E);
dE = fmod(E - E_old, 2.0 * GNSS_PI);
if (fabs(dE) < 1e-12)
{
// Necessary precision is reached, exit from the loop
break;
}
}
const double sek = sin(E);
const double cek = cos(E);
const double OneMinusecosE = 1.0 - this->ecc * cek;
const double sq1e2 = sqrt(1.0 - this->ecc * this->ecc);
const double ekdot = n / OneMinusecosE;
// Compute the true anomaly
const double tmp_Y = sq1e2 * sek;
const double tmp_X = cek - this->ecc;
const double nu = atan2(tmp_Y, tmp_X);
// Compute angle phi (argument of Latitude)
const double phi = nu + this->omega * GNSS_PI;
const double pkdot = sq1e2 * ekdot / OneMinusecosE;
// Correct argument of latitude
const double suk = sin(phi);
const double cuk = cos(phi);
// Correct radius
const double r = a * OneMinusecosE;
const double rkdot = a * this->ecc * sek * ekdot;
// Correct inclination
double i;
if (this->System == 'E')
{
i = ((56.0 / 180.0) + this->delta_i) * GNSS_PI;
}
else
{
i = (0.3 + this->delta_i) * GNSS_PI;
}
const double sik = sin(i);
const double cik = cos(i);
// Compute the angle between the ascending node and the Greenwich meridian
double Omega;
double Omega_dot;
if (this->System == 'B')
{
Omega_dot = this->OMEGAdot * GNSS_PI - BEIDOU_OMEGA_EARTH_DOT;
Omega = this->OMEGA_0 * GNSS_PI + Omega_dot * tk - BEIDOU_OMEGA_EARTH_DOT * static_cast<double>(this->toa);
}
else
{
Omega_dot = this->OMEGAdot * GNSS_PI - GNSS_OMEGA_EARTH_DOT;
Omega = this->OMEGA_0 * GNSS_PI + Omega_dot * tk - GNSS_OMEGA_EARTH_DOT * static_cast<double>(this->toa);
}
const double sok = sin(Omega);
const double cok = cos(Omega);
// --- Compute satellite coordinates in Earth-fixed coordinates
const double xprime = r * cuk;
const double yprime = r * suk;
pos_vel_dtr[0] = xprime * cok - yprime * cik * sok;
pos_vel_dtr[1] = xprime * sok + yprime * cik * cok;
pos_vel_dtr[2] = yprime * sik;
// Satellite's velocity
const double xpkdot = rkdot * cuk - yprime * pkdot;
const double ypkdot = rkdot * suk + xprime * pkdot;
const double tmp = ypkdot * cik;
pos_vel_dtr[3] = -Omega_dot * pos_vel_dtr[1] + xpkdot * cok - tmp * sok;
pos_vel_dtr[4] = Omega_dot * pos_vel_dtr[0] + xpkdot * sok + tmp * cok;
pos_vel_dtr[5] = ypkdot * sik;
pos_vel_dtr[6] = 0;
}

46
src/core/system_parameters/gnss_almanac.h
View File

@ -18,6 +18,7 @@
#ifndef GNSS_SDR_GNSS_ALMANAC_H
#define GNSS_SDR_GNSS_ALMANAC_H
#include <array>
#include <cstdint>
/** \addtogroup Core
@ -37,6 +38,46 @@ public:
*/
Gnss_Almanac() = default;
/*!
* \brief Computes prediction of the Doppler shift for a given time and receiver's position and velocity.
* \f[
* f_{d} = - \mathbf{v} \frac{\mathbf{x}^{T}}{\left| \mathbf{x} \right| } \frac{f_{L}}{c}
* \f]
* where:
* \f[
* \mathbf{v} = \mathbf{v}_{sat} - \mathbf{v}_{rx}
* \f]
* \f[
* \mathbf{x} = \mathbf{x}_{sat} - \mathbf{x}_{rx}
* \f]
* \f[
* \left| \mathbf{x} \right| = \sqrt{\mathbf{x}\mathbf{x}^{T}}
* \f]
*
* @param[in] rx_time_s Time of Week in seconds
* @param[in] lat Receiver's latitude in degrees
* @param[in] lon Receiver's longitude in degrees
* @param[in] h Receiver's height in meters
* @param[in] ve Receiver's velocity in the East direction [m/s]
* @param[in] vn Receiver's velocity in the North direction [m/s]
* @param[in] vu Receiver's velocity in the Up direction [m/s]
* @param[in] band Signal band for which the Doppler will be computed
* (1: L1 C/A, E1B, BI1; 2: L2C, BI2; 3: BI3; 5: L5/E5a; 6: E6B; 7: E5b; 8: E5a+E5b)
*/
double predicted_doppler(double rx_time_s,
double lat,
double lon,
double h,
double ve,
double vn,
double vu,
int band) const;
/*!
* \brief Computes satellite Position and Velocity, in ECEF, for a given time (expressed in seconds of week)
*/
void satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const;
uint32_t PRN{}; //!< SV PRN NUMBER
double delta_i{}; //!< Inclination Angle at Reference Time (relative to i_0 = 0.30 semi-circles)
int32_t toa{}; //!< Almanac data reference time of week [s]
@ -49,6 +90,11 @@ public:
double OMEGAdot{}; //!< Rate of Right Ascension [semi-circles/s]
double af0{}; //!< Coefficient 0 of code phase offset model [s]
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
protected:
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
private:
double check_t(double time) const;
};

217
src/core/system_parameters/gnss_ephemeris.cc
View File

@ -17,10 +17,156 @@
#include "gnss_ephemeris.h"
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#include <algorithm>
#include <cmath>
#include <functional>
#include <numeric>
#include <vector>
double Gnss_Ephemeris::sv_clock_drift(double transmitTime)
{
const double dt = check_t(transmitTime - this->toc);
this->dtr = sv_clock_relativistic_term(transmitTime);
this->satClkDrift = this->af0 + this->af1 * dt + this->af2 * (dt * dt) + this->dtr;
return this->satClkDrift;
}
double Gnss_Ephemeris::predicted_doppler(double rx_time_s,
double lat,
double lon,
double h,
double ve,
double vn,
double vu,
int band) const
{
const double RE_WGS84 = 6378137.0; //!< earth semimajor axis (WGS84) (m)
const double FE_WGS84 = (1.0 / 298.257223563); //!< earth flattening (WGS84)
const double lat_rad = lat * D2R;
const double lon_rad = lon * D2R;
const double sinp = sin(lat_rad);
const double cosp = cos(lat_rad);
const double sinl = sin(lon_rad);
const double cosl = cos(lon_rad);
const double e2 = FE_WGS84 * (2.0 - FE_WGS84);
const double v = RE_WGS84 / std::sqrt(1.0 - e2 * sinp * sinp);
// Position in EFEF
const std::vector<double> pos_rx = {(v + h) * cosp * cosl, (v + h) * cosp * sinl, (v * (1.0 - e2) + h) * sinp};
// Velocity in EFEF
const double t = cosp * vu - sinp * vn;
const std::vector<double> vel_rx = {cosl * t - sinl * ve, sinl * t + cosl * ve, sinp * vu + cosp * vn};
std::array<double, 7> sat_pos_vel = {0};
satellitePosVelComputation(rx_time_s, sat_pos_vel);
const std::vector<double> pos_sat = {sat_pos_vel[0], sat_pos_vel[1], sat_pos_vel[2]};
const std::vector<double> vel_sat = {sat_pos_vel[3], sat_pos_vel[4], sat_pos_vel[5]};
std::vector<double> x_sr = pos_sat;
std::transform(x_sr.begin(), x_sr.end(), pos_rx.begin(), x_sr.begin(), std::minus<double>()); // pos_sat - pos_rx
const double norm_x_sr = std::sqrt(std::inner_product(x_sr.begin(), x_sr.end(), x_sr.begin(), 0.0)); // Euclidean norm
std::vector<double> v_sr = vel_sat;
std::transform(v_sr.begin(), v_sr.end(), vel_rx.begin(), v_sr.begin(), std::minus<double>()); // vel_sat - vel_rx
const double radial_vel = std::inner_product(v_sr.begin(), v_sr.end(), x_sr.begin(), 0.0) / norm_x_sr;
const double predicted_doppler_normalized = -(radial_vel / SPEED_OF_LIGHT_M_S);
double predicted_doppler = 0.0;
if (this->System == 'E') // Galileo
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1;
}
else if (band == 5)
{
predicted_doppler = predicted_doppler_normalized * FREQ5;
}
else if (band == 6)
{
predicted_doppler = predicted_doppler_normalized * FREQ6;
}
else if (band == 7)
{
predicted_doppler = predicted_doppler_normalized * FREQ7;
}
else if (band == 8)
{
predicted_doppler = predicted_doppler_normalized * FREQ8;
}
else
{
predicted_doppler = 0.0;
}
}
else if (this->System == 'G') // GPS
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1;
}
else if (band == 2)
{
predicted_doppler = predicted_doppler_normalized * FREQ2;
}
else if (band == 5)
{
predicted_doppler = predicted_doppler_normalized * FREQ5;
}
else
{
predicted_doppler = 0.0;
}
}
else if (this->System == 'B') // Beidou
{
if (band == 1)
{
predicted_doppler = predicted_doppler_normalized * FREQ1_BDS;
}
else if (band == 2)
{
predicted_doppler = predicted_doppler_normalized * FREQ2_BDS;
}
else if (band == 3)
{
predicted_doppler = predicted_doppler_normalized * FREQ3_BDS;
}
else
{
predicted_doppler = 0.0;
}
}
else
{
predicted_doppler = 0.0;
}
return predicted_doppler;
}
void Gnss_Ephemeris::satellitePosition(double transmitTime)
{
std::array<double, 7> pos_vel_dtr = {0};
satellitePosVelComputation(transmitTime, pos_vel_dtr);
this->satpos_X = pos_vel_dtr[0];
this->satpos_Y = pos_vel_dtr[1];
this->satpos_Z = pos_vel_dtr[2];
this->satvel_X = pos_vel_dtr[3];
this->satvel_Y = pos_vel_dtr[4];
this->satvel_Z = pos_vel_dtr[5];
this->dtr = pos_vel_dtr[6];
}
void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const
{
// Restore semi-major axis
const double a = this->sqrtA * this->sqrtA;
@ -47,10 +193,7 @@ void Gnss_Ephemeris::satellitePosition(double transmitTime)
const double n = n0 + this->delta_n;
// Mean anomaly
double M = this->M_0 + n * tk;
// Reduce mean anomaly to between 0 and 2pi
M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
const double M = this->M_0 + n * tk;
// Initial guess of eccentric anomaly
double E = M;
@ -82,10 +225,9 @@ void Gnss_Ephemeris::satellitePosition(double transmitTime)
const double nu = atan2(tmp_Y, tmp_X);
// Compute angle phi (argument of Latitude)
double phi = nu + this->omega;
const double phi = nu + this->omega;
// Reduce phi to between 0 and 2*pi rad
phi = fmod((phi), (2.0 * GNSS_PI));
const double s2pk = sin(2.0 * phi);
const double c2pk = cos(2.0 * phi);
const double pkdot = sq1e2 * ekdot / OneMinusecosE;
@ -120,53 +262,59 @@ void Gnss_Ephemeris::satellitePosition(double transmitTime)
Omega = this->OMEGA_0 + Omega_dot * tk - GNSS_OMEGA_EARTH_DOT * static_cast<double>(this->toe);
}
// Reduce to between 0 and 2*pi rad
Omega = fmod((Omega + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
const double sok = sin(Omega);
const double cok = cos(Omega);
// --- Compute satellite coordinates in Earth-fixed coordinates
const double xprime = r * cuk;
const double yprime = r * suk;
this->satpos_X = xprime * cok - yprime * cik * sok;
this->satpos_Y = xprime * sok + yprime * cik * cok; // ********NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
this->satpos_Z = yprime * sik;
pos_vel_dtr[0] = xprime * cok - yprime * cik * sok;
pos_vel_dtr[1] = xprime * sok + yprime * cik * cok; // ********NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
pos_vel_dtr[2] = yprime * sik;
// Satellite's velocity. Can be useful for Vector Tracking loops
const double xpkdot = rkdot * cuk - yprime * ukdot;
const double ypkdot = rkdot * suk + xprime * ukdot;
const double tmp = ypkdot * cik - this->satpos_Z * ikdot;
const double tmp = ypkdot * cik - pos_vel_dtr[2] * ikdot;
this->satvel_X = -Omega_dot * this->satpos_Y + xpkdot * cok - tmp * sok;
this->satvel_Y = Omega_dot * this->satpos_X + xpkdot * sok + tmp * cok;
this->satvel_Z = yprime * cik * ikdot + ypkdot * sik;
pos_vel_dtr[3] = -Omega_dot * pos_vel_dtr[1] + xpkdot * cok - tmp * sok;
pos_vel_dtr[4] = Omega_dot * pos_vel_dtr[0] + xpkdot * sok + tmp * cok;
pos_vel_dtr[5] = yprime * cik * ikdot + ypkdot * sik;
// Time from ephemeris reference clock
tk = check_t(transmitTime - this->toc);
this->dtr = this->af0 + this->af1 * tk + this->af2 * tk * tk;
pos_vel_dtr[6] = this->af0 + this->af1 * tk + this->af2 * tk * tk;
if (this->System == 'E')
{
this->dtr -= 2.0 * sqrt(GALILEO_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
pos_vel_dtr[6] -= 2.0 * sqrt(GALILEO_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
}
else if (this->System == 'B')
{
this->dtr -= 2.0 * sqrt(BEIDOU_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
pos_vel_dtr[6] -= 2.0 * sqrt(BEIDOU_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
}
else
{
this->dtr -= 2.0 * sqrt(GPS_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
pos_vel_dtr[6] -= 2.0 * sqrt(GPS_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
}
}
double Gnss_Ephemeris::sv_clock_drift(double transmitTime)
double Gnss_Ephemeris::check_t(double time) const
{
const double dt = check_t(transmitTime - this->toc);
this->dtr = sv_clock_relativistic_term(transmitTime);
this->satClkDrift = this->af0 + this->af1 * dt + this->af2 * (dt * dt) + this->dtr;
return this->satClkDrift;
const double half_week = 302400.0; // seconds
double corrTime = time;
if (time > half_week)
{
corrTime = time - 2.0 * half_week;
}
else if (time < -half_week)
{
corrTime = time + 2.0 * half_week;
}
return corrTime;
}
@ -184,7 +332,7 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
{
n0 = sqrt(GALILEO_GM / (a * a * a));
}
else if (this->System == 'E')
else if (this->System == 'B')
{
n0 = sqrt(BEIDOU_GM / (a * a * a));
}
@ -198,9 +346,6 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
// Mean anomaly
const double M = this->M_0 + n * tk;
// Reduce mean anomaly to between 0 and 2pi
// M = fmod((M + 2.0 * GNSS_PI), (2.0 * GNSS_PI));
// Initial guess of eccentric anomaly
double E = M;
double E_old;
@ -235,19 +380,3 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
}
return dtr_;
}
double Gnss_Ephemeris::check_t(double time) const
{
const double half_week = 302400.0; // seconds
double corrTime = time;
if (time > half_week)
{
corrTime = time - 2.0 * half_week;
}
else if (time < -half_week)
{
corrTime = time + 2.0 * half_week;
}
return corrTime;
}

30
src/core/system_parameters/gnss_ephemeris.h
View File

@ -19,6 +19,7 @@
#ifndef GNSS_SDR_GNSS_EPHEMERIS_H
#define GNSS_SDR_GNSS_EPHEMERIS_H
#include <array>
#include <cstdint>
/*!
@ -36,6 +37,34 @@ public:
*/
double sv_clock_drift(double transmitTime);
/*!
* \brief Computes prediction of the Doppler shift for a given time and receiver's position and velocity.
* \f[
* f_{d} = - \mathbf{v} \frac{\mathbf{x}^{T}}{\left| \mathbf{x} \right| } \frac{f_{L}}{c}
* \f]
* where:
* \f[
* \mathbf{v} = \mathbf{v}_{sat} - \mathbf{v}_{rx}
* \f]
* \f[
* \mathbf{x} = \mathbf{x}_{sat} - \mathbf{x}_{rx}
* \f]
* \f[
* \left| \mathbf{x} \right| = \sqrt{\mathbf{x}\mathbf{x}^{T}}
* \f]
*
* @param[in] rx_time_s Time of Week in seconds
* @param[in] lat Receiver's latitude in degrees
* @param[in] lon Receiver's longitude in degrees
* @param[in] h Receiver's height in meters
* @param[in] ve Receiver's velocity in the East direction [m/s]
* @param[in] vn Receiver's velocity in the North direction [m/s]
* @param[in] vu Receiver's velocity in the Up direction [m/s]
* @param[in] band Signal band for which the Doppler will be computed
* (1: L1 C/A, E1B, BI1; 2: L2C, BI2; 3: BI3; 5: L5/E5a; 6: E6B; 7: E5b; 8: E5a+E5b)
*/
double predicted_doppler(double rx_time_s, double lat, double lon, double h, double ve, double vn, double vu, int band) const;
void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
uint32_t PRN{}; //!< SV ID
@ -83,6 +112,7 @@ protected:
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
private:
void satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const;
double check_t(double time) const;
double sv_clock_relativistic_term(double transmitTime) const;
};

5
src/core/system_parameters/gps_almanac.h
View File

@ -38,7 +38,10 @@ public:
/*!
* Default constructor
*/
Gps_Almanac() = default;
Gps_Almanac()
{
this->System = 'G';
};
int32_t SV_health{}; //!< SV Health
int32_t AS_status{}; //!< Anti-Spoofing Flags and SV Configuration

12
src/core/system_parameters/gps_navigation_message.cc
View File

@ -465,18 +465,6 @@ Gps_Ephemeris Gps_Navigation_Message::get_ephemeris() const
ephemeris.alert_flag = b_alert_flag;
ephemeris.antispoofing_flag = b_antispoofing_flag;
// These parameters are empty; can be computed later with
// ephemeris.sv_clock_drift(double transmitTime);
// ephemeris.satellitePosition(double transmitTime);
ephemeris.satClkDrift = d_satClkDrift;
ephemeris.dtr = d_dtr;
ephemeris.satpos_X = d_satpos_X;
ephemeris.satpos_Y = d_satpos_Y;
ephemeris.satpos_Z = d_satpos_Z;
ephemeris.satvel_X = d_satvel_X;
ephemeris.satvel_Y = d_satvel_Y;
ephemeris.satvel_Z = d_satvel_Z;
return ephemeris;
}

16
src/core/system_parameters/gps_navigation_message.h
View File

@ -195,22 +195,6 @@ private:
int32_t i_Toa{}; // Almanac reference time [s]
int32_t i_WN_A{}; // Modulo 256 of the GPS week number to which the almanac reference time (i_Toa) is referenced
// clock terms
// double d_master_clock{}; // GPS transmission time
double d_dtr{}; // relativistic clock correction term
double d_satClkDrift{};
// satellite positions
double d_satpos_X{}; // Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
double d_satpos_Y{}; // Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
double d_satpos_Z{}; // Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
// Satellite velocity
double d_satvel_X{}; // Earth-fixed velocity coordinate x of the satellite [m]
double d_satvel_Y{}; // Earth-fixed velocity coordinate y of the satellite [m]
double d_satvel_Z{}; // Earth-fixed velocity coordinate z of the satellite [m]
// satellite identification info
int32_t i_channel_ID{};
uint32_t i_satellite_PRN{};

2
src/main/main.cc
View File

@ -18,7 +18,7 @@
*/
#ifndef GNSS_SDR_VERSION
#define GNSS_SDR_VERSION "0.0.15"
#define GNSS_SDR_VERSION "0.0.16"
#endif
#ifndef GOOGLE_STRIP_LOG

4
src/utils/front-end-cal/main.cc
View File

@ -344,9 +344,9 @@ int main(int argc, char** argv)
{
std::cout << "Exception caught while capturing samples (bad lexical cast)\n";
}
catch (const boost::io::too_few_args& e)
catch (const std::exception& e)
{
std::cout << "Exception caught while capturing samples (too few args)\n";
std::cout << "Exception caught while capturing samples: " << e.what() << '\n';
}
catch (...)
{

126
src/utils/scripts/download-galileo-almanac.sh Executable file
View File

@ -0,0 +1,126 @@
#!/bin/sh
# GNSS-SDR shell script that tries to download the latest Galileo Almanac file
# published by the European GNSS Service Centre.
#
# Usage: ./download-galileo-almanac.sh
#
# SPDX-FileCopyrightText: 2022 Carles Fernandez-Prades <cfernandez(at)cttc.es>
# SPDX-License-Identifier: GPL-3.0-or-later
if ! [ -x "$(command -v wget)" ]; then
echo "Please install wget before using this script."
exit 1
fi
help()
{
echo "This script tries to download the most recent Galileo Almanac XML file"
echo "published by the European GNSS Service Centre."
echo "More info at https://www.gsc-europa.eu/product-almanacs"
echo "If today there is no published file, the script will look up to one week ago."
echo ""
echo "Usage:"
echo "./download-galileo-almanac.sh [OPTION]"
echo " Options:"
echo " -h, --help Prints this message"
echo " -r, --rename Gets latest Galileo Almanac XML file and saves it as gal_almanac.xml"
echo " -d, --date [date] Retrieves file for a specific date, with format YYYY-MM-DD"
echo " -rd [date] Retrieves file for a specific date, with format YYYY-MM-DD"
echo " and saves it as gal_almanac.xml"
echo ""
echo " Examples:"
echo " ./download-galileo-almanac.sh # Gets latest Galileo Almanac XML file"
echo " ./download-galileo-almanac.sh -r # Gets latest Galileo Almanac XML file, stores it as gal_almanac.xml"
echo " ./download-galileo-almanac.sh -d 2022-03-15 # Gets Galileo Almanac XML file for that day"
echo " ./download-galileo-almanac.sh -rd 2022-03-15 # Gets Galileo Almanac XML file for that day, stores it as gal_almanac.xml"
}
if (([ "$1" = "-h" ]) || ([ "$1" = "--help" ])) ; then
help
exit 0
fi
RENAME=""
if (([ "$1" = "-r" ]) || ([ "$1" = "--rename" ])) ; then
RENAME=" -O gal_almanac.xml "
fi
BASE_URL="https://www.gsc-europa.eu/sites/default/files/sites/all/files/"
YEAR=$(date '+%Y')
SPACING="-"
MONTH=$(date '+%m')
DAY=$(date '+%d')
TERMINATION1="_0.xml"
TERMINATION2=".xml"
COUNTER=1
MAX_COUNTER=7
if (([ "$1" = "-d" ]) || ([ "$1" = "--date" ])) ; then
if wget "$BASE_URL$2$TERMINATION2" >/dev/null 2>&1 ; then
echo "Downloaded latest Galileo almanac from $BASE_URL$2$TERMINATION2"
exit 0
else
echo "Couldn't find an XML file for that date."
exit 1
fi
elif [ "$1" = "-rd" ] ; then
if wget -O gal_almanac.xml "$BASE_URL$2$TERMINATION2" >/dev/null 2>&1 ; then
echo "Downloaded latest Galileo almanac from $BASE_URL$2$TERMINATION2"
exit 0
else
echo "Couldn't find an XML file for that date."
rm gal_almanac.xml
exit 1
fi
else
echo "According to system time, today is $(date '+%Y-%m-%d'). Searching for the latest Galileo almanac ..."
fi
lowercase()
{
echo "$1" | sed "y/ABCDEFGHIJKLMNOPQRSTUVWXYZ/abcdefghijklmnopqrstuvwxyz/"
}
OS=`lowercase \`uname\``
date_before()
{
if [ "$OS" = "darwin" ]; then
YEAR=$(date -v -"$COUNTER"d '+%Y')
MONTH=$(date -v -"$COUNTER"d '+%m')
DAY=$(date -v -"$COUNTER"d '+%d')
else
YEAR=$(date -d "$COUNTER day ago" '+%Y')
MONTH=$(date -d "$COUNTER day ago" '+%m')
DAY=$(date -d "$COUNTER day ago" '+%d')
fi
COUNTER=$(($COUNTER+1))
}
try_download()
{
while [ $COUNTER -le $MAX_COUNTER ]
do
url="$BASE_URL$YEAR$SPACING$MONTH$SPACING$DAY$TERMINATION2"
if wget $RENAME $url >/dev/null 2>&1 ; then
echo "Downloaded latest Galileo almanac from $url"
exit 0
else
date_before
try_download
fi
done
}
url="$BASE_URL$YEAR$SPACING$MONTH$SPACING$DAY$TERMINATION1"
if wget $RENAME $url >/dev/null 2>&1 ; then
echo "Downloaded latest Galileo almanac from $url"
else
try_download
echo "Couldn't find a recent Galileo almanac."
exit 1
fi