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Do not use satellites marked as not healthy in the nav message

This commit is contained in:
Carles Fernandez 2021-07-24 10:21:25 +02:00
parent 6289d920cc
commit d80d33ad91
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 45 additions and 13 deletions
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6
docs/CHANGELOG.md
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@ -68,6 +68,12 @@ All notable changes to GNSS-SDR will be documented in this file.
- If the Matio library is not found, now it is configured and built by CMake
instead of using autotools.
### Improvements in Reliability
- Check satellites' health status. If a satellite is marked as not healthy in
its navigation message, the corresponding observables are not used for
navigation.
### Improvements in Usability:
- Added a new `Fifo_Signal_Source` implementation that allows using a

52
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -32,6 +32,7 @@
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_frequencies.h"
#include "gnss_satellite.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_sdr_filesystem.h"
#include "gnss_sdr_make_unique.h"
@ -134,7 +135,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_display_rate_ms = conf_.display_rate_ms;
d_report_rate_ms = 1000; // report every second PVT to gnss_synchro
d_dump = conf_.dump;
d_dump_mat = conf_.dump_mat and d_dump;
d_dump_mat = conf_.dump_mat && d_dump;
d_dump_filename = conf_.dump_filename;
std::string dump_ls_pvt_filename = conf_.dump_filename;
if (d_dump)
@ -256,7 +257,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
// initialize nmea_printer
d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled or conf_.flag_nmea_tty_port);
d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled || conf_.flag_nmea_tty_port);
d_nmea_rate_ms = conf_.nmea_rate_ms;
if (d_nmea_rate_ms == 0)
{
@ -274,7 +275,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// initialize rtcm_printer
const std::string rtcm_dump_filename = d_dump_filename;
if (conf_.flag_rtcm_server or conf_.flag_rtcm_tty_port or conf_.rtcm_output_file_enabled)
if (conf_.flag_rtcm_server || conf_.flag_rtcm_tty_port || conf_.rtcm_output_file_enabled)
{
d_rtcm_printer = std::make_unique<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path);
std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
@ -1131,6 +1132,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
d_user_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
}
if (gps_eph->SV_health != 0)
{
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_eph->PRN)
<< " is not healthy, not used for navigation" << TEXT_RESET << '\n';
}
}
else if (msg_type_hash_code == d_gps_iono_sptr_type_hash_code)
{
@ -1186,6 +1192,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
}
if (gps_cnav_ephemeris->signal_health != 0)
{
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_cnav_ephemeris->PRN)
<< " is not healthy, not used for navigation" << TEXT_RESET << '\n';
}
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if (msg_type_hash_code == d_gps_cnav_iono_sptr_type_hash_code)
@ -1265,6 +1276,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
}
if (((galileo_eph->E1B_HS != 0) || (galileo_eph->E1B_DVS == true)) ||
((galileo_eph->E5a_HS != 0) || (galileo_eph->E5a_DVS == true)) ||
((galileo_eph->E5b_HS != 0) || (galileo_eph->E5b_DVS == true)))
{
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("Galileo"), galileo_eph->PRN)
<< " is not healthy, not used for navigation" << TEXT_RESET << '\n';
}
}
else if (msg_type_hash_code == d_galileo_iono_sptr_type_hash_code)
{
@ -1440,6 +1458,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
}
if (bds_dnav_eph->SV_health != 0)
{
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("Beidou"), bds_dnav_eph->PRN)
<< " is not healthy, not used for navigation" << TEXT_RESET << '\n';
}
}
else if (msg_type_hash_code == d_beidou_dnav_iono_sptr_type_hash_code)
{
@ -1876,7 +1899,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_gps->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C"))
if ((prn_aux == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal) == std::string("1C")) && (tmp_eph_iter_gps->second.SV_health == 0))
{
store_valid_observable = true;
}
@ -1884,7 +1907,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_gal->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1B") or (std::string(in[i][epoch].Signal) == "5X") or (std::string(in[i][epoch].Signal) == "7X")))
if ((prn_aux == in[i][epoch].PRN) &&
(((std::string(in[i][epoch].Signal) == std::string("1B")) && (tmp_eph_iter_gal->second.E1B_DVS == false) && (tmp_eph_iter_gal->second.E1B_HS == 0)) ||
((std::string(in[i][epoch].Signal) == std::string("5X")) && (tmp_eph_iter_gal->second.E5a_DVS == false) && (tmp_eph_iter_gal->second.E5a_HS == 0)) ||
((std::string(in[i][epoch].Signal) == std::string("7X")) && (tmp_eph_iter_gal->second.E5b_DVS == false) && (tmp_eph_iter_gal->second.E5b_HS == 0))))
{
store_valid_observable = true;
}
@ -1892,7 +1918,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_cnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "2S") or (std::string(in[i][epoch].Signal) == "L5")))
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal) == std::string("2S")) || (std::string(in[i][epoch].Signal) == std::string("L5"))) && (tmp_eph_iter_cnav->second.signal_health == 0)))
{
store_valid_observable = true;
}
@ -1900,7 +1926,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1G") or (std::string(in[i][epoch].Signal) == "2G")))
if ((prn_aux == in[i][epoch].PRN) && ((std::string(in[i][epoch].Signal) == std::string("1G")) || (std::string(in[i][epoch].Signal) == std::string("2G"))))
{
store_valid_observable = true;
}
@ -1908,7 +1934,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "B1") or (std::string(in[i][epoch].Signal) == "B3")))
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal) == std::string("B1")) || (std::string(in[i][epoch].Signal) == std::string("B3"))) && (tmp_eph_iter_bds_dnav->second.SV_health == 0)))
{
store_valid_observable = true;
}
@ -2056,7 +2082,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
initialize_and_apply_carrier_phase_offset();
const double Rx_clock_offset_s = d_user_pvt_solver->get_time_offset_s();
if (d_enable_rx_clock_correction == true and fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
if (d_enable_rx_clock_correction == true && fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
{
LOG(INFO) << "Warning: Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[ms]"
<< " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";
@ -2099,15 +2125,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 && d_rtcm_MT1077_rate_ms != 0)
// {
// last_RTCM_1077_output_time = current_RX_time;
// }
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 && d_rtcm_MT1087_rate_ms != 0)
// {
// last_RTCM_1087_output_time = current_RX_time;
// }
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 && d_rtcm_MT1097_rate_ms != 0)
// {
// last_RTCM_1097_output_time = current_RX_time;
// }
@ -2201,7 +2227,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
// DEBUG MESSAGE: Display position in console output
if (d_user_pvt_solver->is_valid_position() and flag_display_pvt)
if (d_user_pvt_solver->is_valid_position() && flag_display_pvt)
{
boost::posix_time::ptime time_solution;
std::string UTC_solution_str;