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Adding Mixed GPS/Galileo observations.

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This commit is contained in:
Carles Fernandez 2014-09-05 16:38:44 +02:00
parent 286cad820f
commit da6a15e637
3 changed files with 357 additions and 18 deletions
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16
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -229,7 +229,7 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
{
if (arrived_galileo_almanac)
{
//rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore
}
@ -244,12 +244,14 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
d_last_sample_nav_output = d_sample_counter;
}
// std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
// if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
// {
// rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
// }
std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) || (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
}
}
}
}

349
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -63,12 +63,13 @@ Rinex_Printer::Rinex_Printer()
Rinex_Printer::navGalFile.open(navGalfilename, std::ios::out | std::ios::app);
Rinex_Printer::navMixFile.open(navMixfilename, std::ios::out | std::ios::app);
// RINEX v3.00 codes
// RINEX v3.02 codes
satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R";
satelliteSystem["SBAS payload"] = "S";
satelliteSystem["Galileo"] = "E";
satelliteSystem["Beidou"] = "C";
satelliteSystem["Mixed"] = "M";
observationCode["GPS_L1_CA"] = "1C"; // "1C" GPS L1 C/A
observationCode["GPS_L1_P"] = "1P"; // "1P" GPS L1 P
@ -155,10 +156,10 @@ Rinex_Printer::Rinex_Printer()
stringVersion = "2.10";
}
else if ( FLAGS_RINEX_version.compare("2.10") == 0 )
{
version = 2;
stringVersion = "2.10";
}
{
version = 2;
stringVersion = "2.10";
}
else
{
LOG(ERROR) << "Unknown RINEX version " << FLAGS_RINEX_version << " (must be 2.11 or 3.01)" << std::endl;
@ -1662,13 +1663,12 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation)
{
std::string line;
version = 3;
// -------- Line 1
line = std::string(5, ' ');
line += "3.01";
line += "3.02";
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
line += satelliteSystem["Galileo"];
@ -1724,7 +1724,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph,
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
@ -1863,14 +1863,240 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph,
}
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation)
{
std::string line;
version = 3;
// -------- Line 1
line = std::string(5, ' ');
line += "3.02";
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
line += satelliteSystem["Mixed"];
line += std::string(19, ' ');
line += std::string("RINEX VERSION / TYPE");
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
line.clear();
line += Rinex_Printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 3
line.clear();
line += Rinex_Printer::getLocalTime();
line += std::string("PGM / RUN BY / DATE");
line += std::string(1, ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("MIXED (GPS/GALILEO) OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line MARKER NAME
line.clear();
line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line += Rinex_Printer::leftJustify("MARKER NAME", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
}
else
{
username = "UNKNOWN USER";
}
line += leftJustify(username, 20);
line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line REC / TYPE VERS
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
line += Rinex_Printer::leftJustify(gnss_sdr_version, 20);
line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
lengthCheck(line);
out << line << std::endl;
// -------- ANTENNA TYPE
line.clear();
line += Rinex_Printer::leftJustify("Antenna number", 20); // add flag and property
line += Rinex_Printer::leftJustify("Antenna type", 20); // add flag and property
line += std::string(20, ' ');
line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- APPROX POSITION (optional for moving platforms)
// put here real data!
double antena_x = 0.0;
double antena_y = 0.0;
double antena_z = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- ANTENNA: DELTA H/E/N
// put here real data!
double antena_h = 0.0;
double antena_e = 0.0;
double antena_n = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- SYS / OBS TYPES
// one line per available system
line.clear();
line += satelliteSystem["GPS"];
line += std::string(2, ' ');
std::stringstream strm;
numberTypesObservations = 4;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation
// GPS L1 PSEUDORANGE
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GPS_L1_CA"];
// GPS L1 PHASE
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GPS_L1_CA"];
// GPS DOPPLER L1
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GPS_L1_CA"];
// GPS L1 CA SIGNAL STRENGTH
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GPS_L1_CA"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
line.clear();
line += satelliteSystem["Galileo"];
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify("4", 3);
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E1_B"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Signal Strength units
line.clear();
line += Rinex_Printer::leftJustify("DBHZ", 20);
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- TIME OF FIRST OBS
line.clear();
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, d_TOW_first_observation);
std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
double gps_t = d_TOW_first_observation;
double seconds = fmod(gps_t, 60);
line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6);
line += Rinex_Printer::rightJustify(day, 6);
line += Rinex_Printer::rightJustify(hour, 6);
line += Rinex_Printer::rightJustify(minutes, 6);
line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
line += std::string(9, ' ');
line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- end of header
line.clear();
line += std::string(60, ' ');
line += Rinex_Printer::leftJustify("END OF HEADER", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
{
// RINEX observations timestamps are GPS timestamps.
// RINEX observations timestamps are GPS timestamps.
std::string line;
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,obs_time);
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
@ -2155,6 +2381,106 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, dou
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges)
{
std::string line;
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(gps_eph, gps_obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = gps_obs_time;
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
std::string year (timestring, 0, 4);
line += std::string(1, '>');
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
double seconds = fmod(gps_t, 60);
// Add extra 0 if seconds are < 10
if (seconds < 10)
{
line +=std::string(1, '0');
}
line += Rinex_Printer::asString(seconds, 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
numSatellitesObserved++;
}
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
std::string s;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string lineObs;
lineObs.clear();
s.assign(1, pseudoranges_iter->second.System);
if(s.compare("G") == 0) lineObs += satelliteSystem["GPS"];
if(s.compare("E") == 0) lineObs += satelliteSystem["Galileo"];
if ((int)pseudoranges_iter->first < 10) lineObs += std::string(1, '0');
lineObs += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
int lli = 0; // Include in the observation!!
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
// PHASE
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
// DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
// SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
// represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
// -> Leap years are considered, but leap seconds not.
void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second)
@ -2225,6 +2551,7 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &mont
}
void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
{
// line 1: PRN / EPOCH / RCVR

10
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -115,6 +115,11 @@ public:
*/
void rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation);
/*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header
*/
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation);
/*!
* \brief Generates the SBAS raw data header
*/
@ -160,6 +165,11 @@ public:
*/
void log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges);
/*!
* \brief Writes Galileo observables into the RINEX file
*/
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges);
/*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
*/