mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-25 22:43:14 +00:00
Added RTKLib solver unit test
This commit is contained in:
Javier Arribas
parent
98f5507fbb
commit
d241da5d35
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@ -50,6 +50,10 @@ namespace bc = boost::math;
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namespace bc = boost::integer;
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#endif
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//includes used by the observables serializarion (export observables for rtklib unit test)
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/serialization/map.hpp>
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using google::LogMessage;
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@ -507,6 +511,53 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
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}
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bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
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{
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if (gnss_observables_map.empty() == false)
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{
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try
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{
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std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
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boost::archive::xml_oarchive xml(ofs);
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xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
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ofs.close();
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LOG(INFO) << "Saved gnss_sychro map data";
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}
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catch (std::exception& e)
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{
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LOG(WARNING) << e.what();
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return false;
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}
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return true;
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}
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else
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{
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LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
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return false;
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}
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}
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bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
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{
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//load from xml (boost serialize)
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try
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{
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std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
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boost::archive::xml_iarchive xml(ifs);
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gnss_observables_map.clear();
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xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
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ifs.close();
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return true;
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//std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
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}
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catch (std::exception& e)
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{
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std::cout << e.what() << "File: " << file_name;
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return false;
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}
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}
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int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
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gr_vector_void_star& output_items __attribute__((unused)))
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{
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@ -526,7 +577,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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gnss_observables_map.clear();
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const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
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// ############ 1. READ PSEUDORANGES ####
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for (uint32_t i = 0; i < d_nchannels; i++)
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{
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@ -610,8 +660,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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// it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
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// }
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if (d_ls_pvt->get_PVT(gnss_observables_map, false))
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{
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//Optional debug code: export observables snapshot for rtklib unit testing
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//std::cout << "step 1: save gnss_synchro map" << std::endl;
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//save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
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//getchar(); //stop the execution
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//end debug
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if (current_RX_time_ms % d_display_rate_ms == 0)
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{
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flag_display_pvt = true;
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@ -2060,7 +2117,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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std::streamsize ss = std::cout.precision(); // save current precision
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std::cout.setf(std::ios::fixed, std::ios::floatfield);
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auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
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std::cout.imbue(std::locale(std::cout.getloc(), facet));
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@ -152,6 +152,10 @@ private:
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bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
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std::chrono::time_point<std::chrono::system_clock> start, end;
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bool save_gnss_synchro_map_xml(const std::string file_name); //debug helper function
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bool load_gnss_synchro_map_xml(const std::string file_name); //debug helper function
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public:
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rtklib_pvt_cc(uint32_t nchannels,
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bool dump, std::string dump_filename,
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@ -76,12 +76,13 @@ private:
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rtk_t rtk_;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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sol_t pvt_sol;
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bool d_flag_dump_enabled;
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int d_nchannels; // Number of available channels for positioning
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double dop_[4];
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public:
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sol_t pvt_sol;
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rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
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~rtklib_solver();
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@ -33,6 +33,7 @@
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#ifndef GNSS_SDR_GNSS_SYNCHRO_H_
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#define GNSS_SDR_GNSS_SYNCHRO_H_
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#include <boost/serialization/nvp.hpp>
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#include "gnss_signal.h"
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#include <cstdint>
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@ -83,41 +84,42 @@ public:
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* Gnss_Synchro objects from a byte stream.
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*/
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template <class Archive>
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void serialize(Archive& ar, const unsigned int version)
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{
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if (version)
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{
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};
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// Satellite and signal info
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ar& System;
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ar& Signal;
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ar& PRN;
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ar& Channel_ID;
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ar& BOOST_SERIALIZATION_NVP(System);
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ar& BOOST_SERIALIZATION_NVP(Signal);
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ar& BOOST_SERIALIZATION_NVP(PRN);
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ar& BOOST_SERIALIZATION_NVP(Channel_ID);
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// Acquisition
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ar& Acq_delay_samples;
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ar& Acq_doppler_hz;
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ar& Acq_samplestamp_samples;
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ar& Acq_doppler_step;
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ar& Flag_valid_acquisition;
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ar& BOOST_SERIALIZATION_NVP(Acq_delay_samples);
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ar& BOOST_SERIALIZATION_NVP(Acq_doppler_hz);
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ar& BOOST_SERIALIZATION_NVP(Acq_samplestamp_samples);
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ar& BOOST_SERIALIZATION_NVP(Acq_doppler_step);
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ar& BOOST_SERIALIZATION_NVP(Flag_valid_acquisition);
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// Tracking
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ar& fs;
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ar& Prompt_I;
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ar& Prompt_Q;
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ar& CN0_dB_hz;
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ar& Carrier_Doppler_hz;
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ar& Carrier_phase_rads;
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ar& Code_phase_samples;
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ar& Tracking_sample_counter;
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ar& Flag_valid_symbol_output;
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ar& correlation_length_ms;
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ar& BOOST_SERIALIZATION_NVP(fs);
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ar& BOOST_SERIALIZATION_NVP(Prompt_I);
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ar& BOOST_SERIALIZATION_NVP(Prompt_Q);
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ar& BOOST_SERIALIZATION_NVP(CN0_dB_hz);
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ar& BOOST_SERIALIZATION_NVP(Carrier_Doppler_hz);
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ar& BOOST_SERIALIZATION_NVP(Carrier_phase_rads);
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ar& BOOST_SERIALIZATION_NVP(Code_phase_samples);
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ar& BOOST_SERIALIZATION_NVP(Tracking_sample_counter);
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ar& BOOST_SERIALIZATION_NVP(Flag_valid_symbol_output);
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ar& BOOST_SERIALIZATION_NVP(correlation_length_ms);
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// Telemetry Decoder
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ar& Flag_valid_word;
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ar& TOW_at_current_symbol_ms;
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ar& BOOST_SERIALIZATION_NVP(Flag_valid_word);
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ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms);
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// Observables
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ar& Pseudorange_m;
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ar& RX_time;
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ar& Flag_valid_pseudorange;
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ar& interp_TOW_ms;
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ar& BOOST_SERIALIZATION_NVP(Pseudorange_m);
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ar& BOOST_SERIALIZATION_NVP(RX_time);
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ar& BOOST_SERIALIZATION_NVP(Flag_valid_pseudorange);
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ar& BOOST_SERIALIZATION_NVP(interp_TOW_ms);
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}
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};
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@ -153,7 +153,7 @@ public:
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archive& make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
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archive& make_nvp("d_sqrt_A", d_sqrt_A); //!< Square Root of the Semi-Major Axis [sqrt(m)]
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archive& make_nvp("d_Toe", d_Toe); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
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archive& make_nvp("d_Toc", d_Toe); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
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archive& make_nvp("d_Toc", d_Toc); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
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archive& make_nvp("d_Cic", d_Cic); //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
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archive& make_nvp("d_OMEGA0", d_OMEGA0); //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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archive& make_nvp("d_Cis", d_Cis); //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
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@ -179,7 +179,6 @@ endif(ENABLE_UNIT_TESTING_MINIMAL)
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################################################################################
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# Optional generator
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################################################################################
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option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
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if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
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if(ENABLE_FPGA)
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set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
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@ -190,11 +189,11 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
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set(CROSS_INSTALL_DIR "")
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endif(ENABLE_FPGA)
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find_package(GnssSimulator QUIET)
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if(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
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if(GNSS-SIMULATOR_FOUND)
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add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
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add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
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add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
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else(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
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else(GNSS-SIMULATOR_FOUND)
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ExternalProject_Add(
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gnss-sim
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GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
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@ -220,7 +219,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
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add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
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add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
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endif(ENABLE_INSTALL_TESTS)
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endif(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
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endif(GNSS-SIMULATOR_FOUND)
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################################################################################
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# Local installation of GPSTk http://www.gpstk.org/
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@ -313,12 +312,16 @@ if(ENABLE_INSTALL_TESTS)
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install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
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install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
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install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
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install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
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install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
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add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
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else(ENABLE_INSTALL_TESTS)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
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file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
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add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
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endif(ENABLE_INSTALL_TESTS)
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480
src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml
Normal file
480
src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml
Normal file
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@ -0,0 +1,480 @@
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<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<!DOCTYPE boost_serialization>
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<boost_serialization signature="serialization::archive" version="12">
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<GNSS-SDR_ephemeris_map class_id="0" tracking_level="0" version="0">
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<count>11</count>
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<item_version>0</item_version>
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<item class_id="1" tracking_level="0" version="0">
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<first>1</first>
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<second class_id="2" tracking_level="0" version="0">
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<i_satellite_PRN>1</i_satellite_PRN>
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<d_TOW>5.18448000000000000e+05</d_TOW>
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<d_IODE_SF2>9.20000000000000000e+01</d_IODE_SF2>
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<d_IODE_SF3>9.20000000000000000e+01</d_IODE_SF3>
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<d_Crs>1.83125000000000000e+01</d_Crs>
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<d_Delta_n>4.86413118201646669e-09</d_Delta_n>
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<d_M_0>2.06468198930943725e+00</d_M_0>
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<d_Cuc>9.42498445510864258e-07</d_Cuc>
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<d_e_eccentricity>3.73082922305911736e-03</d_e_eccentricity>
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<d_Cus>5.76488673686981201e-06</d_Cus>
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<d_sqrt_A>5.15366174697875977e+03</d_sqrt_A>
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<d_Toe>5.18400000000000000e+05</d_Toe>
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<d_Toc>5.18400000000000000e+05</d_Toc>
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<d_Cic>-5.40167093276977539e-08</d_Cic>
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<d_OMEGA0>9.52167247599200905e-01</d_OMEGA0>
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<d_Cis>1.86264514923095703e-08</d_Cis>
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<d_i_0>9.61377026423456127e-01</d_i_0>
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<d_Crc>2.66968750000000000e+02</d_Crc>
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<d_OMEGA>4.44935333708291858e-01</d_OMEGA>
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<d_OMEGA_DOT>-8.14641075927847669e-09</d_OMEGA_DOT>
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<d_IDOT>4.15017287135849497e-10</d_IDOT>
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<i_code_on_L2>0</i_code_on_L2>
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<i_GPS_week>799</i_GPS_week>
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<b_L2_P_data_flag>0</b_L2_P_data_flag>
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<i_SV_accuracy>2</i_SV_accuracy>
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<i_SV_health>0</i_SV_health>
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<d_TGD>5.12227416038513184e-09</d_TGD>
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<d_IODC>9.20000000000000000e+01</d_IODC>
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<i_AODO>27900</i_AODO>
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<b_fit_interval_flag>0</b_fit_interval_flag>
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<d_spare1>0.00000000000000000e+00</d_spare1>
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<d_spare2>0.00000000000000000e+00</d_spare2>
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<d_A_f0>-1.09937973320484161e-05</d_A_f0>
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<d_A_f1>3.41060513164847988e-13</d_A_f1>
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<d_A_f2>0.00000000000000000e+00</d_A_f2>
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<b_integrity_status_flag>0</b_integrity_status_flag>
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<b_alert_flag>0</b_alert_flag>
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<b_antispoofing_flag>0</b_antispoofing_flag>
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</second>
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</item>
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<item>
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<first>2</first>
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<second>
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<i_satellite_PRN>2</i_satellite_PRN>
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<d_TOW>5.18448000000000000e+05</d_TOW>
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<d_IODE_SF2>5.50000000000000000e+01</d_IODE_SF2>
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<d_IODE_SF3>5.50000000000000000e+01</d_IODE_SF3>
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<d_Crs>2.22812500000000000e+01</d_Crs>
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<d_Delta_n>5.12771358985317661e-09</d_Delta_n>
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<d_M_0>2.75926302782053146e+00</d_M_0>
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<d_Cuc>1.10082328319549561e-06</d_Cuc>
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<d_e_eccentricity>1.40569622162729484e-02</d_e_eccentricity>
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<d_Cus>6.26407563686370850e-06</d_Cus>
|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<item>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
</second>
|
||||
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|
||||
<item>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<item>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>10</first>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<item>
|
||||
<first>12</first>
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>17</first>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<d_TGD>-1.07102096080780029e-08</d_TGD>
|
||||
<d_IODC>2.60000000000000000e+01</d_IODC>
|
||||
<i_AODO>27900</i_AODO>
|
||||
<b_fit_interval_flag>0</b_fit_interval_flag>
|
||||
<d_spare1>0.00000000000000000e+00</d_spare1>
|
||||
<d_spare2>0.00000000000000000e+00</d_spare2>
|
||||
<d_A_f0>-1.44933816045522690e-04</d_A_f0>
|
||||
<d_A_f1>-2.27373675443232019e-12</d_A_f1>
|
||||
<d_A_f2>0.00000000000000000e+00</d_A_f2>
|
||||
<b_integrity_status_flag>0</b_integrity_status_flag>
|
||||
<b_alert_flag>0</b_alert_flag>
|
||||
<b_antispoofing_flag>0</b_antispoofing_flag>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>20</first>
|
||||
<second>
|
||||
<i_satellite_PRN>20</i_satellite_PRN>
|
||||
<d_TOW>5.18448000000000000e+05</d_TOW>
|
||||
<d_IODE_SF2>1.17000000000000000e+02</d_IODE_SF2>
|
||||
<d_IODE_SF3>1.17000000000000000e+02</d_IODE_SF3>
|
||||
<d_Crs>-2.58437500000000000e+01</d_Crs>
|
||||
<d_Delta_n>5.60380484953655626e-09</d_Delta_n>
|
||||
<d_M_0>1.28625710142833249e-01</d_M_0>
|
||||
<d_Cuc>-1.52923166751861572e-06</d_Cuc>
|
||||
<d_e_eccentricity>5.80669869668781671e-03</d_e_eccentricity>
|
||||
<d_Cus>7.51018524169921875e-06</d_Cus>
|
||||
<d_sqrt_A>5.15578671264648438e+03</d_sqrt_A>
|
||||
<d_Toe>5.18400000000000000e+05</d_Toe>
|
||||
<d_Toc>5.18400000000000000e+05</d_Toc>
|
||||
<d_Cic>-2.23517417907714844e-08</d_Cic>
|
||||
<d_OMEGA0>1.92543994118208528e+00</d_OMEGA0>
|
||||
<d_Cis>4.65661287307739258e-08</d_Cis>
|
||||
<d_i_0>9.26021286652122910e-01</d_i_0>
|
||||
<d_Crc>2.18031250000000000e+02</d_Crc>
|
||||
<d_OMEGA>1.23365536128043107e+00</d_OMEGA>
|
||||
<d_OMEGA_DOT>-8.54892752571746483e-09</d_OMEGA_DOT>
|
||||
<d_IDOT>-5.16450083647537340e-10</d_IDOT>
|
||||
<i_code_on_L2>0</i_code_on_L2>
|
||||
<i_GPS_week>799</i_GPS_week>
|
||||
<b_L2_P_data_flag>0</b_L2_P_data_flag>
|
||||
<i_SV_accuracy>2</i_SV_accuracy>
|
||||
<i_SV_health>0</i_SV_health>
|
||||
<d_TGD>-8.38190317153930664e-09</d_TGD>
|
||||
<d_IODC>1.17000000000000000e+02</d_IODC>
|
||||
<i_AODO>27900</i_AODO>
|
||||
<b_fit_interval_flag>0</b_fit_interval_flag>
|
||||
<d_spare1>0.00000000000000000e+00</d_spare1>
|
||||
<d_spare2>0.00000000000000000e+00</d_spare2>
|
||||
<d_A_f0>2.69209500402212143e-04</d_A_f0>
|
||||
<d_A_f1>4.20641299569979229e-12</d_A_f1>
|
||||
<d_A_f2>0.00000000000000000e+00</d_A_f2>
|
||||
<b_integrity_status_flag>0</b_integrity_status_flag>
|
||||
<b_alert_flag>0</b_alert_flag>
|
||||
<b_antispoofing_flag>0</b_antispoofing_flag>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>23</first>
|
||||
<second>
|
||||
<i_satellite_PRN>23</i_satellite_PRN>
|
||||
<d_TOW>5.18448000000000000e+05</d_TOW>
|
||||
<d_IODE_SF2>4.10000000000000000e+01</d_IODE_SF2>
|
||||
<d_IODE_SF3>4.10000000000000000e+01</d_IODE_SF3>
|
||||
<d_Crs>1.20250000000000000e+02</d_Crs>
|
||||
<d_Delta_n>4.45161399901998963e-09</d_Delta_n>
|
||||
<d_M_0>3.04794581942897569e+00</d_M_0>
|
||||
<d_Cuc>6.13741576671600342e-06</d_Cuc>
|
||||
<d_e_eccentricity>9.67817602213471954e-03</d_e_eccentricity>
|
||||
<d_Cus>1.14180147647857666e-05</d_Cus>
|
||||
<d_sqrt_A>5.15370163154602051e+03</d_sqrt_A>
|
||||
<d_Toe>5.18400000000000000e+05</d_Toe>
|
||||
<d_Toc>5.18400000000000000e+05</d_Toc>
|
||||
<d_Cic>-6.14672899246215820e-08</d_Cic>
|
||||
<d_OMEGA0>3.04748172476042711e+00</d_OMEGA0>
|
||||
<d_Cis>-1.04308128356933594e-07</d_Cis>
|
||||
<d_i_0>9.50229191282804808e-01</d_i_0>
|
||||
<d_Crc>1.56000000000000000e+02</d_Crc>
|
||||
<d_OMEGA>-2.71676891930177256e+00</d_OMEGA>
|
||||
<d_OMEGA_DOT>-7.78032408172749087e-09</d_OMEGA_DOT>
|
||||
<d_IDOT>-2.75011455330984601e-11</d_IDOT>
|
||||
<i_code_on_L2>0</i_code_on_L2>
|
||||
<i_GPS_week>799</i_GPS_week>
|
||||
<b_L2_P_data_flag>0</b_L2_P_data_flag>
|
||||
<i_SV_accuracy>2</i_SV_accuracy>
|
||||
<i_SV_health>0</i_SV_health>
|
||||
<d_TGD>-1.95577740669250488e-08</d_TGD>
|
||||
<d_IODC>4.10000000000000000e+01</d_IODC>
|
||||
<i_AODO>27900</i_AODO>
|
||||
<b_fit_interval_flag>0</b_fit_interval_flag>
|
||||
<d_spare1>0.00000000000000000e+00</d_spare1>
|
||||
<d_spare2>0.00000000000000000e+00</d_spare2>
|
||||
<d_A_f0>-7.56788067519664764e-05</d_A_f0>
|
||||
<d_A_f1>-2.72848410531878391e-12</d_A_f1>
|
||||
<d_A_f2>0.00000000000000000e+00</d_A_f2>
|
||||
<b_integrity_status_flag>0</b_integrity_status_flag>
|
||||
<b_alert_flag>0</b_alert_flag>
|
||||
<b_antispoofing_flag>0</b_antispoofing_flag>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>28</first>
|
||||
<second>
|
||||
<i_satellite_PRN>28</i_satellite_PRN>
|
||||
<d_TOW>5.18448000000000000e+05</d_TOW>
|
||||
<d_IODE_SF2>3.30000000000000000e+01</d_IODE_SF2>
|
||||
<d_IODE_SF3>3.30000000000000000e+01</d_IODE_SF3>
|
||||
<d_Crs>-1.27750000000000000e+02</d_Crs>
|
||||
<d_Delta_n>4.04302555109966970e-09</d_Delta_n>
|
||||
<d_M_0>-1.16607683198628931e+00</d_M_0>
|
||||
<d_Cuc>-6.37024641036987305e-06</d_Cuc>
|
||||
<d_e_eccentricity>1.97223023278638686e-02</d_e_eccentricity>
|
||||
<d_Cus>5.66989183425903320e-06</d_Cus>
|
||||
<d_sqrt_A>5.15368548965454102e+03</d_sqrt_A>
|
||||
<d_Toe>5.18400000000000000e+05</d_Toe>
|
||||
<d_Toc>5.18400000000000000e+05</d_Toc>
|
||||
<d_Cic>-1.37835741043090820e-07</d_Cic>
|
||||
<d_OMEGA0>-1.08006546321039543e+00</d_OMEGA0>
|
||||
<d_Cis>4.35858964920043945e-07</d_Cis>
|
||||
<d_i_0>9.87961552655681530e-01</d_i_0>
|
||||
<d_Crc>2.84718750000000000e+02</d_Crc>
|
||||
<d_OMEGA>-1.69047108635756738e+00</d_OMEGA>
|
||||
<d_OMEGA_DOT>-8.17855495535612472e-09</d_OMEGA_DOT>
|
||||
<d_IDOT>-4.44661379074124424e-10</d_IDOT>
|
||||
<i_code_on_L2>0</i_code_on_L2>
|
||||
<i_GPS_week>799</i_GPS_week>
|
||||
<b_L2_P_data_flag>0</b_L2_P_data_flag>
|
||||
<i_SV_accuracy>2</i_SV_accuracy>
|
||||
<i_SV_health>0</i_SV_health>
|
||||
<d_TGD>-1.11758708953857422e-08</d_TGD>
|
||||
<d_IODC>3.30000000000000000e+01</d_IODC>
|
||||
<i_AODO>27900</i_AODO>
|
||||
<b_fit_interval_flag>0</b_fit_interval_flag>
|
||||
<d_spare1>0.00000000000000000e+00</d_spare1>
|
||||
<d_spare2>0.00000000000000000e+00</d_spare2>
|
||||
<d_A_f0>4.06486913561820984e-04</d_A_f0>
|
||||
<d_A_f1>2.61479726759716828e-12</d_A_f1>
|
||||
<d_A_f2>0.00000000000000000e+00</d_A_f2>
|
||||
<b_integrity_status_flag>0</b_integrity_status_flag>
|
||||
<b_alert_flag>0</b_alert_flag>
|
||||
<b_antispoofing_flag>0</b_antispoofing_flag>
|
||||
</second>
|
||||
</item>
|
||||
</GNSS-SDR_ephemeris_map>
|
||||
357
src/tests/data/rtklib_test/obs_test1.xml
Normal file
357
src/tests/data/rtklib_test/obs_test1.xml
Normal file
|
|
@ -0,0 +1,357 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||||
<!DOCTYPE boost_serialization>
|
||||
<boost_serialization signature="serialization::archive" version="12">
|
||||
<GNSS-SDR_gnss_synchro_map class_id="0" tracking_level="0" version="0">
|
||||
<count>10</count>
|
||||
<item_version>0</item_version>
|
||||
<item class_id="1" tracking_level="0" version="0">
|
||||
<first>0</first>
|
||||
<second class_id="2" tracking_level="0" version="0">
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>1</PRN>
|
||||
<Channel_ID>0</Channel_ID>
|
||||
<Acq_delay_samples>2.28200000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>-2.50000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>10791</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>-3.85959140625000000e+04</Prompt_I>
|
||||
<Prompt_Q>-9.03592163085937500e+02</Prompt_Q>
|
||||
<CN0_dB_hz>5.96898384094238281e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>-2.57914688873291016e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>8.35350813421410858e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>3.31084377635761484e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133923691</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451424</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.28178186234515086e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451423887949765e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>1</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>3</PRN>
|
||||
<Channel_ID>1</Channel_ID>
|
||||
<Acq_delay_samples>2.38500000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>68450858</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>-4.34972734375000000e+04</Prompt_I>
|
||||
<Prompt_Q>4.21364685058593750e+02</Prompt_Q>
|
||||
<CN0_dB_hz>5.16798934936523438e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>-3.12509065246582031e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>4.93910706686261110e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>7.36033200862493686e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133923971</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451431</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.07516033774388395e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451430780101955e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>2</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>28</PRN>
|
||||
<Channel_ID>2</Channel_ID>
|
||||
<Acq_delay_samples>1.52700000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>1350770</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>4.46268046875000000e+04</Prompt_I>
|
||||
<Prompt_Q>-3.98811938476562500e+03</Prompt_Q>
|
||||
<CN0_dB_hz>5.25376167297363281e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>-2.92984253692626953e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>9.35704822809229488e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>9.30327007595224131e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133923941</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451436</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>1.92492043561209217e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451435791565657e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>4</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>23</PRN>
|
||||
<Channel_ID>4</Channel_ID>
|
||||
<Acq_delay_samples>1.13100000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>1.00000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>994247</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>3.98655546875000000e+04</Prompt_I>
|
||||
<Prompt_Q>-8.63781860351562500e+02</Prompt_Q>
|
||||
<CN0_dB_hz>5.24684982299804688e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>1.09281750951009121e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-3.54128275530727289e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>4.08304036132904002e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133922883</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451429</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.12256989876578376e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451429198689222e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>5</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>2</PRN>
|
||||
<Channel_ID>5</Channel_ID>
|
||||
<Acq_delay_samples>5.38000000000000000e+02</Acq_delay_samples>
|
||||
<Acq_doppler_hz>1.75000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>4917751</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>-4.72456406250000000e+04</Prompt_I>
|
||||
<Prompt_Q>-2.63723022460937500e+02</Prompt_Q>
|
||||
<CN0_dB_hz>4.89446220397949219e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>1.83319645690917969e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-5.72184006019302527e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>5.89544135488722532e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133922337</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.08629709015843943e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451430408619881e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>6</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>17</PRN>
|
||||
<Channel_ID>6</Channel_ID>
|
||||
<Acq_delay_samples>2.21000000000000000e+02</Acq_delay_samples>
|
||||
<Acq_doppler_hz>2.50000000000000000e+02</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>514377</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>4.27717460937500000e+04</Prompt_I>
|
||||
<Prompt_Q>-9.45822082519531250e+02</Prompt_Q>
|
||||
<CN0_dB_hz>5.38986015319824219e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>2.73018497467041016e+02</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-9.09813659855529113e+04</Carrier_phase_rads>
|
||||
<Code_phase_samples>6.57473345280777721e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133923172</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451440</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>1.79613337841309197e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451440087439477e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>7</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>9</PRN>
|
||||
<Channel_ID>7</Channel_ID>
|
||||
<Acq_delay_samples>1.56900000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>2.25000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>7365787</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>-3.96159960937500000e+04</Prompt_I>
|
||||
<Prompt_Q>-5.03847460937500000e+03</Prompt_Q>
|
||||
<CN0_dB_hz>5.33032913208007812e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>2.30021731185913086e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-7.04913853936602012e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>3.21518194999043772e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133922169</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.08435687343175523e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451430473338544e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>8</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>10</PRN>
|
||||
<Channel_ID>8</Channel_ID>
|
||||
<Acq_delay_samples>2.12600000000000000e+03</Acq_delay_samples>
|
||||
<Acq_doppler_hz>2.75000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>2173576</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>4.00322539062500000e+04</Prompt_I>
|
||||
<Prompt_Q>-3.88590087890625000e+02</Prompt_Q>
|
||||
<CN0_dB_hz>4.85561523437500000e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>2.81225794982910156e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-8.99142229977656389e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>1.02370741655249731e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133922664</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451438</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>1.85022797143675610e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451438283038080e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>9</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>12</PRN>
|
||||
<Channel_ID>9</Channel_ID>
|
||||
<Acq_delay_samples>2.13000000000000000e+02</Acq_delay_samples>
|
||||
<Acq_doppler_hz>3.00000000000000000e+03</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>7464974</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>-4.03654140625000000e+04</Prompt_I>
|
||||
<Prompt_Q>3.92351245117187500e+03</Prompt_Q>
|
||||
<CN0_dB_hz>5.17314453125000000e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>3.03019989013671875e+03</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-9.28340507655202877e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>5.73995602361264901e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133923741</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451427</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>2.19242346189941987e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451426868625164e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
<item>
|
||||
<first>10</first>
|
||||
<second>
|
||||
<System>71</System>
|
||||
<Signal>
|
||||
<count>3</count>
|
||||
<item>49</item>
|
||||
<item>67</item>
|
||||
<item>0</item>
|
||||
</Signal>
|
||||
<PRN>6</PRN>
|
||||
<Channel_ID>10</Channel_ID>
|
||||
<Acq_delay_samples>4.70000000000000000e+01</Acq_delay_samples>
|
||||
<Acq_doppler_hz>5.00000000000000000e+02</Acq_doppler_hz>
|
||||
<Acq_samplestamp_samples>1859813</Acq_samplestamp_samples>
|
||||
<Acq_doppler_step>0</Acq_doppler_step>
|
||||
<Flag_valid_acquisition>0</Flag_valid_acquisition>
|
||||
<fs>2600000</fs>
|
||||
<Prompt_I>3.87814335937500000e+04</Prompt_I>
|
||||
<Prompt_Q>2.13637329101562500e+03</Prompt_Q>
|
||||
<CN0_dB_hz>6.00463027954101562e+01</CN0_dB_hz>
|
||||
<Carrier_Doppler_hz>5.54514957427978516e+02</Carrier_Doppler_hz>
|
||||
<Carrier_phase_rads>-1.78723083774703584e+05</Carrier_phase_rads>
|
||||
<Code_phase_samples>3.47952294631795667e-01</Code_phase_samples>
|
||||
<Tracking_sample_counter>133924211</Tracking_sample_counter>
|
||||
<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
|
||||
<correlation_length_ms>1</correlation_length_ms>
|
||||
<Flag_valid_word>1</Flag_valid_word>
|
||||
<TOW_at_current_symbol_ms>518451439</TOW_at_current_symbol_ms>
|
||||
<Pseudorange_m>1.83808922785463184e+07</Pseudorange_m>
|
||||
<RX_time>5.18451500000000000e+05</RX_time>
|
||||
<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
|
||||
<interp_TOW_ms>5.18451438687942982e+08</interp_TOW_ms>
|
||||
</second>
|
||||
</item>
|
||||
</GNSS-SDR_gnss_synchro_map>
|
||||
|
|
@ -161,6 +161,7 @@ DECLARE_string(log_dir);
|
|||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
|
||||
|
||||
|
||||
#if EXTRA_TESTS
|
||||
|
|
|
|||
|
|
@ -0,0 +1,440 @@
|
|||
/*!
|
||||
* \file rtklib_solver_test.cc
|
||||
* \brief Implements Unit Test for the rtklib PVT solver class.
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include <string>
|
||||
#include <iomanip>
|
||||
#include <iostream>
|
||||
#include <boost/archive/xml_oarchive.hpp>
|
||||
#include <boost/archive/xml_iarchive.hpp>
|
||||
#include <boost/serialization/map.hpp>
|
||||
#include "rtklib_solver.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_sdr_supl_client.h"
|
||||
|
||||
|
||||
rtk_t configure_rtklib_options()
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration;
|
||||
configuration = std::make_shared<InMemoryConfiguration>();
|
||||
std::string role = "rtklib_solver";
|
||||
// custom options
|
||||
configuration->set_property("rtklib_solver.positioning_mode", "Single");
|
||||
configuration->set_property("rtklib_solver.elevation_mask", "0");
|
||||
configuration->set_property("rtklib_solver.iono_model", "OFF");
|
||||
configuration->set_property("rtklib_solver.trop_model", "OFF");
|
||||
//RTKLIB PVT solver options
|
||||
|
||||
// Settings 1
|
||||
int positioning_mode = -1;
|
||||
std::string default_pos_mode("Single");
|
||||
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
|
||||
if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
|
||||
if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
|
||||
if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
|
||||
if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
|
||||
|
||||
if (positioning_mode == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
|
||||
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
|
||||
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
|
||||
std::cout << "Setting positioning_mode to Single" << std::endl;
|
||||
positioning_mode = PMODE_SINGLE;
|
||||
}
|
||||
|
||||
int num_bands = 1;
|
||||
|
||||
// if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
|
||||
// if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
|
||||
// if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
|
||||
// if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
|
||||
|
||||
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
|
||||
if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
|
||||
{
|
||||
//warn user and set the default
|
||||
number_of_frequencies = num_bands;
|
||||
}
|
||||
|
||||
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
|
||||
if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
|
||||
elevation_mask = 15.0;
|
||||
}
|
||||
|
||||
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
if ((dynamics_model < 0) || (dynamics_model > 2))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
|
||||
dynamics_model = 0;
|
||||
}
|
||||
|
||||
std::string default_iono_model("OFF");
|
||||
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
int iono_model = -1;
|
||||
if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
|
||||
if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
|
||||
if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
|
||||
if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
|
||||
if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
|
||||
if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
|
||||
if (iono_model == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
|
||||
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
|
||||
std::cout << "iono_model specified value: " << iono_model_str << std::endl;
|
||||
std::cout << "Setting iono_model to OFF" << std::endl;
|
||||
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
|
||||
}
|
||||
|
||||
std::string default_trop_model("OFF");
|
||||
int trop_model = -1;
|
||||
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
|
||||
if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
|
||||
if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
|
||||
if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
|
||||
if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
|
||||
if (trop_model == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
|
||||
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
|
||||
std::cout << "trop_model specified value: " << trop_model_str << std::endl;
|
||||
std::cout << "Setting trop_model to OFF" << std::endl;
|
||||
trop_model = TROPOPT_OFF;
|
||||
}
|
||||
|
||||
/* RTKLIB positioning options */
|
||||
int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
|
||||
int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
|
||||
|
||||
/* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
|
||||
int phwindup = configuration->property(role + ".phwindup", 0);
|
||||
|
||||
/* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
|
||||
The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
|
||||
int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
|
||||
|
||||
/* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
|
||||
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
|
||||
The excluded satellite is selected to indicate the minimum SSE. */
|
||||
int raim_fde = configuration->property(role + ".raim_fde", 0);
|
||||
|
||||
int earth_tide = configuration->property(role + ".earth_tide", 0);
|
||||
|
||||
int nsys = SYS_GPS;
|
||||
// if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
|
||||
// if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
|
||||
// if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO;
|
||||
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
|
||||
navigation_system = nsys;
|
||||
}
|
||||
|
||||
// Settings 2
|
||||
std::string default_gps_ar("Continuous");
|
||||
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
int integer_ambiguity_resolution_gps = -1;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
|
||||
if (integer_ambiguity_resolution_gps == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
|
||||
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
|
||||
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
|
||||
std::cout << "Setting AR_GPS to OFF" << std::endl;
|
||||
integer_ambiguity_resolution_gps = ARMODE_OFF;
|
||||
}
|
||||
|
||||
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
|
||||
integer_ambiguity_resolution_glo = 1;
|
||||
}
|
||||
|
||||
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
|
||||
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
|
||||
integer_ambiguity_resolution_bds = 1;
|
||||
}
|
||||
|
||||
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
|
||||
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
|
||||
|
||||
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
|
||||
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
|
||||
|
||||
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
|
||||
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
|
||||
|
||||
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
|
||||
|
||||
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
|
||||
|
||||
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
|
||||
|
||||
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
|
||||
|
||||
int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
|
||||
If the baseline length is very short like 1 m, the iteration may be effective to handle
|
||||
the nonlinearity of measurement equation. */
|
||||
|
||||
/// Statistics
|
||||
double bias_0 = configuration->property(role + ".bias_0", 30.0);
|
||||
|
||||
double iono_0 = configuration->property(role + ".iono_0", 0.03);
|
||||
|
||||
double trop_0 = configuration->property(role + ".trop_0", 0.3);
|
||||
|
||||
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
|
||||
bias (ambiguity) (cycle/sqrt(s)) */
|
||||
|
||||
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
|
||||
|
||||
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
|
||||
|
||||
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
|
||||
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
|
||||
|
||||
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
|
||||
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
|
||||
|
||||
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
|
||||
|
||||
double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
|
||||
double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
|
||||
double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
|
||||
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
|
||||
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
|
||||
|
||||
snrmask_t snrmask = {{}, {{}, {}}};
|
||||
|
||||
prcopt_t rtklib_configuration_options = {
|
||||
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
0, /* solution type (0:forward,1:backward,2:combined) */
|
||||
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
|
||||
navigation_system, /* navigation system */
|
||||
elevation_mask * D2R, /* elevation mask angle (degrees) */
|
||||
snrmask, /* snrmask_t snrmask SNR mask */
|
||||
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
|
||||
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
|
||||
outage_reset_ambiguity, /* obs outage count to reset bias */
|
||||
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
|
||||
10, /* min fix count to hold ambiguity */
|
||||
1, /* max iteration to resolve ambiguity */
|
||||
iono_model, /* ionosphere option (IONOOPT_XXX) */
|
||||
trop_model, /* troposphere option (TROPOPT_XXX) */
|
||||
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
||||
number_filter_iter, /* number of filter iteration */
|
||||
0, /* code smoothing window size (0:none) */
|
||||
0, /* interpolate reference obs (for post mission) */
|
||||
0, /* sbssat_t sbssat SBAS correction options */
|
||||
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
|
||||
0, /* rover position for fixed mode */
|
||||
0, /* base position for relative mode */
|
||||
/* 0:pos in prcopt, 1:average of single pos, */
|
||||
/* 2:read from file, 3:rinex header, 4:rtcm pos */
|
||||
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
|
||||
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
|
||||
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
|
||||
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
|
||||
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
|
||||
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
|
||||
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
|
||||
0.0, /* elevation mask to hold ambiguity (deg) */
|
||||
slip_threshold, /* slip threshold of geometry-free phase (m) */
|
||||
30.0, /* max difference of time (sec) */
|
||||
threshold_reject_innovation, /* reject threshold of innovation (m) */
|
||||
threshold_reject_gdop, /* reject threshold of gdop */
|
||||
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
|
||||
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
|
||||
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
|
||||
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
|
||||
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
||||
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
|
||||
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
|
||||
0, /* max averaging epoches */
|
||||
0, /* initialize by restart */
|
||||
1, /* output single by dgps/float/fix/ppp outage */
|
||||
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
||||
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
|
||||
0, /* solution sync mode (0:off,1:on) */
|
||||
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
|
||||
0, /* disable L2-AR */
|
||||
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
|
||||
};
|
||||
|
||||
rtk_t rtk;
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
return rtk;
|
||||
}
|
||||
//todo: add test cases for Galileo E1, E5 and GPS L5
|
||||
TEST(RTKLibSolverTest, test1)
|
||||
{
|
||||
//test case #1: GPS L1 CA simulated with gnss-sim
|
||||
std::string path = std::string(TEST_PATH);
|
||||
int nchannels = 8;
|
||||
std::string dump_filename = ".rtklib_solver_dump.dat";
|
||||
bool flag_dump_to_file = false;
|
||||
rtk_t rtk = configure_rtklib_options();
|
||||
|
||||
std::unique_ptr<rtklib_solver> d_ls_pvt(new rtklib_solver(nchannels, dump_filename, flag_dump_to_file, rtk));
|
||||
d_ls_pvt->set_averaging_depth(1);
|
||||
|
||||
// load ephemeris
|
||||
std::string eph_xml_filename = path + "data/rtklib_test/eph_GPS_L1CA_test1.xml";
|
||||
gnss_sdr_supl_client supl_client_ephemeris_;
|
||||
|
||||
std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
|
||||
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
|
||||
{
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
|
||||
for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin();
|
||||
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
|
||||
gps_eph_iter++)
|
||||
{
|
||||
std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
|
||||
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->gps_ephemeris_map[gps_eph_iter->first] = *tmp_obj;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "ERROR: SUPL client error reading XML" << std::endl;
|
||||
}
|
||||
|
||||
// insert observables epoch
|
||||
std::map<int, Gnss_Synchro> gnss_synchro_map;
|
||||
// Gnss_Synchro tmp_obs;
|
||||
// tmp_obs.System = 'G';
|
||||
// std::string signal = "1C";
|
||||
// const char* str = signal.c_str(); // get a C style null terminated string
|
||||
// std::memcpy(static_cast<void*>(tmp_obs.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
||||
//
|
||||
// gnss_synchro_map[0] = tmp_obs;
|
||||
// gnss_synchro_map[0].PRN = 1;
|
||||
// gnss_synchro_map[0].RX_time = 518449.000000;
|
||||
// gnss_synchro_map[0].Pseudorange_m = 22816591.664859;
|
||||
// gnss_synchro_map[0].Carrier_Doppler_hz = -2579.334343;
|
||||
// gnss_synchro_map[0].Carrier_phase_rads = 794858.014183;
|
||||
|
||||
//load from xml (boost serialize)
|
||||
std::string file_name = path + "data/rtklib_test/obs_test1.xml";
|
||||
try
|
||||
{
|
||||
std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
|
||||
boost::archive::xml_iarchive xml(ifs);
|
||||
gnss_synchro_map.clear();
|
||||
xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_synchro_map);
|
||||
ifs.close();
|
||||
std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
|
||||
}
|
||||
catch (std::exception& e)
|
||||
{
|
||||
std::cout << e.what() << "File: " << file_name;
|
||||
}
|
||||
|
||||
|
||||
// solve
|
||||
bool pvt_valid = false;
|
||||
if (d_ls_pvt->get_PVT(gnss_synchro_map, false))
|
||||
{
|
||||
// DEBUG MESSAGE: Display position in console output
|
||||
if (d_ls_pvt->is_valid_position())
|
||||
{
|
||||
std::streamsize ss = std::cout.precision(); // save current precision
|
||||
std::cout.setf(std::ios::fixed, std::ios::floatfield);
|
||||
|
||||
auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
|
||||
std::cout.imbue(std::locale(std::cout.getloc(), facet));
|
||||
|
||||
std::cout << "Position at " << d_ls_pvt->get_position_UTC_time()
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations()
|
||||
<< std::fixed << std::setprecision(9)
|
||||
<< " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
<< std::fixed << std::setprecision(3)
|
||||
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl;
|
||||
std::cout << std::setprecision(ss);
|
||||
std::cout << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << std::endl;
|
||||
|
||||
// boost::posix_time::ptime p_time;
|
||||
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
|
||||
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
|
||||
|
||||
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl;
|
||||
|
||||
std::cout << "RTKLIB Position at RX TOW = " << gnss_synchro_map.begin()->second.RX_time
|
||||
<< " in ECEF (X,Y,Z,t[meters]) = " << std::fixed << std::setprecision(16)
|
||||
<< d_ls_pvt->pvt_sol.rr[0] << ","
|
||||
<< d_ls_pvt->pvt_sol.rr[1] << ","
|
||||
<< d_ls_pvt->pvt_sol.rr[2] << std::endl;
|
||||
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
|
||||
<< d_ls_pvt->get_vdop()
|
||||
<< " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
|
||||
|
||||
//todo: check here the positioning error against the reference position generated with gnss-sim
|
||||
//reference position on in WGS84: Lat (deg), Long (deg) , H (m): 30.286502,120.032669,100
|
||||
|
||||
|
||||
pvt_valid = true;
|
||||
}
|
||||
}
|
||||
|
||||
EXPECT_EQ(true, pvt_valid);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user