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Improving robustness of the GPS L1 telemetry decoder. This change prevents the random position fix losses due to an incorrect TOW update. Some log mesages cleaning

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This commit is contained in:
Javier Arribas 2017-02-15 10:56:41 +01:00
parent 787be70382
commit d6e5c2c329
5 changed files with 13 additions and 10 deletions
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5
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -156,7 +156,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
// ****** SOLVE LEAST SQUARES******************************************************
// ********************************************************************************
d_valid_observations = valid_obs;
LOG(INFO) << "(new)PVT: valid observations=" << valid_obs;
DLOG(INFO) << "(new)PVT: valid observations=" << valid_obs;
if (valid_obs >= 4)
{
@ -247,6 +247,9 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
{
d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
LOG(WARNING) << "satpos=" << satpos;
LOG(WARNING) << "obs=" << obs;
LOG(WARNING) << "W=" << W;
b_valid_position = false;
}
}

2
src/algorithms/PVT/libs/pvt_solution.cc
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@ -132,7 +132,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
iterations = iterations + 1;
if (iterations > 100)
{
LOG(WARNING) << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
DLOG(WARNING) << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
break;
}
}

2
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
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@ -208,7 +208,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference * 1000.0) / 1000.0 + GPS_STARTOFFSET_ms / 1000.0;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = d_TOW_reference + GPS_STARTOFFSET_ms / 1000.0;
if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size() >= history_deep)
{

13
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@ -105,6 +105,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
flag_TOW_set = false;
d_average_count = 0;
d_flag_preamble = false;
d_flag_new_tow_available=false;
d_word_number = 0;
d_decimation_output_factor = 1;
d_channel = 0;
@ -197,7 +198,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
// send asynchronous message to tracking to inform of frame sync and extend correlation time
@ -310,6 +310,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
break;
}
d_GPS_FSM.clear_flag_new_subframe();
d_flag_new_tow_available=true;
}
d_flag_parity = true;
@ -336,16 +337,14 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
if (this->d_flag_preamble == true and d_flag_new_tow_available==true)
{
// update TOW at the preamble instant
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_L1_CA_CODE_PERIOD;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
d_TOW_at_current_symbol = d_TOW_at_Preamble;
if (flag_TOW_set == false)
{
flag_TOW_set = true;
}
flag_TOW_set = true;
d_flag_new_tow_available=false;
}
else
{
@ -355,7 +354,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol; // to be used in the hybrid configuration
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Flag_valid_word = flag_TOW_set;//(d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;

1
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
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@ -104,6 +104,7 @@ private:
unsigned int d_prev_GPS_frame_4bytes;
bool d_flag_parity;
bool d_flag_preamble;
bool d_flag_new_tow_available;
int d_word_number;
// output averaging and decimation