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Adding Bancroft's algorithm implementation for PVT initialization

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This commit is contained in:
Javier Arribas 2017-01-27 19:21:51 +01:00
parent 3a11452a9e
commit d2c7bb62a1
15 changed files with 203 additions and 111 deletions
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3
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
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@ -123,9 +123,6 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
// Receiver time feedback to observables block
this->message_port_register_out(pmt::mp("rx_dt_s"));
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;

14
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -227,9 +227,6 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
this->set_msg_handler(pmt::mp("telemetry"),
boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
// Receiver time feedback to observables block
this->message_port_register_out(pmt::mp("rx_dt_s"));
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
@ -376,11 +373,16 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
//feedback the receiver time offset estimation to observables block
//correct the observable to account for the receiver clock offset
for (std::map<int,Gnss_Synchro>::iterator it=gnss_observables_map.begin(); it!=gnss_observables_map.end(); ++it)
{
it->second.Pseudorange_m=it->second.Pseudorange_m-d_ls_pvt->d_rx_dt_s*GPS_C_m_s;
}
// send asynchronous message to observables block
// time offset is expressed as the equivalent travel distance [m]
pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s);
this->message_port_pub(pmt::mp("rx_dt_s"), value);
//pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s);
//this->message_port_pub(pmt::mp("rx_dt_s"), value);
//std::cout<<"d_rx_dt_s*GPS_C_m_s="<<d_ls_pvt->d_rx_dt_s*GPS_C_m_s<<std::endl;
if( first_fix == true)
{

3
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
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@ -216,9 +216,6 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&hybrid_pvt_cc::msg_handler_telemetry, this, _1));
// Receiver time feedback to observables block
this->message_port_register_out(pmt::mp("rx_dt_s"));
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;

63
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -80,11 +80,10 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
int valid_pseudoranges = gnss_pseudoranges_map.size();
arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
arma::mat satpos = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
arma::vec W;//= arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
arma::vec obs;// = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
arma::mat satpos;// = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
int GPS_week = 0;
double utc = 0;
@ -97,7 +96,6 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
int obs_counter = 0;
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
@ -109,7 +107,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W(obs_counter, obs_counter) = 1;
W.resize(valid_obs+1,1);
W(valid_obs)=1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time
@ -122,13 +121,13 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
// 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
satpos(0, obs_counter) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2, obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
satpos.resize(3,valid_obs+1);
satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
obs.resize(valid_obs+1,1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s-d_rx_dt_s*GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
valid_obs++;
@ -138,7 +137,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
<< " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(obs_counter) << " [m]";
<< " [m] PR_obs=" << obs(valid_obs) << " [m]";
// compute the UTC time for this SV (just to print the associated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
@ -146,12 +145,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
}
else // the ephemeris are not available for this SV
{
// no valid pseudorange for the current SV
W(obs_counter, obs_counter) = 0; // SV de-activated
obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
}
obs_counter++;
}
// ********************************************************************************
@ -162,32 +157,44 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
if (valid_obs >= 4)
{
arma::vec mypos;
arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W;
mypos = leastSquarePos(satpos, obs, W);
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos;
//check if this is the initial position computation
if (d_rx_dt_s==0)
{
//execute Bancroft's algorithm to estimate initial receiver position and time
std::cout<<"Executing Bancroft algorithm...\n";
rx_position_and_time =bancroftPos(satpos.t(), obs);
d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
d_rx_dt_s=rx_position_and_time(3)/GPS_C_m_s; //save time for the next iteration [meters]->[seconds]
}
cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
//Execute WLS using previos position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W);
d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
d_rx_dt_s+=rx_position_and_time(3)/GPS_C_m_s; //accumulate the rx time error for the next iteration [meters]->[seconds]
d_rx_dt_s = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
DLOG(INFO) <<"Accumulated rx clock error="<<d_rx_dt_s<<" clock error for this iteration="<<rx_position_and_time(3)/GPS_C_m_s<<" [s]"<<std::endl;
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
// 22 August 1999 last GPS time roll over
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
std::cout<<"c\r";
compute_DOP();
std::cout<<"d\r";
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
@ -199,16 +206,16 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
tmp_double = GPS_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = mypos(0);
tmp_double = d_rx_pos(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = mypos(1);
tmp_double = d_rx_pos(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = mypos(2);
tmp_double = d_rx_pos(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = mypos(3);
tmp_double = d_rx_dt_s;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;

143
src/algorithms/PVT/libs/ls_pvt.cc
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@ -41,12 +41,139 @@ using google::LogMessage;
Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{
d_x_m = 0.0;
d_y_m = 0.0;
d_z_m = 0.0;
}
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w)
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
// %BANCROFT Calculation of preliminary coordinates
// % for a GPS receiver based on pseudoranges
// % to 4 or more satellites. The ECEF
// % coordinates are stored in satpos. The observed pseudoranges are stored in obs
// %Reference: Bancroft, S. (1985) An Algebraic Solution
// % of the GPS Equations, IEEE Trans. Aerosp.
// % and Elec. Systems, AES-21, 56--59
// %Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
// %Copyright (c) by Kai Borre
// %$Revision: 1.0 $ $Date: 1997/09/26 $
//
// % Test values to use in debugging
// % B_pass =[ -11716227.778 -10118754.628 21741083.973 22163882.029;
// % -12082643.974 -20428242.179 11741374.154 21492579.823;
// % 14373286.650 -10448439.349 19596404.858 21492492.771;
// % 10278432.244 -21116508.618 -12689101.970 25284588.982];
// % Solution: 595025.053 -4856501.221 4078329.981
//
// % Test values to use in debugging
// % B_pass = [14177509.188 -18814750.650 12243944.449 21119263.116;
// % 15097198.146 -4636098.555 21326705.426 22527063.486;
// % 23460341.997 -9433577.991 8174873.599 23674159.579;
// % -8206498.071 -18217989.839 17605227.065 20951643.862;
// % 1399135.830 -17563786.820 19705534.862 20155386.649;
// % 6995655.459 -23537808.269 -9927906.485 24222112.972];
// % Solution: 596902.683 -4847843.316 4088216.740
arma::vec pos = arma::zeros(4,1);
arma::mat B_pass=arma::zeros(obs.size(),4);
B_pass.submat(0,0,obs.size()-1,2)=satpos;
B_pass.col(3)=obs;
arma::mat B;
arma::mat BBB;
double traveltime=0;
for (int iter = 0; iter<2; iter++)
{
B = B_pass;
int m=arma::size(B,0);
for (int i=0;i<m;i++)
{
int x = B(i,0);
int y = B(i,1);
if (iter == 0)
{
traveltime = 0.072;
}
else
{
int z = B(i,2);
double rho = (x-pos(0))*(x-pos(0))+(y-pos(1))*(y-pos(1))+(z-pos(2))*(z-pos(2));
traveltime = sqrt(rho)/GPS_C_m_s;
}
double angle = traveltime*7.292115147e-5;
double cosa = cos(angle);
double sina = sin(angle);
B(i,0) = cosa*x + sina*y;
B(i,1) = -sina*x + cosa*y;
}// % i-loop
if (m > 3)
{
BBB = arma::inv(B.t()*B)*B.t();
}
else
{
BBB = arma::inv(B);
}
arma::vec e = arma::ones(m,1);
arma::vec alpha = arma::zeros(m,1);
for (int i =0; i<m;i++)
{
alpha(i) = lorentz(B.row(i).t(),B.row(i).t())/2.0;
}
arma::mat BBBe = BBB*e;
arma::mat BBBalpha = BBB*alpha;
double a = lorentz(BBBe,BBBe);
double b = lorentz(BBBe,BBBalpha)-1;
double c = lorentz(BBBalpha,BBBalpha);
double root = sqrt(b*b-a*c);
arma::vec r = {{(-b-root)/a},{(-b+root)/a}};
arma::mat possible_pos = arma::zeros(4,2);
for (int i =0;i<2; i++)
{
possible_pos.col(i) = r(i)*BBBe+BBBalpha;
possible_pos(3,i) = -possible_pos(3,i);
}
arma::vec abs_omc=arma::zeros(2,1);
for (int j=0; j<m; j++)
{
for (int i =0;i<2;i++)
{
double c_dt = possible_pos(3,i);
double calc = arma::norm(satpos.row(i).t() -possible_pos.col(i).rows(0,2))+c_dt;
double omc = obs(j)-calc;
abs_omc(i) = std::abs(omc);
}
}// % j-loop
//discrimination between roots
if (abs_omc(0) > abs_omc(1))
{
pos = possible_pos.col(1);
}
else
{
pos = possible_pos.col(0);
}
}// % iter loop
return pos;
}
double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y) {
// %LORENTZ Calculates the Lorentz inner product of the two
// % 4 by 1 vectors x and y
//
// %Kai Borre 04-22-95
// %Copyright (c) by Kai Borre
// %$Revision: 1.0 $ $Date: 1997/09/26 $
//
// % M = diag([1 1 1 -1]);
// % p = x'*M*y;
return(x(0)*y(0) + x(1)*y(1) + x(2)*y(2) - x(3)*y(3));
}
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec)
{
/* Computes the Least Squares Solution.
* Inputs:
@ -63,7 +190,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
int nmbOfIterations = 10; // TODO: include in config
int nmbOfSatellites;
nmbOfSatellites = satpos.n_cols; //Armadillo
arma::vec pos = "0.0 0.0 0.0 0.0";
arma::mat w=arma::zeros(nmbOfSatellites,nmbOfSatellites);
w.diag()=w_vec; //diagonal weight matrix
arma::vec pos = {{d_rx_pos(0)},{d_rx_pos(0)},{d_rx_pos(0)},0}; //time error in METERS (time x speed)
arma::mat A;
arma::mat omc;
arma::mat az;
@ -160,5 +290,8 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{
d_Q = arma::zeros(4,4);
}
return pos;
}

19
src/algorithms/PVT/libs/ls_pvt.h
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@ -41,13 +41,24 @@
*/
class Ls_Pvt : public Pvt_Solution
{
private:
/*!
* \brief Computes the Lorentz inner product between two vectors
*/
double lorentz(const arma::vec & x,const arma::vec & y);
public:
Ls_Pvt();
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w);
double d_x_m;
double d_y_m;
double d_z_m;
/*!
* \brief Computes the initial position solution based on the Bancroft algorithm
*/
arma::vec bancroftPos(const arma::mat & satpos, const arma::vec & obs);
/*!
* \brief Computes the Weighted Least Squares position solution
*/
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec);
};
#endif

1
src/algorithms/PVT/libs/pvt_solution.cc
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@ -57,6 +57,7 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false;
d_averaging_depth = 0;
d_valid_observations = 0;
d_rx_pos=arma::zeros(3,1);
d_rx_dt_s = 0.0;
}

2
src/algorithms/PVT/libs/pvt_solution.h
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@ -51,6 +51,8 @@ public:
double d_latitude_d; //!< RX position Latitude WGS84 [deg]
double d_longitude_d; //!< RX position Longitude WGS84 [deg]
double d_height_m; //!< RX position height WGS84 [m]
arma::vec d_rx_pos;
double d_rx_dt_s; //!< RX time offset [s]
boost::posix_time::ptime d_position_UTC_time;

14
src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc
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@ -56,24 +56,10 @@ galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string du
}
void galileo_e1_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
{
//pmt::print(msg);
d_rx_dt_s = pmt::to_double(msg);
}
galileo_e1_observables_cc::galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("galileo_e1_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("rx_dt_s"));
this->set_msg_handler(pmt::mp("rx_dt_s"),
boost::bind(&galileo_e1_observables_cc::msg_handler_rx_dt_s, this, _1));
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;

2
src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h
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@ -61,7 +61,6 @@ private:
friend galileo_e1_observables_cc_sptr
galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@ -69,7 +68,6 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;

29
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
View File

@ -58,13 +58,6 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, bool
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("rx_dt_s"));
this->set_msg_handler(pmt::mp("rx_dt_s"),
boost::bind(&gps_l1_ca_observables_cc::msg_handler_rx_dt_s, this, _1));
d_rx_dt_s=0;
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
@ -104,15 +97,6 @@ gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc()
d_dump_file.close();
}
void gps_l1_ca_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
{
//pmt::print(msg);
//accumulate the receiver time offset
d_rx_dt_s = d_rx_dt_s+pmt::to_double(msg);
}
bool pairCompare_gnss_synchro_Prn_delay_ms(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms);
@ -220,7 +204,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
//compute the pseudorange
traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
//convert to meters and remove the receiver time offset in meters
pseudorange_m = traveltime_ms * GPS_C_m_ms-d_rx_dt_s*GPS_C_m_s; // [m]
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
@ -237,7 +221,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
desired_symbol_TOW[0] = symbol_TOW_vec_s[history_deep - 1] + delta_rx_time_ms / 1000.0;
// arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
// arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
// Curve fitting to cuadratic function
arma::mat A = arma::ones<arma::mat> (history_deep, 2);
A.col(1) = symbol_TOW_vec_s;
@ -249,10 +232,8 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
coef_doppler = pinv_A * dopper_vec_hz;
arma::vec acc_phase_lin;
arma::vec carrier_doppler_lin;
acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0]; // +coef_acc_phase[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0]; // +coef_doppler[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
//std::cout<<"acc_phase_vec_interp_rads="<<acc_phase_vec_interp_rads[0]<<std::endl;
//std::cout<<"dopper_vec_interp_hz="<<dopper_vec_interp_hz[0]<<std::endl;
acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0];
carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0];
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
}
@ -277,10 +258,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
//tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
//tmp_double = current_gnss_synchro[i].debug_var1;
//tmp_double = current_gnss_synchro[i].debug_var2;
//d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}

3
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h
View File

@ -61,7 +61,7 @@ private:
friend gps_l1_ca_observables_cc_sptr
gps_l1_ca_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
gps_l1_ca_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@ -69,7 +69,6 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;

14
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -55,24 +55,10 @@ hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_f
}
void hybrid_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
{
//pmt::print(msg);
d_rx_dt_s = pmt::to_double(msg);
}
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("rx_dt_s"));
this->set_msg_handler(pmt::mp("rx_dt_s"),
boost::bind(&hybrid_observables_cc::msg_handler_rx_dt_s, this, _1));
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -59,7 +59,6 @@ private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@ -67,7 +66,6 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;

2
src/core/receiver/gnss_flowgraph.cc
View File

@ -324,8 +324,6 @@ void GNSSFlowgraph::connect()
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
}
//asynchronous feedback of receiver time estimation from PVT to observables
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("rx_dt_s"), observables_->get_right_block(), pmt::mp("rx_dt_s"));
}
catch (std::exception& e)
{