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Merge branch 'glonass' of https://github.com/gnss-sdr/gnss-sdr into glonass

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This commit is contained in:
Carles Fernandez
2017-10-31 11:35:26 +01:00
parent 15f8a86a43 370c6e5ab2
commit d6ea3dac53
23 changed files with 463 additions and 263 deletions
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23
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@@ -190,8 +190,8 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
<< ", GLONASS GNAV Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< ", Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
@@ -542,13 +542,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2C") == 0)))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)))
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));
@@ -579,7 +579,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
//d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
@@ -839,7 +839,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
}
if(type_of_rx == 23) // GLONASS L1 C/A only
{
std::string signal("1C");
std::string signal("1G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@@ -849,7 +849,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
}
if(type_of_rx == 24) // GLONASS L2 C/A only
{
std::string signal("2C");
std::string signal("2G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
@@ -859,7 +859,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
}
if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
{
std::string signal("1C 2C");
std::string signal("1G 2G");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
@@ -872,7 +872,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{
std::string glo_signal("1C");
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_written = true; // do not write header anymore
@@ -882,7 +882,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string glo_signal("1C");
std::string glo_signal("1G");
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@@ -1112,7 +1112,6 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
{
std::string glo_signal("1C");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}

12
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -3208,9 +3208,9 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
std::string signal_ = "1C";
std::string signal_ = "1G";
std::size_t found_1C = glonass_bands.find(signal_);
signal_ = "2C";
signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_);
if(found_1C != std::string::npos)
@@ -3535,13 +3535,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
// Find GLONASS Signal in Mixed file
unsigned int number_of_observations_glo = 0;
std::string signal_("1C");
std::string signal_("1G");
std::size_t found_1C = glonass_bands.find(signal_);
if(found_1C != std::string::npos)
{
number_of_observations_glo = number_of_observations_glo + 4;
}
signal_ = "2C";
signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_);
if(found_2C != std::string::npos)
{
@@ -3851,13 +3851,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear();
unsigned int number_of_observations_glo = 0;
signal_ = "1C";
signal_ = "1G";
std::size_t found_1C = glonass_bands.find(signal_);
if(found_1C != std::string::npos)
{
number_of_observations_glo = number_of_observations_glo + 4;
}
signal_ = "2C";
signal_ = "2G";
std::size_t found_2C = glonass_bands.find(signal_);
if(found_2C != std::string::npos)
{

142
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -115,7 +115,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging);
@@ -123,6 +124,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ********************************************************************************
int valid_obs = 0; //valid observations counter
int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS];
@@ -279,75 +281,74 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
break;
}
case 'R': //TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if(sig_.compare("1C") == 0)
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0);//TODO are THESE VALUES OK
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if(sig_.compare("1G") == 0)
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1)
glo_valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// GLONASS GNAV L2
if(sig_.compare("2C") == 0)
{
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
{
bool found_L1_obs=false;
for (int i = 0; i < valid_obs; i++)
{
// TODO what is this?
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
2);//Band 3 (L5/E5)
found_L1_obs=true;
break;
}
}
if (!found_L1_obs)
{
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// GLONASS GNAV L2
if(sig_.compare("2G") == 0)
{
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{
bool found_L1_obs=false;
for (int i = 0; i < glo_valid_obs; i++)
{
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2)
found_L1_obs=true;
break;
}
}
if (!found_L1_obs)
{
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2)
glo_valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
}
break;
}
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;
@@ -359,12 +360,15 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// **********************************************************************
this->set_valid_position(false);
if (valid_obs > 0)
if (valid_obs > 0 || glo_valid_obs > 0)
{
int result = 0;
nav_t nav_data;
nav_data.eph = eph_data;
nav_data.geph = geph_data;
nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
for (int i = 0; i < MAXSAT; i++)
{
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
@@ -372,7 +376,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
}
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0)
{
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;

2
src/algorithms/PVT/libs/rtklib_solver.h
View File

@@ -87,7 +87,7 @@ public:
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

7
src/algorithms/libs/rtklib/rtklib.h
View File

@@ -182,6 +182,7 @@ const int SYS_ALL = 0xFF; //!< navigation system: all
#define ENAGLO
#ifdef ENAGLO
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
@@ -194,6 +195,12 @@ const int NSATGLO = 0;
const int NSYSGLO = 0;
#endif
/*
const int MINPRNGLO = 1; //!< min satellite slot number of GLONASS
const int MAXPRNGLO = 27; //!< max satellite slot number of GLONASS
const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!< number of GLONASS satellites
const int NSYSGLO = 1;
*/
const int MINPRNGAL = 1; //!< min satellite PRN number of Galileo
const int MAXPRNGAL = 30; //!< max satellite PRN number of Galileo
const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1); //!< number of Galileo satellites

72
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -52,7 +52,7 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN;
rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
break;
default:
@@ -64,56 +64,46 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
return rtklib_obs;
}
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model)
{
double week, sec;
int adj_week;
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;
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_iode; /* 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_l3rd_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_slot_number + NSATGPS; /* satellite number */
rtklib_sat.iode = static_cast<int>(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_l3rd_n; /* satellite health*/
rtklib_sat.sva = static_cast<int>(glonass_gnav_eph.d_F_T); /* satellite accuracy*/
rtklib_sat.age = static_cast<int>(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 = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6; // Diff between utc and (utc(su) + 3.00h)
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_b;
t_utc.time = mktime(&utcinfo);
t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.toe = utc2gpst(t_utc); /* epoch of epherides (gpst) */
utcinfo.tm_mon = 0;
utcinfo.tm_mday = glonass_gnav_eph.d_N_T;
utcinfo.tm_year = glonass_gnav_eph.d_yr - 1900;
utcinfo.tm_hour = 6;
utcinfo.tm_min = 0;
utcinfo.tm_sec = glonass_gnav_eph.d_t_k;
t_utc.time = mktime(&utcinfo);
t_utc.sec = glonass_gnav_eph.d_tau_c;
rtklib_sat.tof = utc2gpst(t_utc); /* message frame time (gpst) */
// Time expressed in GPS Time but using RTKLib format
glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_tod, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.toe = gpst2time(adj_week, sec);
// Time expressed in GPS Time but using RTKLib format
glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.tof = gpst2time(adj_week, sec);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
{
eph_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,

3
src/algorithms/libs/rtklib/rtklib_conversions.h
View File

@@ -37,6 +37,7 @@
#include "gps_ephemeris.h"
#include "gps_cnav_ephemeris.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph);
eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph);
@@ -46,7 +47,7 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph);
* \param glonass_gnav_eph GLONASS GNAV Ephemeris structure
* \return Ephemeris structure for RTKLIB parsing
*/
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model);
obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band);

10
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@@ -350,6 +350,12 @@ int decoderaw(rtksvr_t *svr, int index)
/* decode download file ------------------------------------------------------*/
void decodefile(rtksvr_t *svr, int index)
{
int i = 0;
char glo_fcn[MAXPRNGLO+1];
// Allocate space for GLONASS frequency channels depending on availability
for(i=0; i < MAXPRNGLO+1; i++)
glo_fcn[i]='0';
pcv_t pcvt0[MAXSAT] = { {0, {'0'}, {'0'}, {0, 0.0}, {0, 0.0}, {{0.0},{0.0}}, {{0.0},{0.0}} } };
sbsfcorr_t sbsfcorr0 = {{0, 0.0}, 0.0, 0.0, 0.0, 0, 0, 0};
sbslcorr_t sbslcorr0 = { {0, 0.0}, 0, {0.0}, {0.0}, 0.0, 0.0};
@@ -365,8 +371,8 @@ void decodefile(rtksvr_t *svr, int index)
nav_t nav = {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, (erpd_t *){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}}, {{0.0}, {0.0}, {0.0}},
{0.0}, {0.0}, {'0'}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
{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}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
{{0,0.0}, 0.0, {0.0}, {{0.0},{0.0}} }, pppcorr0} ;
char file[1024];

2
src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc
View File

@@ -67,7 +67,7 @@ GlonassL1CaTelemetryDecoder::~GlonassL1CaTelemetryDecoder()
{}
void GlonassL1CaTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
void GlonassL1CaTelemetryDecoder::set_satellite(const Gnss_Satellite & satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_);

20
src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h
View File

@@ -53,27 +53,27 @@ public:
unsigned int out_streams);
virtual ~GlonassL1CaTelemetryDecoder();
std::string role()
std::string role() override
{
return role_;
}
//! Returns "GLONASS_L1_CA_Telemetry_Decoder"
std::string implementation()
std::string implementation() override
{
return "GLONASS_L1_CA_Telemetry_Decoder";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void set_satellite(Gnss_Satellite satellite);
void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
void reset()
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
void set_satellite(const Gnss_Satellite & satellite) override;
void set_channel(int channel) override {telemetry_decoder_->set_channel(channel);}
void reset() override
{
return;
}
size_t item_size()
size_t item_size() override
{
return 0;
}

14
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@@ -49,14 +49,14 @@ using google::LogMessage;
glonass_l1_ca_telemetry_decoder_cc_sptr
glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump)
glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump)
{
return glonass_l1_ca_telemetry_decoder_cc_sptr(new glonass_l1_ca_telemetry_decoder_cc(satellite, dump));
}
glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
Gnss_Satellite satellite,
const Gnss_Satellite & satellite,
bool dump) :
gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -221,7 +221,8 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
if(d_nav.flag_update_slot_number == true)
{
LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n);
d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n);
d_nav.flag_update_slot_number = false;
}
}
@@ -354,7 +355,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
//update TOW at the preamble instant
{
d_TOW_at_current_symbol = floor((d_nav.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000.0)/1000.0;
d_TOW_at_current_symbol = floor((d_nav.gnav_ephemeris.d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S)*1000)/1000;
d_nav.flag_TOW_new = false;
}
@@ -379,7 +380,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
current_symbol.Flag_valid_word = false;
}
current_symbol.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.TOW_at_current_symbol_s -=delta_t; //Galileo to GPS TOW
if(d_dump == true)
@@ -414,7 +416,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
}
void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite & satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite "<< d_satellite;

12
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
View File

@@ -51,7 +51,7 @@ class glonass_l1_ca_telemetry_decoder_cc;
typedef boost::shared_ptr<glonass_l1_ca_telemetry_decoder_cc> glonass_l1_ca_telemetry_decoder_cc_sptr;
glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
/*!
* \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD v5.1
@@ -62,9 +62,9 @@ glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(
class glonass_l1_ca_telemetry_decoder_cc : public gr::block
{
public:
~glonass_l1_ca_telemetry_decoder_cc(); //!< Class destructor
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
~glonass_l1_ca_telemetry_decoder_cc(); //!< Class destructor
void set_satellite(const Gnss_Satellite & satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
/*!
* \brief This is where all signal processing takes place
@@ -74,8 +74,8 @@ public:
private:
friend glonass_l1_ca_telemetry_decoder_cc_sptr
glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
glonass_l1_ca_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump);
void decode_string(double *symbols, int frame_length);