mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-29 02:14:51 +00:00
Merge branch 'pvtconsumeall' of https://github.com/carlesfernandez/gnss-sdr into common_solver
This commit is contained in:
Carles Fernandez
commit
dab7c0a8a6
@ -285,9 +285,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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d_ls_pvt = std::make_shared<rtklib_solver>((int)nchannels, dump_ls_pvt_filename, d_dump, rtklib_options);
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d_ls_pvt->set_averaging_depth(d_averaging_depth);
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d_sample_counter = 0;
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d_last_sample_nav_output = 0;
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d_rx_time = 0.0;
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b_rinex_header_written = false;
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b_rinex_header_updated = false;
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@ -409,20 +407,6 @@ bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int,Gnss_Synchro
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}
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void rtklib_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
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{
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// Print the current receiver status using std::cout every second
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int current_rx_seg = floor((double)channels_synchronization_data[0][0].Tracking_sample_counter/(double)channels_synchronization_data[0][0].fs);
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if ( current_rx_seg != d_last_status_print_seg)
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{
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d_last_status_print_seg = current_rx_seg;
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std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
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//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
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// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
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}
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}
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bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
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{
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/* Fill Sys V message structures */
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@ -439,49 +423,52 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
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}
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int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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int rtklib_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items ,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
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{
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d_sample_counter++;
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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double d_rx_time[ninput_items[0]];
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for(unsigned int item = 0; item < ninput_items[0]; item++)
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{
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//d_sample_counter++;
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unsigned int gps_channel = 0;
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unsigned int gal_channel = 0;
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gnss_observables_map.clear();
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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print_receiver_status(in);
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//print_receiver_status(in);
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// ############ 1. READ PSEUDORANGES ####
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (in[i][0].Flag_valid_pseudorange == true)
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if (in[i][item].Flag_valid_pseudorange == true)
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{
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// store valid observables in a map.
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gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][0]));
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d_rx_time = in[i][0].RX_time;
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gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][item]));
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d_rx_time[item] = in[i][item].RX_time;
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if(d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
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std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][item].PRN);
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if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
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d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
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}
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}
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if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
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{
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std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN);
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std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][item].PRN);
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if(tmp_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
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d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
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}
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}
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if(d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
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{
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std::map<int,Gps_CNAV_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][0].PRN);
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std::map<int,Gps_CNAV_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][item].PRN);
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if(tmp_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
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d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
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}
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}
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}
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@ -492,6 +479,9 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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std::map<int, Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
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std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
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long int rx_time_ms = static_cast<long int>((d_rx_time[item] * 1000.0));
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/*
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* TYPE | RECEIVER
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* 0 | Unknown
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@ -523,10 +513,10 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if (gnss_observables_map.size() > 0)
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{
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// compute on the fly PVT solution
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if ((d_sample_counter % d_output_rate_ms) == 0)
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if ((rx_time_ms % d_output_rate_ms) == 0)
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{
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bool pvt_result;
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pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
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pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time[item], d_flag_averaging);
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if (pvt_result == true)
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{
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@ -543,7 +533,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
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ttff_msgbuf ttff;
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ttff.mtype = 1;
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ttff.ttff = d_sample_counter;
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ttff.ttff = d_rx_time[item]; //d_sample_counter;
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send_sys_v_ttff_msg(ttff);
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first_fix = false;
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}
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@ -562,7 +552,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time[item]);
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -571,7 +561,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time);
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rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time[item]);
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -580,7 +570,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item]);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -590,7 +580,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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std::string signal("5X");
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], signal);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -600,7 +590,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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std::string signal("7X");
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], signal);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -609,7 +599,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
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{
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time[item]);
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -620,7 +610,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
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{
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std::string gal_signal("1B");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
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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);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -630,7 +620,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
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{
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std::string gal_signal("5X");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
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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);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -640,7 +630,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
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{
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std::string gal_signal("7X");
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
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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);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -650,7 +640,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
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{
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std::string gal_signal("1B 5X");
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -660,7 +650,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
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{
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std::string gal_signal("1B 7X");
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_written = true; // do not write header anymore
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}
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@ -670,7 +660,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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// Limit the RINEX navigation output rate
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// Notice that d_sample_counter period is 4ms (for Galileo correlators)
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if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
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if ((d_rx_time[item] - d_last_sample_nav_output) >= 6000)
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{
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if(type_of_rx == 1) // GPS L1 C/A only
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{
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@ -697,7 +687,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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}
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d_last_sample_nav_output = d_sample_counter;
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d_last_sample_nav_output = d_rx_time[item]; //d_sample_counter;
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}
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
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@ -708,7 +698,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
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{
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@ -721,7 +711,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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{
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if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
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rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
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}
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if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
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{
|
||||
@ -734,7 +724,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map, "1B");
|
||||
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B");
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
|
||||
{
|
||||
@ -747,7 +737,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map, "5X");
|
||||
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "5X");
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
|
||||
{
|
||||
@ -760,7 +750,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map, "7X");
|
||||
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "7X");
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
|
||||
{
|
||||
@ -773,7 +763,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
if( (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
|
||||
{
|
||||
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
||||
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
|
||||
{
|
||||
@ -786,7 +776,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map);
|
||||
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
|
||||
{
|
||||
@ -799,7 +789,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map, "1B 5X");
|
||||
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B 5X");
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
|
||||
{
|
||||
@ -812,7 +802,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
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_observables_map, "1B 7X");
|
||||
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B 7X");
|
||||
}
|
||||
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
|
||||
{
|
||||
@ -828,52 +818,52 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
{
|
||||
if(type_of_rx == 1) // GPS L1 C/A
|
||||
{
|
||||
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
|
||||
if((rx_time_ms % d_rtcm_MT1019_rate_ms) == 0)
|
||||
{
|
||||
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
|
||||
if((rx_time_ms % d_rtcm_MSM_rate_ms) == 0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
||||
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
|
||||
{
|
||||
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
|
||||
if((rx_time_ms % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
|
||||
{
|
||||
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if((d_sample_counter % (d_rtcm_MSM_rate_ms / 4) ) == 0)
|
||||
if((rx_time_ms % (d_rtcm_MSM_rate_ms / 4) ) == 0)
|
||||
{
|
||||
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
|
||||
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
|
||||
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(type_of_rx == 7) // GPS L1 C/A + GPS L2C
|
||||
{
|
||||
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
|
||||
if((rx_time_ms % d_rtcm_MT1019_rate_ms) == 0)
|
||||
{
|
||||
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
|
||||
if((rx_time_ms % d_rtcm_MSM_rate_ms) == 0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
||||
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
||||
@ -881,27 +871,27 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
|
||||
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
|
||||
{
|
||||
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
|
||||
if(((rx_time_ms % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
|
||||
{
|
||||
for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if(((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4)) == 0) && (d_rtcm_MT1045_rate_ms != 0))
|
||||
if(((rx_time_ms % (d_rtcm_MT1045_rate_ms / 4)) == 0) && (d_rtcm_MT1045_rate_ms != 0))
|
||||
{
|
||||
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) || ((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0))
|
||||
if(((rx_time_ms % (d_rtcm_MT1097_rate_ms / 4) ) == 0) || ((rx_time_ms % (d_rtcm_MT1077_rate_ms / 4) ) == 0))
|
||||
{
|
||||
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
@ -934,19 +924,19 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if(((d_sample_counter % (d_rtcm_MT1097_rate_ms / 4) ) == 0) && (d_rtcm_MT1097_rate_ms != 0) )
|
||||
if(((rx_time_ms % (d_rtcm_MT1097_rate_ms / 4) ) == 0) && (d_rtcm_MT1097_rate_ms != 0) )
|
||||
{
|
||||
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
if(((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (d_rtcm_MT1077_rate_ms != 0) )
|
||||
if(((rx_time_ms % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (d_rtcm_MT1077_rate_ms != 0) )
|
||||
{
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -966,7 +956,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
@ -982,7 +972,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
|
||||
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
@ -998,7 +988,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
|
||||
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
@ -1051,12 +1041,12 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) )
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
@ -1065,14 +1055,14 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
}
|
||||
|
||||
// DEBUG MESSAGE: Display position in console output
|
||||
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
|
||||
if (((rx_time_ms % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
|
||||
{
|
||||
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
||||
<< " UTC using "<< d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
||||
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
|
||||
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m] " << rx_time_ms<<std::endl;
|
||||
|
||||
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
||||
<< " UTC using "<< d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
||||
<< " UTC2 using "<< d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
||||
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]";
|
||||
|
||||
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
||||
@ -1089,11 +1079,11 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
double tmp_double;
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
tmp_double = in[i][0].Pseudorange_m;
|
||||
tmp_double = in[i][item].Pseudorange_m;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = 0;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
d_dump_file.write((char*)&d_rx_time, sizeof(double));
|
||||
d_dump_file.write((char*)&d_rx_time[item], sizeof(double));
|
||||
}
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
@ -1102,7 +1092,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(1); //one by one
|
||||
return 1;
|
||||
}
|
||||
consume_each(ninput_items[0]);
|
||||
return ninput_items[0];
|
||||
}
|
||||
|
||||
@ -123,7 +123,6 @@ private:
|
||||
int d_rtcm_MT1097_rate_ms;
|
||||
int d_rtcm_MSM_rate_ms;
|
||||
|
||||
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
|
||||
int d_last_status_print_seg; //for status printer
|
||||
|
||||
unsigned int d_nchannels;
|
||||
@ -133,7 +132,6 @@ private:
|
||||
bool d_flag_averaging;
|
||||
int d_output_rate_ms;
|
||||
int d_display_rate_ms;
|
||||
long unsigned int d_sample_counter;
|
||||
long unsigned int d_last_sample_nav_output;
|
||||
|
||||
std::shared_ptr<Rinex_Printer> rp;
|
||||
@ -141,7 +139,6 @@ private:
|
||||
std::shared_ptr<Nmea_Printer> d_nmea_printer;
|
||||
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
|
||||
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
|
||||
double d_rx_time;
|
||||
|
||||
std::shared_ptr<rtklib_solver> d_ls_pvt;
|
||||
prcopt_t rtklib_options;
|
||||
|
||||
@ -31,8 +31,9 @@
|
||||
|
||||
#include "hybrid_ls_pvt.h"
|
||||
#include <glog/logging.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "GPS_L2C.h"
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
@ -71,7 +72,8 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
|
||||
d_dump_file.close();
|
||||
}
|
||||
|
||||
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
|
||||
|
||||
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
|
||||
{
|
||||
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
|
||||
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
|
||||
@ -88,6 +90,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
double GST = 0.0;
|
||||
double secondsperweek = 604800.0;
|
||||
|
||||
//double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
|
||||
double TX_time_corrected_s = 0.0;
|
||||
double SV_clock_bias_s = 0.0;
|
||||
|
||||
@ -98,7 +101,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
// ********************************************************************************
|
||||
int valid_obs = 0; //valid observations counter
|
||||
|
||||
|
||||
for(gnss_observables_iter = gnss_observables_map.begin();
|
||||
gnss_observables_iter != gnss_observables_map.end();
|
||||
gnss_observables_iter++)
|
||||
@ -118,6 +120,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
W(valid_obs) = 1;
|
||||
|
||||
// COMMON RX TIME PVT ALGORITHM
|
||||
double Rx_time = hybrid_current_time;
|
||||
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
|
||||
|
||||
// 2- compute the clock drift using the clock model (broadcast) for this SV
|
||||
@ -140,7 +143,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
|
||||
|
||||
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
|
||||
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, Rx_time);
|
||||
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
|
||||
|
||||
// SV ECEF DEBUG OUTPUT
|
||||
DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
|
||||
@ -174,15 +177,15 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
|
||||
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
|
||||
// first estimate of transmit time
|
||||
double Rx_time = hybrid_current_time;
|
||||
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
|
||||
|
||||
// 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
|
||||
SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
|
||||
SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
|
||||
|
||||
// 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
|
||||
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
|
||||
//compute satellite position, clock bias + relativistic correction
|
||||
double dts = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
|
||||
double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
|
||||
|
||||
//store satellite positions in a matrix
|
||||
satpos.resize(3, valid_obs + 1);
|
||||
@ -198,31 +201,17 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s);
|
||||
double Code_bias_m= P1_P2/(1.0-Gamma);
|
||||
obs.resize(valid_obs + 1, 1);
|
||||
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dts * GPS_C_m_s-Code_bias_m-d_rx_dt_s * GPS_C_m_s;
|
||||
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-d_rx_dt_s * GPS_C_m_s;
|
||||
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
|
||||
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
|
||||
|
||||
// SV ECEF DEBUG OUTPUT
|
||||
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
|
||||
<< " TX Time corrected="<<TX_time_corrected_s
|
||||
<< " [m] X=" << gps_ephemeris_iter->second.d_satpos_X
|
||||
<< " TX Time corrected="<<TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X
|
||||
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
|
||||
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
|
||||
<< " [m] PR_obs=" << obs(valid_obs) << " [m]";
|
||||
|
||||
//*** debug
|
||||
if (valid_obs==0)
|
||||
{
|
||||
gtime_t rx_time=gpst2time(adjgpsweek(gps_ephemeris_iter->second.i_GPS_week),Rx_time);
|
||||
gtime_t tx_time=gpst2time(adjgpsweek(gps_ephemeris_iter->second.i_GPS_week),Tx_time);
|
||||
printf("RINEX RX TIME: %s,%f, TX TIME: %s,%f\n\r",time_str(rx_time,3),rx_time.sec,time_str(tx_time,3),tx_time.sec);
|
||||
}
|
||||
std::flush(std::cout);
|
||||
gtime_t tx_time_corr=gpst2time(adjgpsweek(gps_ephemeris_iter->second.i_GPS_week),TX_time_corrected_s);
|
||||
printf("SAT TX TIME [%i]: %s,%f PR:%f dt:%f\n\r",valid_obs,time_str(tx_time_corr,3),tx_time_corr.sec, obs(valid_obs),dts);
|
||||
std::flush(std::cout);
|
||||
//*** end debug
|
||||
|
||||
valid_obs++;
|
||||
// compute the UTC time for this SV (just to print the associated UTC timestamp)
|
||||
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
|
||||
@ -245,15 +234,17 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
|
||||
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
|
||||
// first estimate of transmit time
|
||||
double Rx_time = hybrid_current_time;
|
||||
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
|
||||
|
||||
// 2- compute the clock drift using the clock model (broadcast) for this SV
|
||||
SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
|
||||
|
||||
// 3- compute the current ECEF position for this SV using corrected TX time
|
||||
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
|
||||
//std::cout<<"TX time["<<gps_cnav_ephemeris_iter->second.i_satellite_PRN<<"]="<<TX_time_corrected_s<<std::endl;
|
||||
double dtr = gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
|
||||
//std::cout<<"L2 Tx_time: "<<Tx_time<<" SV_clock_bias_s: "<<SV_clock_bias_s<<" dtr: "<<dtr<<std::endl;
|
||||
|
||||
//store satellite positions in a matrix
|
||||
satpos.resize(3, valid_obs + 1);
|
||||
satpos(0, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_X;
|
||||
@ -262,7 +253,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
|
||||
// 4- fill the observations vector with the corrected observables
|
||||
obs.resize(valid_obs + 1, 1);
|
||||
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
|
||||
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr*GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
|
||||
d_visible_satellites_IDs[valid_obs] = gps_cnav_ephemeris_iter->second.i_satellite_PRN;
|
||||
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
|
||||
|
||||
@ -296,6 +287,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
// ****** SOLVE LEAST SQUARES******************************************************
|
||||
// ********************************************************************************
|
||||
d_valid_observations = valid_obs;
|
||||
|
||||
LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
|
||||
|
||||
if(valid_obs >= 4)
|
||||
@ -304,7 +296,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
DLOG(INFO) << "satpos=" << satpos;
|
||||
DLOG(INFO) << "obs=" << obs;
|
||||
DLOG(INFO) << "W=" << W;
|
||||
|
||||
try
|
||||
{
|
||||
// check if this is the initial position computation
|
||||
@ -323,7 +314,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
|
||||
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
|
||||
|
||||
DLOG(INFO) << "Hybrid Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
||||
DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
|
||||
|
||||
// Compute GST and Gregorian time
|
||||
@ -349,7 +340,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
|
||||
|
||||
// ###### Compute DOPs ########
|
||||
compute_DOP();
|
||||
hybrid_ls_pvt::compute_DOP();
|
||||
|
||||
// ######## LOG FILE #########
|
||||
if(d_flag_dump_enabled == true)
|
||||
@ -359,7 +350,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
{
|
||||
double tmp_double;
|
||||
// PVT GPS time
|
||||
tmp_double = Rx_time;
|
||||
tmp_double = hybrid_current_time;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
// ECEF User Position East [m]
|
||||
tmp_double = rx_position_and_time(0);
|
||||
@ -396,9 +387,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
|
||||
{
|
||||
d_rx_dt_s = 0; //reset rx time estimation
|
||||
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
|
||||
LOG(WARNING) << "satpos=" << satpos;
|
||||
LOG(WARNING) << "obs=" << obs;
|
||||
LOG(WARNING) << "W=" << W;
|
||||
b_valid_position = false;
|
||||
}
|
||||
}
|
||||
|
||||
@ -266,7 +266,7 @@ int Position_Gps_L1_System_Test::configure_receiver()
|
||||
const float dll_bw_narrow_hz = 2.0;
|
||||
const int extend_correlation_ms = 1;
|
||||
|
||||
const int display_rate_ms = 500;
|
||||
const int display_rate_ms = 1000;
|
||||
const int output_rate_ms = 1000;
|
||||
const int averaging_depth = 1;
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user