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bugfix: Fixing bugs with RINEX support

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Fixes compilation errors. Modifies GLONASS GNAV Ephemeris object to
contain fields relative to GPS time using the boost posix time object.
Adds unit tests to check existent and recently added code
This commit is contained in:
Damian Miralles
2017-07-23 22:57:54 -07:00
committed by Damian Miralles
parent 2d40780689
commit d34ec96ad2
14 changed files with 1320 additions and 241 deletions
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82
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@@ -68,53 +68,49 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
gtime_t t_utc;
struct tm utcinfo;
int iode; /* IODE (0-6 bit of tb field) */
int frq; /* satellite frequency number */
int svh,sva,age; /* satellite health, accuracy, age of operation */
gtime_t toe; /* epoch of epherides (gpst) */
gtime_t tof; /* message frame time (gpst) */
double pos[3]; /* satellite position (ecef) (m) */
double vel[3]; /* satellite velocity (ecef) (m/s) */
double acc[3]; /* satellite acceleration (ecef) (m/s^2) */
double taun,gamn; /* SV clock bias (s)/relative freq bias */
double dtaun;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_t_b; /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l_n; /* satellite health*/
rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/
rtklib_sat.age = glonass_gnav_eph.d_E_n; /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000; /* satellite position (ecef) (m) */
rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.age = glonass_gnav_eph.d_Delta_tau_n; /* delay between L1 and L2 (s) */
rtklib_sat.sat = glonass_gnav_eph.i_satellite_PRN; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_sqrt_A;
rtklib_sat.frq = glonass_gnav_eph.;
rtklib_sat.svh = glonass_gnav_eph.;
rtklib_sat.sva = glonass_gnav_eph.
rtklib_sat.age = glonass_gnav_eph.
/* TODO: adjustment for week handover */
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 0;
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_b;
t_utc.time = mktime(&utcinfo);
t_utc.sec = 0.0;
rtklib_sat.toe = utc2gpst(t_utc); /* epoch of epherides (gpst) */
rtklib_sat.toe = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_D4Y;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 0;
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_k;
t_utc.time = mktime(&utcinfo);
t_utc.sec = 0.0;
rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn;
rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn;
rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn;
rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn;
rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn;
rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn;
rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn;
rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn;
rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn;
rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
rtklib_sat.gann = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.gann = glonass_gnav_eph.d_gamma_n;
/* adjustment for week handover */
double tow, toc;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}