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bugfixes: Add RTCM header creation for GLONASS satellites

Browse Source 
Added code to enable RTCM header generation when in GLONASS. Also fixes
bug to allow combined observations from GPS and GLONASS. Fix some code
compilation warnings and unit tests.
This commit is contained in:
Damian Miralles 2017-11-13 22:41:12 -07:00
parent 28f2c1bb39
commit d4953ef2fd
8 changed files with 286 additions and 36 deletions
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5
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1G Channel.signal=1G
Channels.in_acquisition=1 Channels.in_acquisition=1
Channels_1G.count=5 Channels_1G.count=8
Channel0.satellite=24 ; k= Channel0.satellite=24 ; k=
Channel1.satellite=1 ; k=1 Channel1.satellite=1 ; k=1
@ -45,7 +45,8 @@ Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250 Acquisition_1G.doppler_step=250
Acquisition_1G.dump=true; Acquisition_1G.dump=true;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=10 Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking

22
conf/gnss-sdr_GPS_GLONASS_L1_CA_ibyte.conf
View File

@ -7,7 +7,7 @@ SignalSource.repeat=false
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource0.implementation=File_Signal_Source SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource0.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource0.item_type=ibyte SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=6625000 SignalSource0.sampling_frequency=6625000
SignalSource0.samples=0 SignalSource0.samples=0
@ -25,8 +25,26 @@ SignalSource1.dump_filename=/archive/signal_glonass.bin
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner0.implementation=Signal_Conditioner SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Pass_Through InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.item_type=gr_complex InputFilter0.item_type=gr_complex
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=6625000
InputFilter0.IF=60000
Resampler0.implementation=Direct_Resampler Resampler0.implementation=Direct_Resampler
Resampler0.sample_freq_in=6625000 Resampler0.sample_freq_in=6625000
Resampler0.sample_freq_out=6625000 Resampler0.sample_freq_out=6625000

93
conf/gnss-sdr_GPS_L1_CA_ibyte.conf Normal file
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@ -0,0 +1,93 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_hz=6625000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=ibyte
SignalSource.sampling_frequency=6625000
;SignalSource.freq=0
;SignalSource.samples=66250000
SignalSource.samples=0
SignalSource.dump=false;
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ibyte_To_Complex
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.70
InputFilter.band2_begin=0.80
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=6625000
InputFilter.IF=60000
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=6625000
Resampler.sample_freq_out=6625000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1C
Channels.in_acquisition=1
Channels_1C.count=6
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.01
;Acquisition_1C.pfa=0.00001
Acquisition_1C.if=0
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false;
Acquisition_1C.dump_filename=/archive/gps_acquisition.dat
;Acquisition_1C.coherent_integration_time_ms=10
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=60000
Tracking_1C.early_late_space_chips=0.5
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.dump=false;
Tracking_1C.dump_filename=/archive/gps_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true;
Observables.dump_filename=/archive/gps_observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

169
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -1258,15 +1258,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
} }
std::map<int,Glonass_Gnav_Ephemeris>::iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1276,14 +1276,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1019_output == true) if(flag_write_RTCM_1019_output == true)
{ {
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
} }
} }
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
@ -1302,7 +1302,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
// This is a channel with valid GPS signal // This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{ {
gps_channel = i; gps_channel = i;
} }
@ -1313,7 +1313,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if(system.compare("R") == 0) if(system.compare("R") == 0)
{ {
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
glo_channel = i; glo_channel = i;
} }
@ -1324,14 +1324,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
if(flag_write_RTCM_MSM_output == true) if(flag_write_RTCM_MSM_output == true)
{ {
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
} }
if(flag_write_RTCM_MSM_output == true) if(flag_write_RTCM_MSM_output == true)
{ {
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -1342,14 +1342,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
if(flag_write_RTCM_1020_output == true) if(flag_write_RTCM_1020_output == true)
{ {
for(std::map<int,Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.begin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end(); glonass_gnav_ephemeris_iter++ ) for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
} }
} }
if(flag_write_RTCM_1045_output == true) if(flag_write_RTCM_1045_output == true)
{ {
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
} }
@ -1359,18 +1359,18 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0; unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{ {
std::string system(&gnss_observables_iter->second.System, 1); std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0) if(gal_channel == 0)
{ {
if(system.compare("G") == 0) if(system.compare("E") == 0)
{ {
// This is a channel with valid GPS signal // This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
{ {
gps_channel = i; gal_channel = i;
} }
} }
} }
@ -1424,7 +1424,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
{ {
for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ ) for(std::map<int,Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++ )
@ -1514,6 +1513,140 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }
if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{
gps_channel = i;
}
}
}
if(glo_channel == 0)
{
if(system.compare("R") == 0)
{
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
glo_channel = i;
}
}
}
i++;
}
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
{
if(d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
}
}
if(d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
}
}
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if(gal_channel == 0)
{
if(system.compare("E") == 0)
{
// This is a channel with valid GPS signal
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
{
gal_channel = i;
}
}
}
if(glo_channel == 0)
{
if(system.compare("R") == 0)
{
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
glo_channel = i;
}
}
}
i++;
}
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
} }
} }
} }

2
src/algorithms/libs/gnss_sdr_valve.cc
View File

@ -35,6 +35,7 @@
#include <cstring> // for memcpy #include <cstring> // for memcpy
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include "control_message_factory.h" #include "control_message_factory.h"
#include <glog/logging.h>
gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item, gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
unsigned long long nitems, unsigned long long nitems,
@ -61,6 +62,7 @@ int gnss_sdr_valve::work (int noutput_items,
{ {
ControlMessageFactory* cmf = new ControlMessageFactory(); ControlMessageFactory* cmf = new ControlMessageFactory();
d_queue->handle(cmf->GetQueueMessage(200,0)); d_queue->handle(cmf->GetQueueMessage(200,0));
LOG(INFO) << "Stoping reciver, "<< d_ncopied_items << " samples processed";
delete cmf; delete cmf;
return -1; // Done! return -1; // Done!
} }

1
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -106,6 +106,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
d_flag_parity = false; d_flag_parity = false;
d_TOW_at_current_symbol = 0; d_TOW_at_current_symbol = 0;
Flag_valid_word = false;
delta_t = 0; delta_t = 0;
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_flag_preamble = false; d_flag_preamble = false;

1
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
View File

@ -83,7 +83,6 @@ private:
unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]; unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
int *d_preambles_symbols; int *d_preambles_symbols;
unsigned int d_samples_per_symbol; unsigned int d_samples_per_symbol;
unsigned int d_samples_per_preamble_symbol;
int d_symbols_per_preamble; int d_symbols_per_preamble;
//!< Storage for incoming data //!< Storage for incoming data

29
src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
View File

@ -74,18 +74,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
gnav_eph.d_yr = 2004; gnav_eph.d_yr = 2004;
gnav_eph.d_N_T = 366+28; gnav_eph.d_N_T = 366+28;
double tod = 70200; double glo2utc = 3600*3;
double tod = 48600;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 13;
double true_week = 1307; double true_week = 1307;
double true_tow = 480600+true_leap_sec; double true_tow = 480600+true_leap_sec;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }
/*! /*!
@ -98,18 +99,19 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
gnav_eph.d_yr = 2016; gnav_eph.d_yr = 2016;
gnav_eph.d_N_T = 268; gnav_eph.d_N_T = 268;
double glo2utc = 3600*3;
double tod = 7560; double tod = 7560;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 17;
double true_week = 1915; double true_week = 1915;
double true_tow = 480600+true_leap_sec; double true_tow = 518400+true_leap_sec+tod;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }
/*! /*!
@ -122,16 +124,17 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
gnav_eph.d_yr = 2016; gnav_eph.d_yr = 2016;
gnav_eph.d_N_T = 62; gnav_eph.d_N_T = 62;
double tod = 7560 + 6*3600; double glo2utc = 3600*3;
double tod = 7560;
double week = 0.0; double week = 0.0;
double tow = 0.0; double tow = 0.0;
double true_leap_sec = 13; double true_leap_sec = 17;
double true_week = 1307; double true_week = 1886;
double true_tow = 480600+true_leap_sec; double true_tow = 259200+true_leap_sec;
gnav_eph.glot_to_gpst(tod, 0.0, 0.0, &week, &tow); gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
// Perform assertions of decoded fields // Perform assertions of decoded fields
ASSERT_TRUE(week - true_week < FLT_EPSILON ); ASSERT_TRUE(week - true_week < FLT_EPSILON );
ASSERT_TRUE(tow - true_week < FLT_EPSILON ); ASSERT_TRUE(tow - true_tow < FLT_EPSILON );
} }