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Advances with the rinex printer.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@119 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
2012-01-11 07:05:09 +00:00
parent 31faaa7722
commit dab517aff0
5 changed files with 497 additions and 501 deletions
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46
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@@ -48,7 +48,6 @@ using google::LogMessage;
gps_l1_ca_pvt_cc_sptr gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging) gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging)
{ {
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging)); return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging));
} }
@@ -57,8 +56,6 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(gnss_pseudorange)), gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(gnss_pseudorange)),
gr_make_io_signature(1, 1, sizeof(gr_complex))) gr_make_io_signature(1, 1, sizeof(gr_complex)))
{ {
// initialize internal vars
d_queue = queue; d_queue = queue;
d_dump = dump; d_dump = dump;
d_nchannels = nchannels; d_nchannels = nchannels;
@@ -82,23 +79,31 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
rp = new Rinex_Printer(); rp = new Rinex_Printer();
} }
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc() {
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
{
d_kml_dump.close_file(); d_kml_dump.close_file();
delete d_ls_pvt; delete d_ls_pvt;
delete rp; delete rp;
} }
bool pseudoranges_pairCompare_min( std::pair<int,gnss_pseudorange> a, std::pair<int,gnss_pseudorange> b) bool pseudoranges_pairCompare_min( std::pair<int,gnss_pseudorange> a, std::pair<int,gnss_pseudorange> b)
{ {
return (a.second.pseudorange_m) < (b.second.pseudorange_m); return (a.second.pseudorange_m) < (b.second.pseudorange_m);
} }
int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items, int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
d_sample_counter++; d_sample_counter++;
std::map<int,gnss_pseudorange> gnss_pseudoranges_map; std::map<int,gnss_pseudorange> gnss_pseudoranges_map;
std::map<int,float> pseudoranges;
std::map<int,gnss_pseudorange>::iterator gnss_pseudoranges_iter; std::map<int,gnss_pseudorange>::iterator gnss_pseudoranges_iter;
gnss_pseudorange **in = (gnss_pseudorange **) &input_items[0]; //Get the input pointer gnss_pseudorange **in = (gnss_pseudorange **) &input_items[0]; //Get the input pointer
@@ -111,16 +116,15 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
} }
} }
//debug print
/*std::cout << std::setprecision(16);
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin(); for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end(); gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++) gnss_pseudoranges_iter++)
{ {
std::cout << "Pseudoranges(SV ID,pseudorange [m]) =(" << gnss_pseudoranges_iter->first << "," float pr = (float)gnss_pseudoranges_iter->second.pseudorange_m;
<< gnss_pseudoranges_iter->second.pseudorange_m << ")" <<std::endl; pseudoranges[gnss_pseudoranges_iter->first] = pr;
} */ // std::cout << "Pseudoranges(SV ID,pseudorange [m]) =(" << gnss_pseudoranges_iter->first << ","
// << gnss_pseudoranges_iter->second.pseudorange_m << ")" <<std::endl;
}
// ############ 1. READ EPHEMERIS FROM QUEUE ###################### // ############ 1. READ EPHEMERIS FROM QUEUE ######################
// find the minimum index (nearest satellite, will be the reference) // find the minimum index (nearest satellite, will be the reference)
@@ -129,20 +133,19 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
gps_navigation_message nav_msg; gps_navigation_message nav_msg;
while (d_nav_queue->try_pop(nav_msg) == true) while (d_nav_queue->try_pop(nav_msg) == true)
{ {
std::cout<<"New ephemeris record has arrived from SAT ID "<<nav_msg.i_satellite_PRN<< " (Block " << nav_msg.satelliteBlock[nav_msg.i_satellite_PRN] << ")" << std::endl; std::cout<<"New ephemeris record has arrived from SAT ID "
<< nav_msg.i_satellite_PRN << " (Block "
<< nav_msg.satelliteBlock[nav_msg.i_satellite_PRN]
<< ")" << std::endl;
d_last_nav_msg = nav_msg; d_last_nav_msg = nav_msg;
d_ls_pvt->d_ephemeris[nav_msg.i_channel_ID] = nav_msg; d_ls_pvt->d_ephemeris[nav_msg.i_channel_ID] = nav_msg;
// **** update pseudoranges clock **** // **** update pseudoranges clock ****
if (nav_msg.i_satellite_PRN == gnss_pseudoranges_iter->second.SV_ID) if (nav_msg.i_satellite_PRN == gnss_pseudoranges_iter->second.SV_ID)
{ {
d_ephemeris_clock_s = d_last_nav_msg.d_TOW; d_ephemeris_clock_s = d_last_nav_msg.d_TOW;
d_ephemeris_timestamp_ms = d_last_nav_msg.d_subframe1_timestamp_ms; d_ephemeris_timestamp_ms = d_last_nav_msg.d_subframe1_timestamp_ms;
} }
// write ephemeris to RINES NAV file, if created. Put here another condition to separate anotations
if(b_rinex_header_writen)
{
rp->LogRinexNav(rp->navFile, d_last_nav_msg);
}
} }
// ############ 2. COMPUTE THE PVT ################################ // ############ 2. COMPUTE THE PVT ################################
@@ -150,7 +153,6 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
// 1- need a valid clock // 1- need a valid clock
if (d_ephemeris_clock_s > 0 and d_last_nav_msg.i_satellite_PRN > 0) if (d_ephemeris_clock_s > 0 and d_last_nav_msg.i_satellite_PRN > 0)
{ {
//d_Rinex_Printer.LogRinex2Obs(d_last_nav_msg,d_ephemeris_clock_s+((double)pseudoranges_timestamp_ms-d_ephemeris_timestamp_ms)/1000.0,pseudoranges);
// compute on the fly PVT solution // compute on the fly PVT solution
//std::cout<<"diff_clock_ephemeris="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n"; //std::cout<<"diff_clock_ephemeris="<<(gnss_pseudoranges_iter->second.timestamp_ms-d_ephemeris_timestamp_ms)/1000.0<<"\r\n";
if (d_ls_pvt->get_PVT(gnss_pseudoranges_map, if (d_ls_pvt->get_PVT(gnss_pseudoranges_map,
@@ -160,11 +162,15 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
d_kml_dump.print_position(d_ls_pvt, d_flag_averaging); d_kml_dump.print_position(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) // & we have utc data in nav message! if (!b_rinex_header_writen) // & we have utc data in nav message!
{ {
rp->RinexNavHeader(rp->navFile, d_last_nav_msg); rp->rinex_nav_header(rp->navFile, d_last_nav_msg);
rp->RinexObsHeader(rp->obsFile, d_last_nav_msg); rp->rinex_obs_header(rp->obsFile, d_last_nav_msg);
b_rinex_header_writen = true; // do not write header anymore b_rinex_header_writen = true; // do not write header anymore
} }
if(b_rinex_header_writen) // Put here another condition to separate annotations
{
rp->log_rinex_nav(rp->navFile, d_last_nav_msg);
rp->log_rinex_obs(rp->obsFile, d_last_nav_msg, pseudoranges);
}
} }
} }

12
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@@ -44,14 +44,17 @@
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
class gps_l1_ca_pvt_cc; class gps_l1_ca_pvt_cc;
typedef boost::shared_ptr<gps_l1_ca_pvt_cc> gps_l1_ca_pvt_cc_sptr; typedef boost::shared_ptr<gps_l1_ca_pvt_cc> gps_l1_ca_pvt_cc_sptr;
gps_l1_ca_pvt_cc_sptr gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int n_channels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging); gps_l1_ca_make_pvt_cc(unsigned int n_channels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging);
/*! /*!
* \brief This class implements a block that computes the PVT solution * \brief This class implements a block that computes the PVT solution
*/ */
class gps_l1_ca_pvt_cc : public gr_block { class gps_l1_ca_pvt_cc : public gr_block
{
private: private:
@@ -87,12 +90,15 @@ private:
public: public:
~gps_l1_ca_pvt_cc (); ~gps_l1_ca_pvt_cc (); //!< Default destructor
/*!
* \brief Set the queue for getting navigation messages from the GpsL1CaTelemetryDecoder
*/
void set_navigation_queue(concurrent_queue<gps_navigation_message> *nav_queue){d_nav_queue=nav_queue;} void set_navigation_queue(concurrent_queue<gps_navigation_message> *nav_queue){d_nav_queue=nav_queue;}
int general_work (int noutput_items, gr_vector_int &ninput_items, int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
}; };
#endif #endif

276
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -30,6 +30,7 @@
#include "rinex_printer.h" #include "rinex_printer.h"
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "GPS_L1_CA.h"
#include <ostream> #include <ostream>
#include <fstream> #include <fstream>
#include <stdlib.h> // for getenv() #include <stdlib.h> // for getenv()
@@ -49,8 +50,7 @@
using google::LogMessage; using google::LogMessage;
DEFINE_string(RINEX_version, "3.01", DEFINE_string(RINEX_version, "3.01", "Specifies the RINEX version (2.11 or 3.01)");
"Specifies the RINEX version (2.11 or 3.01)");
Rinex_Printer::Rinex_Printer() Rinex_Printer::Rinex_Printer()
@@ -146,7 +146,7 @@ Rinex_Printer::Rinex_Printer()
LOG_AT_LEVEL(ERROR) << "Unknown RINEX version " << FLAGS_RINEX_version << " (must be 2.11 or 3.01)" << std::endl; LOG_AT_LEVEL(ERROR) << "Unknown RINEX version " << FLAGS_RINEX_version << " (must be 2.11 or 3.01)" << std::endl;
} }
numberTypesObservations=2; // Number of available types of observable in the system
} }
@@ -173,7 +173,9 @@ void Rinex_Printer::lengthCheck(std::string line)
} }
std::string Rinex_Printer::createFilename(std::string type){
std::string Rinex_Printer::createFilename(std::string type)
{
const std::string stationName = "GSDR"; // 4-character station name designator const std::string stationName = "GSDR"; // 4-character station name designator
boost::gregorian::date today = boost::gregorian::day_clock::local_day(); boost::gregorian::date today = boost::gregorian::day_clock::local_day();
const int dayOfTheYear = today.day_of_year(); const int dayOfTheYear = today.day_of_year();
@@ -220,7 +222,7 @@ std::string Rinex_Printer::createFilename(std::string type){
Hmap.insert(std::pair<std::string, std::string>("15", "p")); Hmap.insert(std::pair<std::string, std::string>("15", "p"));
Hmap.insert(std::pair<std::string, std::string>("16", "q")); Hmap.insert(std::pair<std::string, std::string>("16", "q"));
Hmap.insert(std::pair<std::string, std::string>("17", "r")); Hmap.insert(std::pair<std::string, std::string>("17", "r"));
Hmap.insert(std::pair<std::string, std::string>("8","s")); Hmap.insert(std::pair<std::string, std::string>("18", "s"));
Hmap.insert(std::pair<std::string, std::string>("19", "t")); Hmap.insert(std::pair<std::string, std::string>("19", "t"));
Hmap.insert(std::pair<std::string, std::string>("20", "u")); Hmap.insert(std::pair<std::string, std::string>("20", "u"));
Hmap.insert(std::pair<std::string, std::string>("21", "v")); Hmap.insert(std::pair<std::string, std::string>("21", "v"));
@@ -316,12 +318,11 @@ std::string Rinex_Printer::getLocalTime()
line += std::string("UTC"); line += std::string("UTC");
line += std::string(1, ' '); line += std::string(1, ' ');
} }
return line; return line;
} }
void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message nav_msg) void Rinex_Printer::rinex_nav_header(std::ofstream& out, gps_navigation_message nav_msg)
{ {
std::string line; std::string line;
@@ -336,6 +337,7 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
line += std::string("N: GPS NAV DATA"); line += std::string("N: GPS NAV DATA");
line += std::string(25, ' '); line += std::string(25, ' ');
} }
if (version == 3 ) if (version == 3 )
{ {
line += std::string("N: GNSS NAV DATA"); line += std::string("N: GNSS NAV DATA");
@@ -358,6 +360,7 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
line += std::string(1, ' '); line += std::string(1, ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line 3 // -------- Line 3
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GPS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60); line += Rinex_Printer::leftJustify("GPS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
@@ -365,11 +368,13 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line COMMENT
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60); line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT",20); line += Rinex_Printer::leftJustify("COMMENT",20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line ionospheric info 1 // -------- Line ionospheric info 1
line.clear(); line.clear();
if (version == 2) if (version == 2)
@@ -396,7 +401,7 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line ionospheric info 1 // -------- Line ionospheric info 2
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
@@ -462,7 +467,6 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
out << line << std::endl; out << line << std::endl;
// -------- Line 6 leap seconds // -------- Line 6 leap seconds
// For leap second information, see http://www.endruntechnologies.com/leap.htm // For leap second information, see http://www.endruntechnologies.com/leap.htm
line.clear(); line.clear();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_DeltaT_LS), 6); line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_DeltaT_LS), 6);
@@ -494,17 +498,12 @@ void Rinex_Printer::RinexNavHeader(std::ofstream& out, gps_navigation_message na
void Rinex_Printer::log_rinex_nav(std::ofstream& out, gps_navigation_message nav_msg)
void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_msg)
{ {
// this has to be done for all satellites!
std::string line; std::string line;
boost::posix_time::ptime p_utc_time = Rinex_Printer::computeTime(nav_msg); boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time); std::string timestring=boost::posix_time::to_iso_string(p_utc_time);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
@@ -606,7 +605,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -632,7 +630,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -660,7 +657,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -686,7 +682,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -711,7 +706,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
out << line << std::endl; out << line << std::endl;
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -736,7 +730,6 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
line.clear(); line.clear();
if (version == 2) if (version == 2)
{ {
line += std::string(4, ' '); line += std::string(4, ' ');
@@ -759,12 +752,13 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
if ( ( (nav_msg.d_IODC > 751) && (nav_msg.d_IODC < 757) ) || (nav_msg.d_IODC == 511) ) curve_fit_interval = 74; if ( ( (nav_msg.d_IODC > 751) && (nav_msg.d_IODC < 757) ) || (nav_msg.d_IODC == 511) ) curve_fit_interval = 74;
if ( (nav_msg.d_IODC == 757)) curve_fit_interval = 98; if ( (nav_msg.d_IODC == 757)) curve_fit_interval = 98;
} }
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ((nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIR") == 0) || if ((nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIR") == 0) ||
(nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIR-M") == 0) || (nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIR-M") == 0) ||
(nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIF") == 0) || (nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIF") == 0) ||
(nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIIA") == 0) ) (nav_msg.satelliteBlock[nav_msg.i_satellite_PRN].compare("IIIA") == 0) )
{ {
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ( (nav_msg.d_IODC > 239) && (nav_msg.d_IODC < 248)) curve_fit_interval = 8; if ( (nav_msg.d_IODC > 239) && (nav_msg.d_IODC < 248)) curve_fit_interval = 8;
if ( ( (nav_msg.d_IODC > 247) && (nav_msg.d_IODC < 256)) || (nav_msg.d_IODC == 496) ) curve_fit_interval = 14; if ( ( (nav_msg.d_IODC > 247) && (nav_msg.d_IODC < 256)) || (nav_msg.d_IODC == 496) ) curve_fit_interval = 14;
if ( ( (nav_msg.d_IODC > 496) && (nav_msg.d_IODC < 504)) || ( (nav_msg.d_IODC > 1020) && (nav_msg.d_IODC < 1024) ) ) curve_fit_interval = 26; if ( ( (nav_msg.d_IODC > 496) && (nav_msg.d_IODC < 504)) || ( (nav_msg.d_IODC > 1020) && (nav_msg.d_IODC < 1024) ) ) curve_fit_interval = 26;
@@ -783,7 +777,8 @@ void Rinex_Printer::LogRinexNav(std::ofstream& out, gps_navigation_message nav_m
} }
void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message nav_msg)
void Rinex_Printer::rinex_obs_header(std::ofstream& out, gps_navigation_message nav_msg)
{ {
std::string line; std::string line;
@@ -801,7 +796,14 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
// -------- Line 2 // -------- Line 2
line.clear(); line.clear();
if (version == 2)
{
line += Rinex_Printer::leftJustify("BLANK OR G = GPS, R = GLONASS, E = GALILEO, M = MIXED", 60);
}
if (version == 3)
{
line += Rinex_Printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED", 60); line += Rinex_Printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED", 60);
}
line += Rinex_Printer::leftJustify("COMMENT", 20); line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@@ -814,13 +816,14 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line 4 // -------- Line COMMENT
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GPS OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60); line += Rinex_Printer::leftJustify("GPS OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20); line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line COMMENT
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60); line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20); line += Rinex_Printer::leftJustify("COMMENT", 20);
@@ -834,6 +837,7 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
line += std::string(40, ' '); line += std::string(40, ' ');
@@ -841,7 +845,6 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
std::string username=getenv("USER"); std::string username=getenv("USER");
@@ -851,8 +854,6 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
// -------- Line REC / TYPE VERS // -------- Line REC / TYPE VERS
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
@@ -881,7 +882,7 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
double antena_e = 0.0; double antena_e = 0.0;
double antena_n = 0.0; double antena_n = 0.0;
line.clear(); line.clear();
line = Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14); 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_e, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14); line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
line += std::string(18, ' '); line += std::string(18, ' ');
@@ -896,9 +897,9 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
line.clear(); line.clear();
line += satelliteSystem["GPS"]; line += satelliteSystem["GPS"];
line += std::string(2, ' '); line += std::string(2, ' ');
int numberObservations=2; // Count the number of available types of observable in the system //int numberTypesObservations=2; // Count the number of available types of observable in the system
std::stringstream strm; std::stringstream strm;
strm << numberObservations; strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3); line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation // per type of observation
line += std::string(1, ' '); line += std::string(1, ' ');
@@ -923,7 +924,7 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
// -------- TIME OF FIRST OBS // -------- TIME OF FIRST OBS
line.clear(); line.clear();
boost::posix_time::ptime p_utc_time = Rinex_Printer::computeTime(nav_msg); boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time); std::string timestring=boost::posix_time::to_iso_string(p_utc_time);
std::string year (timestring, 0, 4); std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
@@ -932,13 +933,13 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
std::string minutes (timestring, 11, 2); std::string minutes (timestring, 11, 2);
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW)); double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
double seconds = fmod(utc_t,60); double seconds = fmod(utc_t,60);
line += rightJustify(year, 6); line += Rinex_Printer::rightJustify(year, 6);
line += rightJustify(month, 6); line += Rinex_Printer::rightJustify(month, 6);
line += rightJustify(day, 6); line += Rinex_Printer::rightJustify(day, 6);
line += rightJustify(hour, 6); line += Rinex_Printer::rightJustify(hour, 6);
line += rightJustify(minutes, 6); line += Rinex_Printer::rightJustify(minutes, 6);
line += rightJustify(asString(seconds,7), 13); line += Rinex_Printer::rightJustify(asString(seconds,7), 13);
line += rightJustify(std::string("GPS"), 8); line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
line += std::string(9, ' '); line += std::string(9, ' ');
line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20); line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@@ -957,126 +958,119 @@ void Rinex_Printer::RinexObsHeader(std::ofstream& out, gps_navigation_message na
void Rinex_Printer::LogRinexObs(gps_navigation_message nav_msg,double pseudoranges_clock, std::map<int,float> pseudoranges) void Rinex_Printer::log_rinex_obs(std::ofstream& out, gps_navigation_message nav_msg, std::map<int,float> pseudoranges)
{ {
/* int ss; std::string line;
char sat_vis[36];
for(int i=0;i<36;i++) sat_vis[i]=' '; if (version == 2)
char packet[80]; {
int index=0; line += "OBSERVATION DATA FILE FOR VERSION 2.11 STILL NOT IMPLEMENTED";
char cad[2]; line += std::string(80-line.size(), ' ');
double setmanes; Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version == 3)
{
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg);
std::string timestring=boost::posix_time::to_iso_string(p_utc_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);
// Should look at the pseudoranges timestamp gnss_pseudorange.timestamp_ms!!!
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 utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
line += Rinex_Printer::asString(fmod(utc_t,60), 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,float>::iterator pseudoranges_iter; std::map<int,float>::iterator pseudoranges_iter;
//necessito
//1-Data i hora<--- de struct Clock_S
//2-#sat visibles, identificador dat visibles-----> de Com fa a LogNav() // (Chan_Packet_S *) &tChan[lcv]->sv
//3-pseudodistancia de cada satèl·lit ----> Com fa a LogPseudo(), tb es pot treure la carrier_phase. Serveix per algo??
//4- El punt 1 i 2 s'han d'escriure a la mateixa línia. El punt 3 una línia per a cada satèl·lit.
if(fp_rin != NULL)
{
setmanes=nav_msg.d_GPS_week + 1024;
//1-Calcul data i hora gps
//Calculo el any,mes i dia a partir de l'hora UTC
//calculate UTC_TIME
time_t temps;
char cad1[80];
char cad2[80];
char cad3[80];
char cad4[80];
struct tm *tmPtr;
//Calculo hora, minut, segons a partir de pClocK.time =hora GPS
double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec;
double day,hour,minutes,seconds,enterseconds,a;
double gpstime;
gpstime=pseudoranges_clock; //[s]
//calculate date of gps time:
//Days & weeks between 00h 1 Jan 1970 and 00h 6 Jan 1980
//520 weeks and 12 days.
temps=(520+setmanes)*7*24*3600+gpstime+17*24*3600;
tmPtr = gmtime(&temps);
strftime( cad1, 20, " %y %m %d", tmPtr );
strftime( cad2, 20, " %Y %m %d", tmPtr );
decimalday=(gpstime/(24*3600));//Dies dins de la semana
daydecimalhour=modf(decimalday,&day);//day=#dies sencers, daydecimalhour=porcio de dia
daydecimalhour=daydecimalhour*24;//porcio de dia en hores
decimalhour=modf(daydecimalhour,&hour);//hour=hora del dia; decimalhour=porcio d'hora
decimalmin=decimalhour*60;//decimalmin=minuts del dia amb decimal
decimalsec=modf(decimalmin,&minutes);//minutes=minuts del dia enters,decimalsec=porcio de minuts
seconds=decimalsec*60;//seconds=segons del dia en decimal
a=modf(seconds,&enterseconds);
sprintf(cad4,"%6.0f%6.0f%13.7f",hour,minutes,seconds);
sprintf(cad3," %2.0f %2.0f%11.7f",hour,minutes,seconds);
//TODO: Include receiver clock offset
if(temps_primera_obs==1){
//Escriure Hora Primera Observació
fseek(fp_rin, fp_rin_end, SEEK_SET);
fprintf(fp_rin,"%s%s GPS TIME OF FIRST OBS\n",cad2,cad4);
fprintf(fp_rin,"00000CTTC MARKER NUMBER\n");
//fprintf(fp_rin,"Edited by .... COMMENT\n");
fprintf(fp_rin," END OF HEADER\n");
fp_rin_end = ftell(fp_rin);
temps_primera_obs=0;
}
//2-Num sat visibles i identificador
signed long int nsvs = 0;
//3-Escriure pseudodistancia
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
{ {
//PER FORMAT RINEX2 numSatellitesObserved++;
nsvs++;
sprintf(cad,"%2.0f",(double)pseudoranges_iter->first); //satellite PRN ID
int k=3*index;
sat_vis[k]='G';
sat_vis[k+1]=cad[0];
sat_vis[k+2]=cad[1];
index++;
} }
//sat_vis tinc vector de identif de sat visibles
//Per format RINEX2
//sprintf(packet,"%s%s 0%3d%s%12.9f",cad1,cad3,nsvs,sat_vis,offset);
sprintf(packet,"%s%s 0%3d%s",cad1,cad3,nsvs,sat_vis);
packet[69]=packet[68];
packet[68]=' ';
fseek(fp_rin, fp_rin_end, SEEK_SET);
fprintf(fp_rin,"%s\n",packet);
fp_rin_end = ftell(fp_rin);
//3-Escriure pseudodistancia 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;
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
{ {
ss=signalstrength(54.00); // TODO: include estimated signal strength std::string lineObs;
fseek(fp_rin, fp_rin_end, SEEK_SET); lineObs.clear();
fprintf(fp_rin,"%14.3f %14.3f %d\n",pseudoranges_iter->second,0.0,ss); //TODO: include the carrier phase lineObs += satelliteSystem["GPS"];
fp_rin_end = ftell(fp_rin); if ((int)pseudoranges_iter->first < 10) lineObs += std::string(1, '0');
} lineObs += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
}*/ //lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString((double)pseudoranges_iter->second, 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);
}
int ssi=signalStrength(54.0); // TODO: include estimated signal strength
if (ssi == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(ssi), 1);
}
if (lineObs.size()<80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
} }
int Rinex_Printer::signalStrength(double snr) int Rinex_Printer::signalStrength(double snr)
{ {
int ss; int ss;
ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) ); ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) );
return (ss); return ss;
} }
boost::posix_time::ptime Rinex_Printer::computeTime(gps_navigation_message nav_msg)
boost::posix_time::ptime Rinex_Printer::compute_time(gps_navigation_message nav_msg)
{ {
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time // if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm //: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
@@ -1088,18 +1082,6 @@ boost::posix_time::ptime Rinex_Printer::computeTime(gps_navigation_message nav_m
/* /*
enum RINEX_enumObservationType
{
RINEX_OBS_TYPE_PSEUDORANGE = 'C', //!< 'C' Pseudorange observation
RINEX_OBS_TYPE_CARRIER_PHASE = 'L', //!< 'L' Carrier Phase observation
RINEX_OBS_TYPE_DOPPLER = 'D', //!< 'L' Doppler observation
RINEX_OBS_TYPE_SIGNAL_STRENGTH = 'S' //!< 'S' Signal strength observation
} ;
enum RINEX_enumMarkerType { enum RINEX_enumMarkerType {
GEODETIC, //!< GEODETIC Earth-fixed, high-precision monumentation GEODETIC, //!< GEODETIC Earth-fixed, high-precision monumentation
NON_GEODETIC, //!< NON_GEODETIC Earth-fixed, low-precision monumentation NON_GEODETIC, //!< NON_GEODETIC Earth-fixed, low-precision monumentation

18
src/algorithms/PVT/libs/rinex_printer.h
View File

@@ -58,6 +58,7 @@
#include <iomanip> // for setprecision #include <iomanip> // for setprecision
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "boost/date_time/posix_time/posix_time.hpp" #include "boost/date_time/posix_time/posix_time.hpp"
#include "GPS_L1_CA.h"
/*! /*!
* \brief Class that handles the generation of Receiver * \brief Class that handles the generation of Receiver
@@ -84,27 +85,27 @@ public:
/*! /*!
* \brief Generates the Navigation Data header * \brief Generates the Navigation Data header
*/ */
void RinexNavHeader(std::ofstream& out, gps_navigation_message nav); void rinex_nav_header(std::ofstream& out, gps_navigation_message nav);
/*! /*!
* \brief Generates the Observation data header * \brief Generates the Observation data header
*/ */
void RinexObsHeader(std::ofstream& out, gps_navigation_message nav); void rinex_obs_header(std::ofstream& out, gps_navigation_message nav);
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime computeTime(gps_navigation_message nav_msg); boost::posix_time::ptime compute_time(gps_navigation_message nav_msg);
/*! /*!
* \brief Writes data from the navigation message into the RINEX file * \brief Writes data from the navigation message into the RINEX file
*/ */
void LogRinexNav(std::ofstream& out, gps_navigation_message nav_msg); void log_rinex_nav(std::ofstream& out, gps_navigation_message nav_msg);
/*! /*!
* \brief Writes observables into the RINEX file * \brief Writes observables into the RINEX file
*/ */
void LogRinexObs(gps_navigation_message nav_msg, double interframe_seconds, std::map<int,float> pseudoranges); void log_rinex_obs(std::ofstream& out, gps_navigation_message nav_msg, std::map<int,float> pseudoranges);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
@@ -120,6 +121,8 @@ private:
int version ; // RINEX version (2 for 2.11 and 3 for 3.01) int version ; // RINEX version (2 for 2.11 and 3 for 3.01)
int numberTypesObservations; // Number of available types of observable in the system. Should be public?
/* /*
* Generation of RINEX signal strength indicators * Generation of RINEX signal strength indicators
@@ -320,7 +323,6 @@ private:
*/ */
template <class X> template <class X>
inline std::string asString(const X x); inline std::string asString(const X x);
}; };
@@ -434,7 +436,6 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
if ((idx == 0) || (idx >= (startPos + length - expLen - 1))) if ((idx == 0) || (idx >= (startPos + length - expLen - 1)))
{ {
//StringException e("sci2for: no decimal point in string"); //StringException e("sci2for: no decimal point in string");
//GPSTK_THROW(e);
} }
// Here, account for the possibility that there are // Here, account for the possibility that there are
@@ -463,6 +464,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
//GPSTK_THROW(e); //GPSTK_THROW(e);
} }
} }
// Change the exponent character to D normally, or E of checkSwitch is false. // Change the exponent character to D normally, or E of checkSwitch is false.
if (checkSwitch) if (checkSwitch)
aStr[idx] = 'D'; aStr[idx] = 'D';
@@ -485,7 +487,6 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
else else
aStr += "+"; aStr += "+";
aStr += Rinex_Printer::rightJustify(asString(iexp),expLen,'0'); aStr += Rinex_Printer::rightJustify(asString(iexp),expLen,'0');
} }
// if the number is positive, append a space // if the number is positive, append a space
@@ -525,6 +526,7 @@ inline std::string Rinex_Printer::asString(const double x, const std::string::si
return ss.str(); return ss.str();
} }
template<class X> template<class X>
inline std::string Rinex_Printer::asString(const X x) inline std::string Rinex_Printer::asString(const X x)
{ {

4
src/core/system_parameters/GPS_L1_CA.h
View File

@@ -33,8 +33,8 @@
#define GNSS_SDR_GPS_L1_CA_H_ #define GNSS_SDR_GPS_L1_CA_H_
// Physical constants // Physical constants
const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s] const double GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const float GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms] const double GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s] const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]