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Merge branch 'antonioramosdet-observables_and_display_color' into next

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This commit is contained in:
Carles Fernandez 2018-04-03 16:49:51 +02:00
commit dc9c98a0cd
45 changed files with 1447 additions and 1029 deletions
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1
CMakeLists.txt
View File

@ -138,6 +138,7 @@ set(OS_IS_LINUX "")
if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
set(OperatingSystem "Linux")
set(OS_IS_LINUX TRUE)
add_definitions( -DDISPLAY_COLORS=1 )
if(ARCH_64BITS)
set(ARCH_ "(64 bits)")
else(ARCH_64BITS)

89
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -38,6 +38,7 @@
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include "display.h"
#include <algorithm>
#include <iostream>
#include <map>
@ -386,7 +387,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL);
//save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_L2CM_L5.xml";
std::string file_name = "eph_GPS_CNAV.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{
@ -535,13 +536,13 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][epoch].Flag_valid_pseudorange == true)
if (in[i][epoch].Flag_valid_pseudorange)
{
std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1G") == 0)) || ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2G") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("L5") == 0)))
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1C") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2S") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1B") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("5X") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1G") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2G") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("L5") == 0)))
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
@ -611,36 +612,36 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
flag_display_pvt = true;
last_pvt_display_T_rx_s = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) && (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0
if ((std::fabs(current_RX_time - last_RTCM_1019_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1019_rate_ms)) and (d_rtcm_MT1019_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{
flag_write_RTCM_1019_output = true;
last_RTCM_1019_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) && (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0
if ((std::fabs(current_RX_time - last_RTCM_1020_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1020_rate_ms)) and (d_rtcm_MT1020_rate_ms != 0)) // allows deactivating messages by setting rate = 0
{
flag_write_RTCM_1020_output = true;
last_RTCM_1020_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) && (d_rtcm_MT1045_rate_ms != 0))
if ((std::fabs(current_RX_time - last_RTCM_1045_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1045_rate_ms)) and (d_rtcm_MT1045_rate_ms != 0))
{
flag_write_RTCM_1045_output = true;
last_RTCM_1045_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) && (d_rtcm_MT1077_rate_ms != 0))
if ((std::fabs(current_RX_time - last_RTCM_1077_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1077_rate_ms)) and (d_rtcm_MT1077_rate_ms != 0))
{
last_RTCM_1077_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) && (d_rtcm_MT1087_rate_ms != 0))
if ((std::fabs(current_RX_time - last_RTCM_1087_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1087_rate_ms)) and (d_rtcm_MT1087_rate_ms != 0))
{
last_RTCM_1087_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) && (d_rtcm_MT1097_rate_ms != 0))
if ((std::fabs(current_RX_time - last_RTCM_1097_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MT1097_rate_ms)) and (d_rtcm_MT1097_rate_ms != 0))
{
last_RTCM_1097_output_time = current_RX_time;
}
if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) && (d_rtcm_MSM_rate_ms != 0))
if ((std::fabs(current_RX_time - last_RTCM_MSM_output_time) * 1000.0 >= static_cast<double>(d_rtcm_MSM_rate_ms)) and (d_rtcm_MSM_rate_ms != 0))
{
flag_write_RTCM_MSM_output = true;
last_RTCM_MSM_output_time = current_RX_time;
@ -789,7 +790,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
@ -799,7 +800,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -809,7 +810,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 10) // GPS L1 C/A + Galileo E5a
{
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{
std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -819,7 +820,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 11) // GPS L1 C/A + Galileo E5b
{
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{
std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
@ -880,7 +881,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()))
{
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -896,7 +897,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()))
{
std::string glo_signal("1G");
std::string gal_signal("1B");
@ -907,7 +908,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
{
std::string glo_signal("1G");
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
@ -969,7 +970,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
}
if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6)) // Galileo
if ((type_of_rx == 4) or (type_of_rx == 5) or (type_of_rx == 6)) // Galileo
{
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
}
@ -977,15 +978,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map);
}
if ((type_of_rx == 9) || (type_of_rx == 10) || (type_of_rx == 11)) // GPS L1 C/A + Galileo
if ((type_of_rx == 9) or (type_of_rx == 10) or (type_of_rx == 11)) // GPS L1 C/A + Galileo
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
}
if ((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a
if ((type_of_rx == 14) or (type_of_rx == 15)) // Galileo E1B + Galileo E5a
{
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
}
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
if ((type_of_rx == 23) or (type_of_rx == 24) or (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
{
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
}
@ -1040,7 +1041,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -1053,7 +1054,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -1066,7 +1067,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->gps_cnav_iono);
@ -1079,7 +1080,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1092,7 +1093,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1105,7 +1106,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1114,11 +1115,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
{
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) and (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);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
@ -1127,11 +1128,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) and (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);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_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);
@ -1144,7 +1145,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1157,7 +1158,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
@ -1170,7 +1171,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1183,7 +1184,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1196,7 +1197,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
if (!b_rinex_header_updated and (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
@ -1205,11 +1206,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1218,11 +1219,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 27) // Galileo E1B + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()))
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -1231,11 +1232,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (type_of_rx == 28) // GPS L2C + GLONASS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
if (!b_rinex_header_updated and (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
@ -2064,9 +2065,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// DEBUG MESSAGE: Display position in console output
if (d_ls_pvt->is_valid_position() and flag_display_pvt)
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
std::cout << TEXT_BOLD_GREEN << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << std::endl;
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()

10
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -132,7 +132,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++)
gnss_observables_iter++) //CHECK INCONSISTENCY when combining GLONASS + other system
{
switch (gnss_observables_iter->second.System)
{
@ -241,6 +241,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{
/* By the moment, GPS L2 observables are not used in pseudorange computations if GPS L1 is available
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++)
@ -250,11 +251,12 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
eph_data[i].week,
1); //Band 2 (L2)
break;
}
}
*/
}
else
{
@ -404,7 +406,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
// **********************************************************************
this->set_valid_position(false);
if (valid_obs > 0 || glo_valid_obs > 0)
if ((valid_obs + glo_valid_obs) > 3)
{
int result = 0;
nav_t nav_data;
@ -495,5 +497,5 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
}
}
}
return this->is_valid_position();
return is_valid_position();
}

84
src/algorithms/libs/gnss_sdr_sample_counter.cc
View File

@ -33,39 +33,83 @@
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
gnss_sdr_sample_counter::gnss_sdr_sample_counter() : gr::sync_block("sample_counter",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs) : gr::sync_decimator("sample_counter",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
static_cast<unsigned int>(floor(_fs * 0.001)))
{
this->message_port_register_out(pmt::mp("sample_counter"));
last_T_rx_s = 0;
report_interval_s = 1; //default reporting 1 second
message_port_register_out(pmt::mp("sample_counter"));
set_max_noutput_items(1);
current_T_rx_ms = 0;
current_s = 0;
current_m = 0;
current_h = 0;
current_days = 0;
report_interval_ms = 1000; //default reporting 1 second
flag_enable_send_msg = false; //enable it for reporting time with asynchronous message
flag_m = false;
flag_h = false;
flag_days = false;
}
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter()
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs)
{
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter());
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs));
return sample_counter_;
}
int gnss_sdr_sample_counter::work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)),
gr_vector_void_star &output_items)
{
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // input
double current_T_rx_s = in[noutput_items - 1].Tracking_sample_counter / static_cast<double>(in[noutput_items - 1].fs);
if ((current_T_rx_s - last_T_rx_s) > report_interval_s)
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
if ((current_T_rx_ms % report_interval_ms) == 0)
{
std::cout << "Current receiver time: " << floor(current_T_rx_s) << " [s]" << std::endl;
if (flag_enable_send_msg == true)
current_s++;
if ((current_s % 60) == 0)
{
this->message_port_pub(pmt::mp("receiver_time"), pmt::from_double(current_T_rx_s));
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
if (flag_days)
{
std::cout << "Current receiver time: " << current_days << " [days] " << current_h << " [h] " << current_m << " [min] " << current_s << " [s]" << std::endl;
}
else if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " [h] " << current_m << " [min] " << current_s << " [s]" << std::endl;
}
else if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " [min] " << current_s << " [s]" << std::endl;
}
else
{
std::cout << "Current receiver time: " << current_s << " [s]" << std::endl;
}
if (flag_enable_send_msg)
{
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
last_T_rx_s = current_T_rx_s;
}
return noutput_items;
current_T_rx_ms++;
return 1;
}

28
src/algorithms/libs/gnss_sdr_sample_counter.h
View File

@ -28,10 +28,10 @@
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_sample_counter_H_
#define GNSS_SDR_sample_counter_H_
#ifndef GNSS_SDR_SAMPLE_COUNTER_H_
#define GNSS_SDR_SAMPLE_COUNTER_H_
#include <gnuradio/sync_block.h>
#include <gnuradio/sync_decimator.h>
#include <boost/shared_ptr.hpp>
@ -39,20 +39,28 @@ class gnss_sdr_sample_counter;
typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr;
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter();
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
class gnss_sdr_sample_counter : public gr::sync_block
class gnss_sdr_sample_counter : public gr::sync_decimator
{
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter();
gnss_sdr_sample_counter();
double last_T_rx_s;
double report_interval_s;
private:
gnss_sdr_sample_counter(double _fs);
long long int current_T_rx_ms; // Receiver time in ms since the beggining of the run
unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beggining of the run
int report_interval_ms;
bool flag_enable_send_msg;
public:
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
int work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_sample_counter_H_*/
#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/

42
src/algorithms/libs/rtklib/rtklib.h
View File

@ -452,27 +452,27 @@ typedef struct
} alm_t;
typedef struct
{ /* GPS/QZS/GAL broadcast ephemeris type */
int sat; /* satellite number */
int iode, iodc; /* IODE,IODC */
int sva; /* SV accuracy (URA index) */
int svh; /* SV health (0:ok) */
int week; /* GPS/QZS: gps week, GAL: galileo week */
int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */
int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */
gtime_t toe, toc, ttr; /* Toe,Toc,T_trans */
/* SV orbit parameters */
double A, e, i0, OMG0, omg, M0, deln, OMGd, idot;
double crc, crs, cuc, cus, cic, cis;
double toes; /* Toe (s) in week */
double fit; /* fit interval (h) */
double f0, f1, f2; /* SV clock parameters (af0,af1,af2) */
double tgd[4]; /* group delay parameters */
/* GPS/QZS:tgd[0]=TGD */
/* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
/* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */
double Adot, ndot; /* Adot,ndot for CNAV */
typedef struct { /* GPS/QZS/GAL broadcast ephemeris type */
int sat; /* satellite number */
int iode,iodc; /* IODE,IODC */
int sva; /* SV accuracy (URA index) */
int svh; /* SV health (0:ok) */
int week; /* GPS/QZS: gps week, GAL: galileo week */
int code; /* GPS/QZS: code on L2, GAL/BDS: data sources */
int flag; /* GPS/QZS: L2 P data flag, BDS: nav type */
gtime_t toe,toc,ttr; /* Toe,Toc,T_trans */
/* SV orbit parameters */
double A,e,i0,OMG0,omg,M0,deln,OMGd,idot;
double crc,crs,cuc,cus,cic,cis;
double toes; /* Toe (s) in week */
double fit; /* fit interval (h) */
double f0,f1,f2; /* SV clock parameters (af0,af1,af2) */
double tgd[4]; /* group delay parameters */
/* GPS/QZS:tgd[0]=TGD */
/* GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 */
/* BDS :tgd[0]=BGD1,tgd[1]=BGD2 */
double isc[4]; /* GPS :isc[0]=ISCL1, isc[1]=ISCL2, isc[2]=ISCL5I, isc[3]=ISCL5Q */
double Adot,ndot; /* Adot,ndot for CNAV */
} eph_t;

22
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -116,7 +116,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glona
eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
@ -174,7 +174,7 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
@ -199,9 +199,9 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
rtklib_sat.f1 = gps_eph.d_A_f1;
rtklib_sat.f2 = gps_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_eph.d_TGD;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
@ -231,7 +231,7 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 };
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
@ -260,9 +260,13 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
rtklib_sat.tgd[1] = 0;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.d_Toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW);

137
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -78,18 +78,70 @@ double gettgd(int sat, const nav_t *nav)
return 0.0;
}
/* get isc parameter (m) -----------------------------------------------------*/
double getiscl1(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[0];
}
return 0.0;
}
double getiscl2(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[1];
}
return 0.0;
}
double getiscl5i(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[2];
}
return 0.0;
}
double getiscl5q(int sat, const nav_t *nav)
{
for (int i = 0; i < nav->n; i++)
{
if (nav->eph[i].sat != sat) continue;
return SPEED_OF_LIGHT * nav->eph[i].isc[3];
}
return 0.0;
}
/* psendorange with code bias correction -------------------------------------*/
double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var)
{
const double *lam = nav->lam[obs->sat - 1];
double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma_;
int i = 0, j = 1, sys;
double PC = 0.0;
double P1 = 0.0;
double P2 = 0.0;
double P1_P2 = 0.0;
double P1_C1 = 0.0;
double P2_C2 = 0.0;
//Intersignal corrections (m). See GPS IS-200 CNAV message
double ISCl1 = 0.0;
double ISCl2 = 0.0;
double ISCl5i = 0.0;
double ISCl5q = 0.0;
double gamma_ = 0.0;
int i = 0;
int j = 1;
int sys = satsys(obs->sat, NULL);
*var = 0.0;
if (!(sys = satsys(obs->sat, NULL)))
if (sys == SYS_NONE)
{
trace(4, "prange: satsys NULL\n");
return 0.0;
@ -97,12 +149,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (sys & (SYS_GAL | SYS_SBS))
if (sys == SYS_GAL or sys == SYS_SBS)
{
j = 2;
}
if (sys == SYS_GPS)
else if (sys == SYS_GPS or sys == SYS_GLO)
{
if (obs->code[1] != CODE_NONE)
{
@ -114,7 +165,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
}
}
if (NFREQ < 2 || lam[i] == 0.0 || lam[j] == 0.0)
if (lam[i] == 0.0 or lam[j] == 0.0)
{
trace(4, "prange: NFREQ<2||lam[i]==0.0||lam[j]==0.0\n");
printf("i: %d j:%d, lam[i]: %f lam[j] %f\n", i, j, lam[i], lam[j]);
@ -139,7 +190,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
}
}
}
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */
/* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO)
{
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
}
P1 = obs->P[i];
P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat - 1][0];
@ -147,10 +202,20 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
P2_C2 = nav->cbias[obs->sat - 1][2];
/* if no P1-P2 DCB, use TGD instead */
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS))) //CHECK!
if (P1_P2 == 0.0)
{
P1_P2 = (1.0 - gamma_) * gettgd(obs->sat, nav);
P1_P2 = gettgd(obs->sat, nav);
}
if (sys == SYS_GPS)
{
ISCl1 = getiscl1(obs->sat, nav);
ISCl2 = getiscl2(obs->sat, nav);
ISCl5i = getiscl5i(obs->sat, nav);
ISCl5q = getiscl5q(obs->sat, nav);
}
//CHECK IF IT IS STILL NEEDED
if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */
@ -170,25 +235,59 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* iono-free combination */
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
////////////////////////////////////////////
else
{ /* single-frequency */
if ((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE))
if (obs->code[i] == CODE_NONE and obs->code[j] == CODE_NONE)
{
return 0.0;
}
else if ((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE))
else if (obs->code[i] != CODE_NONE and obs->code[j] == CODE_NONE)
{
P1 += P1_C1; /* C1->P1 */
PC = P1 - P1_P2 / (1.0 - gamma_);
PC = P1 + P1_P2;
}
else if ((obs->code[i] == CODE_NONE) && (obs->code[j] != CODE_NONE))
else if (obs->code[i] == CODE_NONE and obs->code[j] != CODE_NONE)
{
P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
if (sys == SYS_GPS)
{
P2 += P2_C2; /* C2->P2 */
//PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
if (obs->code[j] == CODE_L2S) //L2 single freq.
{
PC = P2 + P1_P2 - ISCl2;
}
else if (obs->code[j] == CODE_L5X) //L5 single freq.
{
PC = P2 + P1_P2 - ISCl5i;
}
}
else if (sys == SYS_GAL or sys == SYS_GLO) // Gal. E5a single freq.
{
P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
}
}
/* dual-frequency */
else
else if (sys == SYS_GPS)
{
if (obs->code[j] == CODE_L2S) /* L1 + L2 */
{
//By the moment, GPS L2 pseudoranges are not used
//PC = (P2 + ISCl2 - gamma_ * (P1 + ISCl1)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
}
else if (obs->code[j] == CODE_L5X) /* L1 + L5 */
{
//By the moment, GPS L5 pseudoranges are not used
//PC = (P2 + ISCl5i - gamma_ * (P1 + ISCl5i)) / (1.0 - gamma_) - P1_P2;
P1 += P1_C1; /* C1->P1 */
PC = P1 + P1_P2;
}
}
else if (sys == SYS_GAL or sys == SYS_GLO) /* E1 + E5a */
{
P1 += P1_C1;
P2 += P2_C2;
@ -199,9 +298,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
{
PC -= P1_C1;
} /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0);
return PC;
}

6
src/algorithms/libs/rtklib/rtklib_pntpos.h
View File

@ -69,6 +69,12 @@ double varerr(const prcopt_t *opt, double el, int sys);
/* get tgd parameter (m) -----------------------------------------------------*/
double gettgd(int sat, const nav_t *nav);
/* get isc parameter (m) -----------------------------------------------------*/
double getiscl1(int sat, const nav_t *nav);
double getiscl2(int sat, const nav_t *nav);
double getiscl5i(int sat, const nav_t *nav);
double getiscl5q(int sat, const nav_t *nav);
/* psendorange with code bias correction -------------------------------------*/
double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var);

2
src/algorithms/libs/rtklib/rtklib_rtcm.cc
View File

@ -69,7 +69,7 @@ int init_rtcm(rtcm_t *rtcm)
obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0};
ssr_t ssr0 = {{{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0'};

2
src/algorithms/libs/rtklib/rtklib_rtcm2.cc
View File

@ -219,7 +219,7 @@ int decode_type17(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
int i = 48, week, prn, sat;

12
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
View File

@ -846,7 +846,7 @@ int decode_type1019(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_GPS;
@ -1293,7 +1293,7 @@ int decode_type1044(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_QZS;
@ -1398,7 +1398,7 @@ int decode_type1045(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1502,7 +1502,7 @@ int decode_type1046(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
char *msg;
int i = 24 + 12, prn, sat, week, e5a_hs, e5a_dvs, sys = SYS_GAL;
@ -1606,7 +1606,7 @@ int decode_type1047(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
;
double toc, sqrtA;
char *msg;
@ -1716,7 +1716,7 @@ int decode_type63(rtcm_t *rtcm)
{
eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
double toc, sqrtA;
char *msg;
int i = 24 + 12, prn, sat, week, sys = SYS_BDS;

17
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -253,12 +253,11 @@ const unsigned int tbl_CRC24Q[] = {
0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538};
extern "C"
{
void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
extern void dgetrf_(int *, int *, double *, int *, int *, int *);
extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
extern "C" {
void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
extern void dgetrf_(int *, int *, double *, int *, int *, int *);
extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
}
@ -1388,10 +1387,10 @@ double time2gpst(gtime_t t, int *week)
{
gtime_t t0 = epoch2time(gpst0);
time_t sec = t.time - t0.time;
int w = (int)(sec / (86400 * 7));
int w = static_cast<int>(sec / 604800);
if (week) *week = w;
return (double)(sec - (double)w * 86400 * 7) + t.sec;
return (static_cast<double>(sec - static_cast<time_t>(w * 604800)) + t.sec);
}
@ -2993,7 +2992,7 @@ int readnav(const char *file, nav_t *nav)
{
FILE *fp;
eph_t eph0 = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0};
char buff[4096], *p;
long toe_time, tof_time, toc_time, ttr_time;

2
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@ -592,7 +592,7 @@ int rtksvrinit(rtksvr_t *svr)
'0', '0', '0', 0, 0, 0};
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0.0}, {0.0}, {0.0},
0.0, 0.0, 0.0};
seph_t seph0 = {0, {0, 0.0}, {0, 0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};

27
src/algorithms/observables/adapters/hybrid_observables.cc
View File

@ -32,40 +32,27 @@
#include "hybrid_observables.h"
#include "configuration_interface.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include <glog/logging.h>
using google::LogMessage;
HybridObservables::HybridObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
std::string role, unsigned int in_streams, unsigned int out_streams) :
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
std::string default_dump_filename = "./observables.dat";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
unsigned int default_depth = 0;
if (GPS_L1_CA_HISTORY_DEEP == GALILEO_E1_HISTORY_DEEP)
{
default_depth = GPS_L1_CA_HISTORY_DEEP;
}
else
{
default_depth = 500;
}
unsigned int history_deep = configuration->property(role + ".history_depth", default_depth);
observables_ = hybrid_make_observables_cc(in_streams_, dump_, dump_filename_, history_deep);
DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
observables_ = hybrid_make_observables_cc(in_streams_, out_streams_, dump_, dump_filename_);
DLOG(INFO) << "Observables block ID (" << observables_->unique_id() << ")";
}
HybridObservables::~HybridObservables() {}
HybridObservables::~HybridObservables()
{}
void HybridObservables::connect(gr::top_block_sptr top_block)

547
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -1,11 +1,12 @@
/*!
* \file hybrid_observables_cc.cc
* \brief Implementation of the pseudorange computation block for Galileo E1
* \brief Implementation of the pseudorange computation block
* \author Javier Arribas 2017. jarribas(at)cttc.es
* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -29,50 +30,49 @@
*/
#include "hybrid_observables_cc.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include <armadillo>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <gnuradio/block_detail.h>
#include <gnuradio/buffer.h>
#include <matio.h>
#include <algorithm>
#include <cmath>
#include <iostream>
#include <map>
#include <vector>
#include <utility>
#include <limits>
#include "display.h"
using google::LogMessage;
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename)
{
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels_in, nchannels_out, dump, dump_filename));
}
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) : gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename) : gr::block("hybrid_observables_cc",
gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
d_nchannels = nchannels_out;
d_dump_filename = dump_filename;
history_deep = deep_history;
T_rx_s = 0.0;
T_rx_step_s = 1e-3; // todo: move to gnss-sdr config
T_rx_step_s = 0.001; // 1 ms
max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
for (unsigned int i = 0; i < d_nchannels; i++)
{
d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
}
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
if (d_dump)
{
if (d_dump_file.is_open() == false)
if (!d_dump_file.is_open())
{
try
{
@ -83,6 +83,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump,
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
d_dump = false;
}
}
}
@ -91,7 +92,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump,
hybrid_observables_cc::~hybrid_observables_cc()
{
if (d_dump_file.is_open() == true)
if (d_dump_file.is_open())
{
try
{
@ -102,10 +103,10 @@ hybrid_observables_cc::~hybrid_observables_cc()
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
if (d_dump == true)
if (d_dump)
{
std::cout << "Writing observables .mat files ...";
hybrid_observables_cc::save_matfile();
save_matfile();
std::cout << " done." << std::endl;
}
}
@ -230,7 +231,10 @@ int hybrid_observables_cc::save_matfile()
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4);
if (filename.size() > 4)
{
filename.erase(filename.end() - 4, filename.end());
}
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long *>(matfp) != NULL)
@ -294,304 +298,291 @@ int hybrid_observables_cc::save_matfile()
return 0;
}
bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int, Gnss_Synchro> &a, const std::pair<int, Gnss_Synchro> &b)
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
{
return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
{
return false;
}
std::deque<Gnss_Synchro>::iterator it;
arma::vec t = arma::vec(data.size());
arma::vec dop = t;
arma::vec cph = t;
arma::vec tow = t;
arma::vec tiv = arma::vec(1);
arma::vec result;
tiv(0) = ti;
unsigned int aux = 0;
for (it = data.begin(); it != data.end(); it++)
{
t(aux) = it->RX_time;
dop(aux) = it->Carrier_Doppler_hz;
cph(aux) = it->Carrier_phase_rads;
tow(aux) = it->TOW_at_current_symbol_s;
aux++;
}
arma::interp1(t, dop, tiv, result);
out.Carrier_Doppler_hz = result(0);
arma::interp1(t, cph, tiv, result);
out.Carrier_phase_rads = result(0);
arma::interp1(t, tow, tiv, result);
out.TOW_at_current_symbol_s = result(0);
return result.is_finite();
}
double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
{
if (a.Flag_valid_word)
{
return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs));
}
else
{
return 0.0;
}
}
bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro &a, unsigned long int b)
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items_required)
{
return (a.Tracking_sample_counter) < (b);
}
bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro &a, double b)
{
return ((static_cast<double>(a.Tracking_sample_counter) + static_cast<double>(a.Code_phase_samples)) / static_cast<double>(a.fs)) < (b);
}
bool Hybrid_pairCompare_gnss_synchro_d_TOW(const std::pair<int, Gnss_Synchro> &a, const std::pair<int, Gnss_Synchro> &b)
{
return (a.second.TOW_at_current_symbol_s) < (b.second.TOW_at_current_symbol_s);
}
bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro &a, double b)
{
return (a.TOW_at_current_symbol_s) < (b);
}
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
bool zero_samples = true;
for (unsigned int i = 0; i < d_nchannels; i++)
{
int items = detail()->input(i)->items_available();
if (items > 0) zero_samples = false;
ninput_items_required[i] = items; // set the required available samples in each call
ninput_items_required[i] = 0;
}
ninput_items_required[d_nchannels] = 1;
}
if (zero_samples == true)
void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
{
while (data.size() > 0)
{
for (unsigned int i = 0; i < d_nchannels; i++)
if ((T_rx_s - data.front().RX_time) > max_delta)
{
ninput_items_required[i] = 1; // set the required available samples in each call
data.pop_front();
}
else
{
return;
}
}
}
void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Synchro> &data)
{
std::vector<Gnss_Synchro>::iterator it;
int hybrid_observables_cc::general_work(int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
/////////////////////// DEBUG //////////////////////////
// Logs if there is a pseudorange difference between
// signals of the same satellite higher than a threshold
////////////////////////////////////////////////////////
#ifndef NDEBUG
std::vector<Gnss_Synchro>::iterator it2;
double thr_ = 250.0 / SPEED_OF_LIGHT; // Maximum pseudorange difference = 250 meters
for (it = data.begin(); it != (data.end() - 1); it++)
{
for (it2 = it + 1; it2 != data.end(); it2++)
{
if (it->PRN == it2->PRN and it->System == it2->System)
{
double tow_dif_ = std::fabs(it->TOW_at_current_symbol_s - it2->TOW_at_current_symbol_s);
if (tow_dif_ > thr_)
{
DLOG(INFO) << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange";
std::cout << TEXT_RED << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange" << TEXT_RESET << std::endl;
}
}
}
}
#endif
///////////////////////////////////////////////////////////
double TOW_ref = std::numeric_limits<double>::lowest();
for (it = data.begin(); it != data.end(); it++)
{
if (it->TOW_at_current_symbol_s > TOW_ref)
{
TOW_ref = it->TOW_at_current_symbol_s;
}
}
for (it = data.begin(); it != data.end(); it++)
{
double traveltime_s = TOW_ref - it->TOW_at_current_symbol_s + GPS_STARTOFFSET_ms / 1000.0;
it->RX_time = TOW_ref + GPS_STARTOFFSET_ms / 1000.0;
it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
}
}
int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
int n_outputs = 0;
int n_consume[d_nchannels];
double past_history_s = 100e-3;
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
Gnss_Synchro current_gnss_synchro[d_nchannels];
Gnss_Synchro aux = Gnss_Synchro();
for (unsigned int i = 0; i < d_nchannels; i++)
unsigned int i;
int total_input_items = 0;
for (i = 0; i < d_nchannels; i++)
{
current_gnss_synchro[i] = aux;
total_input_items += ninput_items[i];
}
/*
* 1. Read the GNSS SYNCHRO objects from available channels.
* Multi-rate GNURADIO Block. Read how many input items are avaliable in each channel
* Record all synchronization data into queues
*/
for (unsigned int i = 0; i < d_nchannels; i++)
consume(d_nchannels, 1);
T_rx_s += T_rx_step_s;
//////////////////////////////////////////////////////////////////////////
if ((total_input_items == 0) and (d_num_valid_channels == 0))
{
n_consume[i] = ninput_items[i]; // full throttle
for (int j = 0; j < n_consume[i]; j++)
{
d_gnss_synchro_history_queue[i].push_back(in[i][j]);
}
return 0;
}
//////////////////////////////////////////////////////////////////////////
bool channel_history_ok;
do
std::vector<std::deque<Gnss_Synchro>>::iterator it;
if (total_input_items > 0)
{
channel_history_ok = true;
for (unsigned int i = 0; i < d_nchannels; i++)
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (d_gnss_synchro_history_queue[i].size() < history_deep)
if (ninput_items[i] > 0)
{
channel_history_ok = false;
}
}
if (channel_history_ok == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_map_iter;
std::deque<Gnss_Synchro>::const_iterator gnss_synchro_deque_iter;
// 1. If the RX time is not set, set the Rx time
if (T_rx_s == 0)
{
// 0. Read a gnss_synchro snapshot from the queue and store it in a map
std::map<int, Gnss_Synchro> gnss_synchro_map;
for (unsigned int i = 0; i < d_nchannels; i++)
// Add the new Gnss_Synchros to their corresponding deque
for (int aux = 0; aux < ninput_items[i]; aux++)
{
gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
d_gnss_synchro_history_queue[i].front()));
}
gnss_synchro_map_iter = min_element(gnss_synchro_map.cbegin(),
gnss_synchro_map.cend(),
Hybrid_pairCompare_gnss_synchro_sample_counter);
T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
}
// 2. Realign RX time in all valid channels
std::map<int, Gnss_Synchro> realigned_gnss_synchro_map; // container for the aligned set of observables for the selected T_rx
std::map<int, Gnss_Synchro> adjacent_gnss_synchro_map; // container for the previous observable values to interpolate
// shift channels history to match the reference TOW
for (unsigned int i = 0; i < d_nchannels; i++)
{
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].cbegin(),
d_gnss_synchro_history_queue[i].cend(),
T_rx_s,
Hybrid_valueCompare_gnss_synchro_receiver_time);
if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].cend())
{
if (gnss_synchro_deque_iter->Flag_valid_word == true)
if (in[i][aux].Flag_valid_word)
{
double T_rx_channel = static_cast<double>(gnss_synchro_deque_iter->Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s = T_rx_channel - T_rx_s;
// check that T_rx difference is less than a threshold (the correlation interval)
if (delta_T_rx_s * 1000.0 < static_cast<double>(gnss_synchro_deque_iter->correlation_length_ms))
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (it->size() > 1)
{
// record the word structure in a map for pseudorange computation
// save the previous observable
int distance = std::distance(d_gnss_synchro_history_queue[i].cbegin(), gnss_synchro_deque_iter);
if (distance > 0)
if (it->front().PRN != it->back().PRN)
{
if (d_gnss_synchro_history_queue[i].at(distance - 1).Flag_valid_word)
{
double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
}
else
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
d_gnss_synchro_history_queue[i].at(distance - 1)));
}
}
}
else
{
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
it->clear();
}
}
}
}
consume(i, ninput_items[i]);
}
i++;
}
}
for (i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history.at(i).size() > 2)
{
valid_channels[i] = true;
}
else
{
valid_channels[i] = false;
}
}
d_num_valid_channels = valid_channels.count();
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data
if (d_num_valid_channels == 0)
{
return 0;
}
if (!realigned_gnss_synchro_map.empty())
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
{
if (valid_channels[i])
{
clean_history(d_gnss_synchro_history.at(i));
if (d_gnss_synchro_history.at(i).size() < 2)
{
/*
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.cbegin(),
realigned_gnss_synchro_map.cend(),
Hybrid_pairCompare_gnss_synchro_d_TOW);
double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
// compute interpolated TOW value at T_rx_s
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
Gnss_Synchro adj_obs;
adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
double ref_adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
double d_ref_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
double selected_T_rx_s = T_rx_s;
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
double ref_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s +
(selected_T_rx_s - ref_adj_T_rx_s) * (d_TOW_reference - adj_obs.TOW_at_current_symbol_s) / (d_ref_T_rx_s - ref_adj_T_rx_s);
// Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms;
double pseudorange_m;
double channel_T_rx_s;
double channel_fs_hz;
double channel_TOW_s;
for (gnss_synchro_map_iter = realigned_gnss_synchro_map.cbegin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.cend(); gnss_synchro_map_iter++)
{
channel_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
channel_T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / channel_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / channel_fs_hz;
// compute interpolated observation values
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
// TOW at the selected receiver time T_rx_s
int element_key = gnss_synchro_map_iter->second.Channel_ID;
try
{
adj_obs = adjacent_gnss_synchro_map.at(element_key);
}
catch (const std::exception &ex)
{
continue;
}
double adj_T_rx_s = static_cast<double>(adj_obs.Tracking_sample_counter) / channel_fs_hz + adj_obs.Code_phase_samples / channel_fs_hz;
double channel_TOW_at_T_rx_s = adj_obs.TOW_at_current_symbol_s + (selected_T_rx_s - adj_T_rx_s) * (channel_TOW_s - adj_obs.TOW_at_current_symbol_s) / (channel_T_rx_s - adj_T_rx_s);
// Doppler and Accumulated carrier phase
double Carrier_phase_lin_rads = adj_obs.Carrier_phase_rads + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_phase_rads - adj_obs.Carrier_phase_rads) / (channel_T_rx_s - adj_T_rx_s);
double Carrier_Doppler_lin_hz = adj_obs.Carrier_Doppler_hz + (selected_T_rx_s - adj_T_rx_s) * (gnss_synchro_map_iter->second.Carrier_Doppler_hz - adj_obs.Carrier_Doppler_hz) / (channel_T_rx_s - adj_T_rx_s);
// compute the pseudorange (no rx time offset correction)
traveltime_ms = (ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s) * 1000.0 + GPS_STARTOFFSET_ms;
// convert to meters
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID] = gnss_synchro_map_iter->second;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// Save the estimated RX time (no RX clock offset correction yet!)
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].RX_time = ref_TOW_at_T_rx_s + GPS_STARTOFFSET_ms / 1000.0;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_phase_rads = Carrier_phase_lin_rads;
current_gnss_synchro[gnss_synchro_map_iter->second.Channel_ID].Carrier_Doppler_hz = Carrier_Doppler_lin_hz;
}
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = current_gnss_synchro[i].RX_time;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Carrier_phase_rads / GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(current_gnss_synchro[i].Flag_valid_pseudorange);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
for (unsigned int i = 0; i < d_nchannels; i++)
{
out[i][n_outputs] = current_gnss_synchro[i];
}
n_outputs++;
}
// Move RX time
T_rx_s = T_rx_s + T_rx_step_s;
// pop old elements from queue
for (unsigned int i = 0; i < d_nchannels; i++)
{
while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
{
d_gnss_synchro_history_queue[i].pop_front();
}
valid_channels[i] = false;
}
}
}
while (channel_history_ok == true && noutput_items > n_outputs);
// Multi-rate consume!
for (unsigned int i = 0; i < d_nchannels; i++)
// Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time
d_num_valid_channels = valid_channels.count();
double T_rx_s_out = T_rx_s - (max_delta / 2.0);
if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0))
{
consume(i, n_consume[i]); // which input, how many items
return 0;
}
return n_outputs;
std::vector<Gnss_Synchro> epoch_data;
i = 0;
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
{
if (valid_channels[i])
{
Gnss_Synchro interpolated_gnss_synchro = it->back();
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
{
epoch_data.push_back(interpolated_gnss_synchro);
}
else
{
valid_channels[i] = false;
}
}
i++;
}
d_num_valid_channels = valid_channels.count();
if (d_num_valid_channels == 0)
{
return 0;
}
correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
for (i = 0; i < d_nchannels; i++)
{
if (valid_channels[i])
{
out[i][0] = (*it2);
out[i][0].Flag_valid_pseudorange = true;
it2++;
}
else
{
out[i][0] = Gnss_Synchro();
out[i][0].Flag_valid_pseudorange = false;
}
}
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (i = 0; i < d_nchannels; i++)
{
tmp_double = out[i][0].RX_time;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].TOW_at_current_symbol_s;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Carrier_Doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].PRN);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].Flag_valid_pseudorange);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
d_dump = false;
}
}
return 1;
}

29
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -1,12 +1,13 @@
/*!
* \file hybrid_observables_cc.h
* \brief Interface of the observables computation block for Galileo E1
* \brief Interface of the observables computation block
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas 2013. jarribas(at)cttc.es
* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -37,6 +38,9 @@
#include <gnuradio/block.h>
#include <fstream>
#include <string>
#include <vector> //std::vector
#include <deque>
#include <boost/dynamic_bitset.hpp>
class hybrid_observables_cc;
@ -44,10 +48,10 @@ class hybrid_observables_cc;
typedef boost::shared_ptr<hybrid_observables_cc> hybrid_observables_cc_sptr;
hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
/*!
* \brief This class implements a block that computes Galileo observables
* \brief This class implements a block that computes observables
*/
class hybrid_observables_cc : public gr::block
{
@ -59,21 +63,26 @@ public:
private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(std::deque<Gnss_Synchro>& data);
double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();
//Tracking observable history
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue;
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
boost::dynamic_bitset<> valid_channels;
double T_rx_s;
double T_rx_step_s;
double max_delta;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;
unsigned int d_num_valid_channels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int save_matfile();
};
#endif

10
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@ -399,32 +399,32 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
if (d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
//TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_5 + GALILEO_INAV_PAGE_PART_SECONDS + (static_cast<double>(required_symbols)) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_TOW_at_current_symbol = d_nav.TOW_5 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols - 1) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_5 = false;
}
else if (d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
//TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_6 + GALILEO_INAV_PAGE_PART_SECONDS + (static_cast<double>(required_symbols)) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_TOW_at_current_symbol = d_nav.TOW_6 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols - 1) * GALILEO_E1_CODE_PERIOD; //-GALILEO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_6 = false;
}
else
{
//this page has no timing information
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
}
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E1_CODE_PERIOD;
d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD;
}
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
{
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0)));
}
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)

17
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -93,8 +93,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_GPS_frame_4bytes = 0;
d_prev_GPS_frame_4bytes = 0;
d_flag_parity = false;
d_TOW_at_Preamble = 0;
d_TOW_at_current_symbol = 0;
d_TOW_at_Preamble = 0.0;
d_TOW_at_current_symbol = 0.0;
flag_TOW_set = false;
d_average_count = 0;
d_flag_preamble = false;
@ -104,6 +104,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_channel = 0;
flag_PLL_180_deg_phase_locked = false;
d_preamble_time_samples = 0;
d_TOW_at_current_symbol_ms = 0;
}
@ -350,18 +351,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
//double decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency)
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + 2.0 * GPS_L1_CA_CODE_PERIOD + GPS_CA_PREAMBLE_DURATION_S;
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_GPS_FSM.d_nav.d_TOW) * 1000 + 161;
//d_TOW_at_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
d_TOW_at_current_symbol = d_TOW_at_Preamble;
flag_TOW_set = true;
d_flag_new_tow_available = false;
}
else
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
d_TOW_at_current_symbol += GPS_L1_CA_CODE_PERIOD;
d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS;
}
current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.TOW_at_current_symbol_s = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
//current_symbol.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_symbol.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true)

5
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@ -107,8 +107,9 @@ private:
unsigned long int d_preamble_time_samples;
long double d_TOW_at_Preamble;
long double d_TOW_at_current_symbol;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
unsigned int d_TOW_at_current_symbol_ms;
bool flag_TOW_set;
bool flag_PLL_180_deg_phase_locked;

12
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
View File

@ -32,6 +32,7 @@
#include "gps_l2c_telemetry_decoder_cc.h"
#include "gnss_synchro.h"
#include "display.h"
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
@ -132,32 +133,31 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{
// get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << std::endl;
std::cout << TEXT_BLUE << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_iono() == true)
{
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << std::endl;
std::cout << TEXT_BLUE << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_utc_model() == true)
{
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
std::cout << TEXT_BLUE << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
//update TOW at the preamble instant
d_TOW_at_Preamble = static_cast<int>(msg.tow);
//std::cout<<"["<<(int)msg.prn<<"] deco delay: "<<delay<<"[symbols]"<<std::endl;
d_TOW_at_Preamble = static_cast<double>(msg.tow);
//* The time of the last input symbol can be computed from the message ToW and
//* delay by the formulae:
//* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
d_TOW_at_current_symbol = static_cast<double>(msg.tow) * 6.0 + static_cast<double>(delay) * GPS_L2_M_PERIOD + 12 * GPS_L2_M_PERIOD;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
//d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
d_flag_valid_word = true;
}
else

61
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -38,6 +38,7 @@
#include "configuration_interface.h"
#include "Galileo_E1.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
@ -49,43 +50,40 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float pll_bw_narrow_hz;
float dll_bw_hz;
float dll_bw_narrow_hz;
float early_late_space_chips;
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
bool dump = configuration->property(role + ".dump", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
int extend_correlation_symbols;
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
int vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
@ -116,7 +114,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}

118
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -40,6 +40,7 @@
#include "configuration_interface.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
using google::LogMessage;
@ -50,55 +51,67 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float pll_bw_narrow_hz;
float dll_bw_narrow_hz;
int ti_ms;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
bool dump = configuration->property(role + ".dump", false);
unified_ = configuration->property(role + ".unified", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
ti_ms = configuration->property(role + ".ti_ms", 3);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
int ti_ms = configuration->property(role + ".ti_ms", 3);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS));
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
int vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS));
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > Galileo_E5a_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = Galileo_E5a_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = galileo_e5a_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
ti_ms,
early_late_space_chips);
if (unified_)
{
char sig_[3] = "5X";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz,
pll_bw_narrow_hz, dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,
early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot, 'E', sig_);
}
else
{
tracking_ = galileo_e5a_dll_pll_make_tracking_cc(
0, fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz,
dll_bw_narrow_hz, ti_ms,
early_late_space_chips);
}
}
else
{
@ -117,7 +130,10 @@ GalileoE5aDllPllTracking::~GalileoE5aDllPllTracking()
void GalileoE5aDllPllTracking::start_tracking()
{
tracking_->start_tracking();
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking();
}
/*
@ -126,13 +142,19 @@ void GalileoE5aDllPllTracking::start_tracking()
void GalileoE5aDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel);
}
void GalileoE5aDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GalileoE5aDllPllTracking::connect(gr::top_block_sptr top_block)
@ -153,10 +175,16 @@ void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GalileoE5aDllPllTracking::get_left_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}
gr::basic_block_sptr GalileoE5aDllPllTracking::get_right_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}

3
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h
View File

@ -41,6 +41,7 @@
#include "tracking_interface.h"
#include "galileo_e5a_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string>
class ConfigurationInterface;
@ -94,11 +95,13 @@ public:
private:
galileo_e5a_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
bool unified_;
};
#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ */

49
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -40,6 +40,7 @@
#include "configuration_interface.h"
#include "GPS_L1_CA.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
using google::LogMessage;
@ -50,16 +51,11 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
item_type = configuration->property(role + ".item_type", default_item_type);
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
bool dump = configuration->property(role + ".dump", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
@ -69,24 +65,37 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1) symbols_extended_correlator = 1;
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
{
symbols_extended_correlator = 20;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
char sig_[3] = "1C";
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
fs_in, vector_length, dump,
dump_filename, pll_bw_hz, dll_bw_hz,
pll_bw_narrow_hz, dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,

94
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -39,6 +39,7 @@
#include "configuration_interface.h"
#include "GPS_L2C.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
@ -50,44 +51,54 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
bool dump = configuration->property(role + ".dump", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
unified_ = configuration->property(role + ".unified", false);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
{
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l2_m_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
if (unified_)
{
char sig_[3] = "2S";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz, pll_bw_hz, dll_bw_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_chips,
early_late_space_chips,
1, false, 'G', sig_);
}
else
{
tracking_ = gps_l2_m_dll_pll_make_tracking_cc(
0, fs_in, vector_length, dump,
dump_filename, pll_bw_hz, dll_bw_hz,
early_late_space_chips);
}
}
else
{
@ -106,7 +117,10 @@ GpsL2MDllPllTracking::~GpsL2MDllPllTracking()
void GpsL2MDllPllTracking::start_tracking()
{
tracking_->start_tracking();
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking();
}
/*
@ -115,13 +129,19 @@ void GpsL2MDllPllTracking::start_tracking()
void GpsL2MDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel);
}
void GpsL2MDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL2MDllPllTracking::connect(gr::top_block_sptr top_block)
@ -142,10 +162,16 @@ void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL2MDllPllTracking::get_left_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}
gr::basic_block_sptr GpsL2MDllPllTracking::get_right_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}

3
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.h
View File

@ -40,6 +40,7 @@
#include "tracking_interface.h"
#include "gps_l2_m_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string>
class ConfigurationInterface;
@ -93,11 +94,13 @@ public:
private:
gps_l2_m_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
bool unified_;
};
#endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_H_

105
src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc
View File

@ -39,6 +39,7 @@
#include "configuration_interface.h"
#include "GPS_L5.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
@ -50,44 +51,65 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking(
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
bool dump = configuration->property(role + ".dump", false);
unified_ = configuration->property(role + ".unified", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5i_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5i_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l5i_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
if (unified_)
{
char sig_[3] = "L5";
item_size_ = sizeof(gr_complex);
tracking_unified_ = dll_pll_veml_make_tracking(
fs_in, vector_length, dump, dump_filename,
pll_bw_hz, dll_bw_hz,
pll_bw_narrow_hz, dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,
early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot, 'G', sig_);
}
else
{
tracking_ = gps_l5i_dll_pll_make_tracking_cc(
0, fs_in, vector_length, dump,
dump_filename, pll_bw_hz, dll_bw_hz,
early_late_space_chips);
}
}
else
{
@ -106,7 +128,10 @@ GpsL5iDllPllTracking::~GpsL5iDllPllTracking()
void GpsL5iDllPllTracking::start_tracking()
{
tracking_->start_tracking();
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking();
}
/*
@ -115,13 +140,19 @@ void GpsL5iDllPllTracking::start_tracking()
void GpsL5iDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel);
}
void GpsL5iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL5iDllPllTracking::connect(gr::top_block_sptr top_block)
@ -142,10 +173,16 @@ void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL5iDllPllTracking::get_left_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}
gr::basic_block_sptr GpsL5iDllPllTracking::get_right_block()
{
return tracking_;
if (unified_)
return tracking_unified_;
else
return tracking_;
}

9
src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h
View File

@ -34,11 +34,12 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_gps_l5i_dll_pll_tracking_H_
#define GNSS_SDR_gps_l5i_dll_pll_tracking_H_
#ifndef GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_
#define GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_
#include "tracking_interface.h"
#include "gps_l5i_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string>
class ConfigurationInterface;
@ -92,11 +93,13 @@ public:
private:
gps_l5i_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
bool unified_;
};
#endif // GNSS_SDR_gps_l5i_dll_pll_tracking_H_
#endif // GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_

45
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -916,6 +916,7 @@ void dll_pll_veml_tracking::log_data(bool integrating)
tmp_L = std::abs<float>(d_L_accu);
if (integrating)
{
//TODO: Improve this solution!
// It compensates the amplitude difference while integrating
if (d_extend_correlation_symbols_count > 0)
{
@ -1315,7 +1316,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_Prompt_buffer_deque.pop_front();
}
}
else // Signal does not have secondary code. Search a bit transition by sign change
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{
if (d_synchonizing)
{
@ -1346,6 +1347,10 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_current_symbol = 1;
}
}
else
{
next_state = true;
}
if (next_state)
{ // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
@ -1357,29 +1362,14 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_Prompt_buffer_deque.clear();
d_current_symbol = 0;
d_synchonizing = false;
// Set narrow taps delay values [chips]
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz);
if (d_veml)
{
d_local_code_shift_chips[0] = -d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[1] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
}
else
{
d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
}
// UPDATE INTEGRATION TIME
if (d_enable_extended_integration)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
float new_correlation_time_s = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
d_carrier_loop_filter.set_pdi(new_correlation_time_s);
d_code_loop_filter.set_pdi(new_correlation_time_s);
float new_correlation_time = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
d_carrier_loop_filter.set_pdi(new_correlation_time);
d_code_loop_filter.set_pdi(new_correlation_time);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
@ -1387,6 +1377,21 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
<< d_channel
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips]
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz);
if (d_veml)
{
d_local_code_shift_chips[0] = -d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[1] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
}
else
{
d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
}
}
else
{

11
src/core/receiver/gnss_block_factory.cc
View File

@ -250,8 +250,15 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
GPS_channels += configuration->property("Channels_2S.count", 0);
GPS_channels += configuration->property("Channels_L5.count", 0);
unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
Glonass_channels += configuration->property("Channels_2G.count", 0);
return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
unsigned int extra_channels = 1; // For monitor channel sample counter
return GetBlock(configuration, "Observables", implementation,
Galileo_channels +
GPS_channels +
Glonass_channels +
extra_channels,
Galileo_channels +
GPS_channels +
Glonass_channels);
}

30
src/core/receiver/gnss_flowgraph.cc
View File

@ -246,6 +246,30 @@ void GNSSFlowgraph::connect()
}
DLOG(INFO) << "Signal source connected to signal conditioner";
//connect the signal source to sample counter
//connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if(fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs);
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception & e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++)
@ -294,12 +318,6 @@ void GNSSFlowgraph::connect()
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
//connect the sample counter to the channel 0
if (i == 0)
{
ch_out_sample_counter = gnss_sdr_make_sample_counter();
top_block_->connect(channels_.at(i)->get_right_block(), 0, ch_out_sample_counter, 0);
}
}
/*

12
src/core/system_parameters/GPS_CNAV.h
View File

@ -122,13 +122,13 @@ const std::vector<std::pair<int, int> > CNAV_URA_NED1({{55, 3}});
const std::vector<std::pair<int, int> > CNAV_URA_NED2({{58, 3}});
const std::vector<std::pair<int, int> > CNAV_TOC({{61, 11}});
const double CNAV_TOC_LSB = 300.0;
const std::vector<std::pair<int, int> > CNAV_AF0({{72, 26}});
const double CNAV_AF0_LSB = TWO_N60;
const std::vector<std::pair<int, int> > CNAV_AF1({{98, 20}});
const std::vector<std::pair<int,int> > CNAV_AF0({{72,26}});
const double CNAV_AF0_LSB = TWO_N35;
const std::vector<std::pair<int,int> > CNAV_AF1({{98,20}});
const double CNAV_AF1_LSB = TWO_N48;
const std::vector<std::pair<int, int> > CNAV_AF2({{118, 10}});
const double CNAV_AF2_LSB = TWO_N35;
const std::vector<std::pair<int, int> > CNAV_TGD({{128, 13}});
const std::vector<std::pair<int,int> > CNAV_AF2({{118,10}});
const double CNAV_AF2_LSB = TWO_N60;
const std::vector<std::pair<int,int> > CNAV_TGD({{128,13}});
const double CNAV_TGD_LSB = TWO_N35;
const std::vector<std::pair<int, int> > CNAV_ISCL1({{141, 13}});
const double CNAV_ISCL1_LSB = TWO_N35;

3
src/core/system_parameters/GPS_L1_CA.h
View File

@ -53,6 +53,7 @@ const double GPS_L1_FREQ_HZ = FREQ1; //!< L1 [Hz]
const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds]
const unsigned int GPS_L1_CA_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms]
const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
/*!
@ -70,7 +71,7 @@ const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (thi
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int GPS_L1_CA_HISTORY_DEEP = 500;
const int GPS_L1_CA_HISTORY_DEEP = 100;
// NAVIGATION MESSAGE DEMODULATION AND DECODING

2
src/core/system_parameters/MATH_CONSTANTS.h
View File

@ -31,6 +31,8 @@
#ifndef GNSS_SDR_MATH_CONSTANTS_H_
#define GNSS_SDR_MATH_CONSTANTS_H_
#include<string>
/* Constants for scaling the ephemeris found in the data message
the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
Additionally some of the PI*2^N terms are used in the tracking stuff

77
src/core/system_parameters/display.h Normal file
View File

@ -0,0 +1,77 @@
/*!
* \file display.h
* \brief Defines useful display constants
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_DISPLAY_H_
#define GNSS_SDR_DISPLAY_H_
#include<string>
#ifdef DISPLAY_COLORS
const std::string TEXT_RESET = "\033[0m";
const std::string TEXT_BLACK = "\033[30m";
const std::string TEXT_RED = "\033[31m";
const std::string TEXT_GREEN = "\033[32m";
const std::string TEXT_YELLOW = "\033[33m";
const std::string TEXT_BLUE = "\033[34m";
const std::string TEXT_MAGENTA = "\033[35m";
const std::string TEXT_CYAN = "\033[36m";
const std::string TEXT_WHITE = "\033[37m";
const std::string TEXT_BOLD_BLACK = "\033[1m\033[30m";
const std::string TEXT_BOLD_RED = "\033[1m\033[31m";
const std::string TEXT_BOLD_GREEN = "\033[1m\033[32m";
const std::string TEXT_BOLD_YELLOW = "\033[1m\033[33m";
const std::string TEXT_BOLD_BLUE = "\033[1m\033[34m";
const std::string TEXT_BOLD_MAGENTA = "\033[1m\033[35m";
const std::string TEXT_BOLD_CYAN = "\033[1m\033[36m";
const std::string TEXT_BOLD_WHITE = "\033[1m\033[37m";
#else
const std::string TEXT_RESET = "";
const std::string TEXT_BLACK = "";
const std::string TEXT_RED = "";
const std::string TEXT_GREEN = "";
const std::string TEXT_YELLOW = "";
const std::string TEXT_BLUE = "";
const std::string TEXT_MAGENTA = "";
const std::string TEXT_CYAN = "";
const std::string TEXT_WHITE = "";
const std::string TEXT_BOLD_BLACK = "";
const std::string TEXT_BOLD_RED = "";
const std::string TEXT_BOLD_GREEN = "";
const std::string TEXT_BOLD_YELLOW = "";
const std::string TEXT_BOLD_BLUE = "";
const std::string TEXT_BOLD_MAGENTA = "";
const std::string TEXT_BOLD_CYAN = "";
const std::string TEXT_BOLD_WHITE = "";
#endif /* DISPLAY_COLORS */
#endif /* GNSS_SDR_DISPLAY_H_ */

43
src/core/system_parameters/gps_cnav_ephemeris.h
View File

@ -138,25 +138,30 @@ public:
{
};
archive& make_nvp("i_satellite_PRN", i_satellite_PRN); // SV PRN NUMBER
archive& make_nvp("d_TOW", d_TOW); //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
archive& make_nvp("d_Crs", d_Crs); //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_M_0", d_M_0); //!< Mean Anomaly at Reference Time [semi-circles]
archive& make_nvp("d_Cuc", d_Cuc); //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_e_eccentricity", d_e_eccentricity); //!< Eccentricity [dimensionless]
archive& make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_Toe1", d_Toe1); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
archive& make_nvp("d_Toe2", d_Toe2); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
archive& make_nvp("d_Toc", d_Toc); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
archive& make_nvp("d_Cic", d_Cic); //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_OMEGA0", d_OMEGA0); //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
archive& make_nvp("d_Cis", d_Cis); //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_i_0", d_i_0); //!< Inclination Angle at Reference Time [semi-circles]
archive& make_nvp("d_Crc", d_Crc); //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_OMEGA", d_OMEGA); //!< Argument of Perigee [semi-cicles]
archive& make_nvp("d_IDOT", d_IDOT); //!< Rate of Inclination Angle [semi-circles/s]
archive& make_nvp("i_GPS_week", i_GPS_week); //!< GPS week number, aka WN [week]
archive& make_nvp("d_TGD", d_TGD); //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("i_satellite_PRN", i_satellite_PRN); // SV PRN NUMBER
archive& make_nvp("d_TOW", d_TOW); //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
archive& make_nvp("d_Crs", d_Crs); //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_M_0", d_M_0); //!< Mean Anomaly at Reference Time [semi-circles]
archive& make_nvp("d_Cuc", d_Cuc); //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_e_eccentricity", d_e_eccentricity); //!< Eccentricity [dimensionless]
archive& make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
archive& make_nvp("d_Toe1", d_Toe1); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
archive& make_nvp("d_Toe2", d_Toe2); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
archive& make_nvp("d_Toc", d_Toc); //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
archive& make_nvp("d_Cic", d_Cic); //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_OMEGA0", d_OMEGA0); //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
archive& make_nvp("d_Cis", d_Cis); //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
archive& make_nvp("d_i_0", d_i_0); //!< Inclination Angle at Reference Time [semi-circles]
archive& make_nvp("d_Crc", d_Crc); //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
archive& make_nvp("d_OMEGA", d_OMEGA); //!< Argument of Perigee [semi-cicles]
archive& make_nvp("d_IDOT", d_IDOT); //!< Rate of Inclination Angle [semi-circles/s]
archive& make_nvp("i_GPS_week", i_GPS_week); //!< GPS week number, aka WN [week]
archive& make_nvp("d_TGD", d_TGD); //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL1", d_ISCL1); //!< Estimated Group Delay Differential: L1P(Y)-L1C/A correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL2", d_ISCL2); //!< Estimated Group Delay Differential: L1P(Y)-L2C correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL5I", d_ISCL5I); //!< Estimated Group Delay Differential: L1P(Y)-L5i correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_ISCL5Q", d_ISCL5Q); //!< Estimated Group Delay Differential: L1P(Y)-L5q correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive& make_nvp("d_DELTA_A", d_DELTA_A); //!< Semi-major axis difference at reference time [m]
archive& make_nvp("d_A_DOT", d_A_DOT); //!< Change rate in semi-major axis [m/s]
archive& make_nvp("d_DELTA_OMEGA_DOT", d_DELTA_OMEGA_DOT); //!< Rate of Right Ascension difference [semi-circles/s]

87
src/core/system_parameters/gps_cnav_navigation_message.cc
View File

@ -179,7 +179,7 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.i_satellite_PRN = PRN;
d_TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW));
d_TOW = d_TOW * CNAV_TOW_LSB;
d_TOW *= CNAV_TOW_LSB;
ephemeris_record.d_TOW = d_TOW;
alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
@ -193,24 +193,24 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.i_GPS_week = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN));
ephemeris_record.i_signal_health = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
ephemeris_record.d_Top = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1));
ephemeris_record.d_Top = ephemeris_record.d_Top * CNAV_TOP1_LSB;
ephemeris_record.d_Top *= CNAV_TOP1_LSB;
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
ephemeris_record.d_Toe1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1));
ephemeris_record.d_Toe1 = ephemeris_record.d_Toe1 * CNAV_TOE1_LSB;
ephemeris_record.d_Toe1 *= CNAV_TOE1_LSB;
ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
ephemeris_record.d_DELTA_A = ephemeris_record.d_DELTA_A * CNAV_DELTA_A_LSB;
ephemeris_record.d_DELTA_A *= CNAV_DELTA_A_LSB;
ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
ephemeris_record.d_A_DOT = ephemeris_record.d_A_DOT * CNAV_A_DOT_LSB;
ephemeris_record.d_A_DOT *= CNAV_A_DOT_LSB;
ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
ephemeris_record.d_Delta_n = ephemeris_record.d_Delta_n * CNAV_DELTA_N0_LSB;
ephemeris_record.d_Delta_n *= CNAV_DELTA_N0_LSB;
ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
ephemeris_record.d_DELTA_DOT_N = ephemeris_record.d_DELTA_DOT_N * CNAV_DELTA_N0_DOT_LSB;
ephemeris_record.d_DELTA_DOT_N *= CNAV_DELTA_N0_DOT_LSB;
ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
ephemeris_record.d_M_0 = ephemeris_record.d_M_0 * CNAV_M0_LSB;
ephemeris_record.d_M_0 *= CNAV_M0_LSB;
ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY));
ephemeris_record.d_e_eccentricity = ephemeris_record.d_e_eccentricity * CNAV_E_ECCENTRICITY_LSB;
ephemeris_record.d_e_eccentricity *= CNAV_E_ECCENTRICITY_LSB;
ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
ephemeris_record.d_OMEGA = ephemeris_record.d_OMEGA * CNAV_OMEGA_LSB;
ephemeris_record.d_OMEGA *= CNAV_OMEGA_LSB;
ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
@ -219,53 +219,79 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
break;
case 11: // Ephemeris 2/2
ephemeris_record.d_Toe2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2));
ephemeris_record.d_Toe2 = ephemeris_record.d_Toe2 * CNAV_TOE2_LSB;
ephemeris_record.d_Toe2 *= CNAV_TOE2_LSB;
ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
ephemeris_record.d_OMEGA0 = ephemeris_record.d_OMEGA0 * CNAV_OMEGA0_LSB;
ephemeris_record.d_OMEGA0 *= CNAV_OMEGA0_LSB;
ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
ephemeris_record.d_DELTA_OMEGA_DOT = ephemeris_record.d_DELTA_OMEGA_DOT * CNAV_DELTA_OMEGA_DOT_LSB;
ephemeris_record.d_DELTA_OMEGA_DOT *= CNAV_DELTA_OMEGA_DOT_LSB;
ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
ephemeris_record.d_i_0 = ephemeris_record.d_i_0 * CNAV_I0_LSB;
ephemeris_record.d_i_0 *= CNAV_I0_LSB;
ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
ephemeris_record.d_IDOT = ephemeris_record.d_IDOT * CNAV_I0_DOT_LSB;
ephemeris_record.d_IDOT *= CNAV_I0_DOT_LSB;
ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
ephemeris_record.d_Cis = ephemeris_record.d_Cis * CNAV_CIS_LSB;
ephemeris_record.d_Cis *= CNAV_CIS_LSB;
ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CIC_LSB;
ephemeris_record.d_Cic *= CNAV_CIC_LSB;
ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
ephemeris_record.d_Crs = ephemeris_record.d_Crs * CNAV_CRS_LSB;
ephemeris_record.d_Crs *= CNAV_CRS_LSB;
ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CRC_LSB;
ephemeris_record.d_Crc *= CNAV_CRC_LSB;
ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
ephemeris_record.d_Cus = ephemeris_record.d_Cus * CNAV_CUS_LSB;
ephemeris_record.d_Cus *= CNAV_CUS_LSB;
ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
ephemeris_record.d_Cuc = ephemeris_record.d_Cuc * CNAV_CUS_LSB;
ephemeris_record.d_Cuc *= CNAV_CUC_LSB;
b_flag_ephemeris_2 = true;
break;
case 30: // (CLOCK, IONO, GRUP DELAY)
//clock
ephemeris_record.d_Toc = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC));
ephemeris_record.d_Toc = ephemeris_record.d_Toc * CNAV_TOC_LSB;
ephemeris_record.d_Toc *= CNAV_TOC_LSB;
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
ephemeris_record.d_A_f0 = ephemeris_record.d_A_f0 * CNAV_AF0_LSB;
ephemeris_record.d_A_f0 *= CNAV_AF0_LSB;
ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
ephemeris_record.d_A_f1 = ephemeris_record.d_A_f1 * CNAV_AF1_LSB;
ephemeris_record.d_A_f1 *= CNAV_AF1_LSB;
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
ephemeris_record.d_A_f2 *= CNAV_AF2_LSB;
//group delays
//Check if the grup delay values are not available. See IS-GPS-200, Table 30-IV.
//Bit string "1000000000000" is -4096 in 2 complement
ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
ephemeris_record.d_TGD = ephemeris_record.d_TGD * CNAV_TGD_LSB;
if (ephemeris_record.d_TGD < -4095.9)
{
ephemeris_record.d_TGD = 0.0;
}
ephemeris_record.d_TGD *= CNAV_TGD_LSB;
ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
ephemeris_record.d_ISCL1 = ephemeris_record.d_ISCL1 * CNAV_ISCL1_LSB;
if (ephemeris_record.d_ISCL1 < -4095.9)
{
ephemeris_record.d_ISCL1 = 0.0;
}
ephemeris_record.d_ISCL1 *= CNAV_ISCL1_LSB;
ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
ephemeris_record.d_ISCL2 = ephemeris_record.d_ISCL2 * CNAV_ISCL2_LSB;
if (ephemeris_record.d_ISCL2 < -4095.9)
{
ephemeris_record.d_ISCL2 = 0.0;
}
ephemeris_record.d_ISCL2 *= CNAV_ISCL2_LSB;
ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
ephemeris_record.d_ISCL5I = ephemeris_record.d_ISCL5I * CNAV_ISCL5I_LSB;
if (ephemeris_record.d_ISCL5I < -4095.9)
{
ephemeris_record.d_ISCL5I = 0.0;
}
ephemeris_record.d_ISCL5I *= CNAV_ISCL5I_LSB;
ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
ephemeris_record.d_ISCL5Q = ephemeris_record.d_ISCL5Q * CNAV_ISCL5Q_LSB;
if (ephemeris_record.d_ISCL5Q < -4095.9)
{
ephemeris_record.d_ISCL5Q = 0.0;
}
ephemeris_record.d_ISCL5Q *= CNAV_ISCL5Q_LSB;
//iono
iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;
@ -297,7 +323,6 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
utc_model_record.d_A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0));
utc_model_record.d_A0 = utc_model_record.d_A0 * CNAV_A0_LSB;
utc_model_record.d_A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1));

304
src/core/system_parameters/gps_navigation_message.cc
View File

@ -39,7 +39,7 @@ m * \file gps_navigation_message.cc
void Gps_Navigation_Message::reset()
{
b_valid_ephemeris_set_flag = false;
d_TOW = 0;
d_TOW = 0.0;
d_TOW_SF1 = 0;
d_TOW_SF2 = 0;
d_TOW_SF3 = 0;
@ -70,7 +70,7 @@ void Gps_Navigation_Message::reset()
i_SV_accuracy = 0;
i_SV_health = 0;
d_TGD = 0;
d_IODC = -1;
d_IODC = -1.0;
i_AODO = 0;
b_fit_interval_flag = false;
@ -279,116 +279,114 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
// Decode all 5 sub-frames
switch (subframe_ID)
{
//--- Decode the sub-frame id ------------------------------------------
// ICD (IS-GPS-200E Appendix II). http://www.losangeles.af.mil/shared/media/document/AFD-100813-045.pdf
case 1:
//--- It is subframe 1 -------------------------------------
// Compute the time of week (TOW) of the first sub-frames in the array ====
// The transmitted TOW is actual TOW of the next subframe
// (the variable subframe at this point contains bits of the last subframe).
//TOW = bin2dec(subframe(31:47)) * 6;
d_TOW_SF1 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
//we are in the first subframe (the transmitted TOW is the start time of the next subframe) !
d_TOW_SF1 = d_TOW_SF1 * 6;
d_TOW = d_TOW_SF1; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
i_GPS_week = static_cast<int>(read_navigation_unsigned(subframe_bits, GPS_WEEK));
i_SV_accuracy = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_ACCURACY)); // (20.3.3.3.1.3)
i_SV_health = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_HEALTH));
b_L2_P_data_flag = read_navigation_bool(subframe_bits, L2_P_DATA_FLAG); //
i_code_on_L2 = static_cast<int>(read_navigation_unsigned(subframe_bits, CA_OR_P_ON_L2));
d_TGD = static_cast<double>(read_navigation_signed(subframe_bits, T_GD));
d_TGD = d_TGD * T_GD_LSB;
d_IODC = static_cast<double>(read_navigation_unsigned(subframe_bits, IODC));
d_Toc = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OC));
d_Toc = d_Toc * T_OC_LSB;
d_A_f0 = static_cast<double>(read_navigation_signed(subframe_bits, A_F0));
d_A_f0 = d_A_f0 * A_F0_LSB;
d_A_f1 = static_cast<double>(read_navigation_signed(subframe_bits, A_F1));
d_A_f1 = d_A_f1 * A_F1_LSB;
d_A_f2 = static_cast<double>(read_navigation_signed(subframe_bits, A_F2));
d_A_f2 = d_A_f2 * A_F2_LSB;
{
//--- Decode the sub-frame id ------------------------------------------
// ICD (IS-GPS-200E Appendix II). http://www.losangeles.af.mil/shared/media/document/AFD-100813-045.pdf
case 1:
//--- It is subframe 1 -------------------------------------
// Compute the time of week (TOW) of the first sub-frames in the array ====
// The transmitted TOW is actual TOW of the next subframe
// (the variable subframe at this point contains bits of the last subframe).
//TOW = bin2dec(subframe(31:47)) * 6;
d_TOW_SF1 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
//we are in the first subframe (the transmitted TOW is the start time of the next subframe) !
d_TOW_SF1 = d_TOW_SF1 * 6.0;
d_TOW = d_TOW_SF1; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
i_GPS_week = static_cast<int>(read_navigation_unsigned(subframe_bits, GPS_WEEK));
i_SV_accuracy = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_ACCURACY)); // (20.3.3.3.1.3)
i_SV_health = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_HEALTH));
b_L2_P_data_flag = read_navigation_bool(subframe_bits, L2_P_DATA_FLAG); //
i_code_on_L2 = static_cast<int>(read_navigation_unsigned(subframe_bits, CA_OR_P_ON_L2));
d_TGD = static_cast<double>(read_navigation_signed(subframe_bits, T_GD));
d_TGD = d_TGD * T_GD_LSB;
d_IODC = static_cast<double>(read_navigation_unsigned(subframe_bits, IODC));
d_Toc = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OC));
d_Toc = d_Toc * T_OC_LSB;
d_A_f0 = static_cast<double>(read_navigation_signed(subframe_bits, A_F0));
d_A_f0 = d_A_f0 * A_F0_LSB;
d_A_f1 = static_cast<double>(read_navigation_signed(subframe_bits, A_F1));
d_A_f1 = d_A_f1 * A_F1_LSB;
d_A_f2 = static_cast<double>(read_navigation_signed(subframe_bits, A_F2));
d_A_f2 = d_A_f2 * A_F2_LSB;
break;
case 2: //--- It is subframe 2 -------------------
d_TOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF2 = d_TOW_SF2 * 6;
d_TOW = d_TOW_SF2; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_IODE_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, IODE_SF2));
d_Crs = static_cast<double>(read_navigation_signed(subframe_bits, C_RS));
d_Crs = d_Crs * C_RS_LSB;
d_Delta_n = static_cast<double>(read_navigation_signed(subframe_bits, DELTA_N));
d_Delta_n = d_Delta_n * DELTA_N_LSB;
d_M_0 = static_cast<double>(read_navigation_signed(subframe_bits, M_0));
d_M_0 = d_M_0 * M_0_LSB;
d_Cuc = static_cast<double>(read_navigation_signed(subframe_bits, C_UC));
d_Cuc = d_Cuc * C_UC_LSB;
d_e_eccentricity = static_cast<double>(read_navigation_unsigned(subframe_bits, E));
d_e_eccentricity = d_e_eccentricity * E_LSB;
d_Cus = static_cast<double>(read_navigation_signed(subframe_bits, C_US));
d_Cus = d_Cus * C_US_LSB;
d_sqrt_A = static_cast<double>(read_navigation_unsigned(subframe_bits, SQRT_A));
d_sqrt_A = d_sqrt_A * SQRT_A_LSB;
d_Toe = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OE));
d_Toe = d_Toe * T_OE_LSB;
b_fit_interval_flag = read_navigation_bool(subframe_bits, FIT_INTERVAL_FLAG);
i_AODO = static_cast<int>(read_navigation_unsigned(subframe_bits, AODO));
i_AODO = i_AODO * AODO_LSB;
case 2: //--- It is subframe 2 -------------------
d_TOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF2 = d_TOW_SF2 * 6.0;
d_TOW = d_TOW_SF2; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_IODE_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, IODE_SF2));
d_Crs = static_cast<double>(read_navigation_signed(subframe_bits, C_RS));
d_Crs = d_Crs * C_RS_LSB;
d_Delta_n = static_cast<double>(read_navigation_signed(subframe_bits, DELTA_N));
d_Delta_n = d_Delta_n * DELTA_N_LSB;
d_M_0 = static_cast<double>(read_navigation_signed(subframe_bits, M_0));
d_M_0 = d_M_0 * M_0_LSB;
d_Cuc = static_cast<double>(read_navigation_signed(subframe_bits, C_UC));
d_Cuc = d_Cuc * C_UC_LSB;
d_e_eccentricity = static_cast<double>(read_navigation_unsigned(subframe_bits, E));
d_e_eccentricity = d_e_eccentricity * E_LSB;
d_Cus = static_cast<double>(read_navigation_signed(subframe_bits, C_US));
d_Cus = d_Cus * C_US_LSB;
d_sqrt_A = static_cast<double>(read_navigation_unsigned(subframe_bits, SQRT_A));
d_sqrt_A = d_sqrt_A * SQRT_A_LSB;
d_Toe = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OE));
d_Toe = d_Toe * T_OE_LSB;
b_fit_interval_flag = read_navigation_bool(subframe_bits, FIT_INTERVAL_FLAG);
i_AODO = static_cast<int>(read_navigation_unsigned(subframe_bits, AODO));
i_AODO = i_AODO * AODO_LSB;
break;
case 3: // --- It is subframe 3 -------------------------------------
d_TOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF3 = d_TOW_SF3 * 6;
d_TOW = d_TOW_SF3; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_Cic = static_cast<double>(read_navigation_signed(subframe_bits, C_IC));
d_Cic = d_Cic * C_IC_LSB;
d_OMEGA0 = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA_0));
d_OMEGA0 = d_OMEGA0 * OMEGA_0_LSB;
d_Cis = static_cast<double>(read_navigation_signed(subframe_bits, C_IS));
d_Cis = d_Cis * C_IS_LSB;
d_i_0 = static_cast<double>(read_navigation_signed(subframe_bits, I_0));
d_i_0 = d_i_0 * I_0_LSB;
d_Crc = static_cast<double>(read_navigation_signed(subframe_bits, C_RC));
d_Crc = d_Crc * C_RC_LSB;
d_OMEGA = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA));
d_OMEGA = d_OMEGA * OMEGA_LSB;
d_OMEGA_DOT = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA_DOT));
d_OMEGA_DOT = d_OMEGA_DOT * OMEGA_DOT_LSB;
d_IODE_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, IODE_SF3));
d_IDOT = static_cast<double>(read_navigation_signed(subframe_bits, I_DOT));
d_IDOT = d_IDOT * I_DOT_LSB;
case 3: // --- It is subframe 3 -------------------------------------
d_TOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF3 = d_TOW_SF3 * 6.0;
d_TOW = d_TOW_SF3; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_Cic = static_cast<double>(read_navigation_signed(subframe_bits, C_IC));
d_Cic = d_Cic * C_IC_LSB;
d_OMEGA0 = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA_0));
d_OMEGA0 = d_OMEGA0 * OMEGA_0_LSB;
d_Cis = static_cast<double>(read_navigation_signed(subframe_bits, C_IS));
d_Cis = d_Cis * C_IS_LSB;
d_i_0 = static_cast<double>(read_navigation_signed(subframe_bits, I_0));
d_i_0 = d_i_0 * I_0_LSB;
d_Crc = static_cast<double>(read_navigation_signed(subframe_bits, C_RC));
d_Crc = d_Crc * C_RC_LSB;
d_OMEGA = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA));
d_OMEGA = d_OMEGA * OMEGA_LSB;
d_OMEGA_DOT = static_cast<double>(read_navigation_signed(subframe_bits, OMEGA_DOT));
d_OMEGA_DOT = d_OMEGA_DOT * OMEGA_DOT_LSB;
d_IODE_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, IODE_SF3));
d_IDOT = static_cast<double>(read_navigation_signed(subframe_bits, I_DOT));
d_IDOT = d_IDOT * I_DOT_LSB;
break;
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
int SV_data_ID;
int SV_page;
d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF4 = d_TOW_SF4 * 6;
d_TOW = d_TOW_SF4; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page > 24 && SV_page < 33) // Page 4 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
//! \TODO read almanac
if (SV_data_ID)
{
}
}
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
int SV_data_ID;
int SV_page;
d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF4 = d_TOW_SF4 * 6.0;
d_TOW = d_TOW_SF4; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page > 24 && SV_page < 33) // Page 4 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
//! \TODO read almanac
if(SV_data_ID){}
}
if (SV_page == 52) // Page 13 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
@ -449,55 +447,53 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
break;
case 5: //--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
int SV_data_ID_5;
int SV_page_5;
d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF5 = d_TOW_SF5 * 6;
d_TOW = d_TOW_SF5; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page_5 < 25)
{
//! \TODO read almanac
if (SV_data_ID_5)
{
}
}
if (SV_page_5 == 51) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
d_Toa = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OA));
d_Toa = d_Toa * T_OA_LSB;
i_WN_A = static_cast<int>(read_navigation_unsigned(subframe_bits, WN_A));
almanacHealth[1] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV1));
almanacHealth[2] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV2));
almanacHealth[3] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV3));
almanacHealth[4] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV4));
almanacHealth[5] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV5));
almanacHealth[6] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV6));
almanacHealth[7] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV7));
almanacHealth[8] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV8));
almanacHealth[9] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV9));
almanacHealth[10] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV10));
almanacHealth[11] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV11));
almanacHealth[12] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV12));
almanacHealth[13] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV13));
almanacHealth[14] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV14));
almanacHealth[15] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV15));
almanacHealth[16] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV16));
almanacHealth[17] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV17));
almanacHealth[18] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV18));
almanacHealth[19] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV19));
almanacHealth[20] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV20));
almanacHealth[21] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV21));
almanacHealth[22] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV22));
almanacHealth[23] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV23));
almanacHealth[24] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV24));
}
break;
case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
int SV_data_ID_5;
int SV_page_5;
d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF5 = d_TOW_SF5 * 6.0;
d_TOW = d_TOW_SF5; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page_5 < 25)
{
//! \TODO read almanac
if(SV_data_ID_5){}
}
if (SV_page_5 == 51) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
d_Toa = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OA));
d_Toa = d_Toa * T_OA_LSB;
i_WN_A = static_cast<int>(read_navigation_unsigned(subframe_bits, WN_A));
almanacHealth[1] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV1));
almanacHealth[2] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV2));
almanacHealth[3] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV3));
almanacHealth[4] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV4));
almanacHealth[5] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV5));
almanacHealth[6] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV6));
almanacHealth[7] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV7));
almanacHealth[8] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV8));
almanacHealth[9] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV9));
almanacHealth[10] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV10));
almanacHealth[11] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV11));
almanacHealth[12] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV12));
almanacHealth[13] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV13));
almanacHealth[14] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV14));
almanacHealth[15] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV15));
almanacHealth[16] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV16));
almanacHealth[17] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV17));
almanacHealth[18] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV18));
almanacHealth[19] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV19));
almanacHealth[20] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV20));
almanacHealth[21] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV21));
almanacHealth[22] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV22));
almanacHealth[23] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV23));
almanacHealth[24] = static_cast<int>(read_navigation_unsigned(subframe_bits, HEALTH_SV24));
}
break;
default:
break;
@ -672,9 +668,9 @@ bool Gps_Navigation_Message::satellite_validation()
// First Step:
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
// and check if the data have been filled (!=0)
if (d_TOW_SF1 != 0 and d_TOW_SF2 != 0 and d_TOW_SF3 != 0)
if (d_TOW_SF1 != 0.0 and d_TOW_SF2 != 0.0 and d_TOW_SF3 != 0.0)
{
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC != -1)
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC != -1.0)
{
flag_data_valid = true;
b_valid_ephemeris_set_flag = true;

3
src/tests/unit-tests/control-plane/control_thread_test.cc
View File

@ -117,6 +117,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
@ -177,6 +178,7 @@ TEST_F(ControlThreadTest, InstantiateRunControlMessages2)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::unique_ptr<ControlThread> control_thread2(new ControlThread(config));
@ -240,6 +242,7 @@ TEST_F(ControlThreadTest, StopReceiverProgrammatically)
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.item_type", "gr_complex");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
gr::msg_queue::sptr control_queue = gr::msg_queue::make(0);

7
src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
View File

@ -49,6 +49,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@ -82,7 +83,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
TEST(GNSSFlowgraph, InstantiateConnectStartStop)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@ -116,7 +117,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStop)
TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");
@ -151,7 +152,7 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopGalileoE1B)
TEST(GNSSFlowgraph, InstantiateConnectStartStopHybrid)
{
std::shared_ptr<ConfigurationInterface> config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("SignalSource.sampling_frequency", "4000000");
config->set_property("SignalSource.implementation", "File_Signal_Source");
config->set_property("SignalSource.item_type", "gr_complex");

291
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -36,11 +36,8 @@
#include <armadillo>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "GPS_L1_CA.h"
#include "gnss_satellite.h"
@ -57,9 +54,10 @@
#include "observables_dump_reader.h"
#include "tlm_dump_reader.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "hybrid_observables.h"
#include "signal_generator_flags.h"
#include "gnss_sdr_sample_counter.h"
#include <matio.h>
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@ -186,18 +184,17 @@ public:
int configure_generator();
int generate_signal();
void check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles,
arma::vec& true_ch1_phase_cycles,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_phase_cycles,
arma::vec& measuded_ch1_phase_cycles,
arma::vec& measuded_ch0_RX_time_s);
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1);
void check_results_code_psudorange(
arma::vec& true_ch0_dist_m, arma::vec& true_ch1_dist_m,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_Pseudorange_m,
arma::vec& measuded_ch1_Pseudorange_m,
arma::vec& measuded_ch0_RX_time_s);
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1);
HybridObservablesTest()
{
@ -284,39 +281,49 @@ void HybridObservablesTest::configure_receiver()
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "15.0");
config->set_property("Tracking_1C.pll_bw_hz", "35.0");
config->set_property("Tracking_1C.dll_bw_hz", "0.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true");
config->set_property("Observables.dump", "true");
}
void HybridObservablesTest::check_results_carrier_phase(
arma::vec& true_ch0_phase_cycles,
arma::vec& true_ch1_phase_cycles,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_phase_cycles,
arma::vec& measuded_ch1_phase_cycles,
arma::vec& measuded_ch0_RX_time_s)
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1)
{
//1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_phase_interp;
arma::vec true_ch1_phase_interp;
arma::interp1(true_ch0_tow_s, true_ch0_phase_cycles, measuded_ch0_RX_time_s, true_ch0_phase_interp);
arma::interp1(true_ch0_tow_s, true_ch1_phase_cycles, measuded_ch0_RX_time_s, true_ch1_phase_interp);
arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);
arma::interp1(true_tow_s, true_ch1.col(3), t, true_ch1_phase_interp);
arma::vec meas_ch0_phase_interp;
arma::vec meas_ch1_phase_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_phase_interp);
//2. RMSE
arma::vec err_ch0_cycles;
arma::vec err_ch1_cycles;
//compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
err_ch0_cycles = measuded_ch0_phase_cycles - true_ch0_phase_interp - measuded_ch0_phase_cycles(0) + true_ch0_phase_interp(0);
err_ch1_cycles = measuded_ch1_phase_cycles - true_ch1_phase_interp - measuded_ch1_phase_cycles(0) + true_ch1_phase_interp(0);
err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);
err_ch1_cycles = meas_ch1_phase_interp - true_ch1_phase_interp - meas_ch1_phase_interp(0) + true_ch1_phase_interp(0);
arma::vec err2_ch0 = arma::square(err_ch0_cycles);
double rmse_ch0 = sqrt(arma::mean(err2_ch0));
@ -343,58 +350,68 @@ void HybridObservablesTest::check_results_carrier_phase(
//5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE="
<< rmse_ch0 << ", mean=" << error_mean_ch0
<< ", stdev=" << sqrt(error_var_ch0)
<< " (max,min)=" << max_error_ch0
std::cout << std::setprecision(10) << "Channel 0 Carrier phase RMSE = "
<< rmse_ch0 << ", mean = " << error_mean_ch0
<< ", stdev = " << sqrt(error_var_ch0)
<< " (max,min) = " << max_error_ch0
<< "," << min_error_ch0
<< " [cycles]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse_ch0, 1e-2);
ASSERT_LT(error_mean_ch0, 1e-2);
ASSERT_GT(error_mean_ch0, -1e-2);
ASSERT_LT(error_var_ch0, 1e-2);
ASSERT_LT(rmse_ch0, 5e-2);
ASSERT_LT(error_mean_ch0, 5e-2);
ASSERT_GT(error_mean_ch0, -5e-2);
ASSERT_LT(error_var_ch0, 5e-2);
ASSERT_LT(max_error_ch0, 5e-2);
ASSERT_GT(min_error_ch0, -5e-2);
//5. report
ss = std::cout.precision();
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE="
<< rmse_ch1 << ", mean=" << error_mean_ch1
<< ", stdev=" << sqrt(error_var_ch1)
<< " (max,min)=" << max_error_ch1
std::cout << std::setprecision(10) << "Channel 1 Carrier phase RMSE = "
<< rmse_ch1 << ", mean = " << error_mean_ch1
<< ", stdev = " << sqrt(error_var_ch1)
<< " (max,min) = " << max_error_ch1
<< "," << min_error_ch1
<< " [cycles]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse_ch1, 1e-2);
ASSERT_LT(error_mean_ch1, 1e-2);
ASSERT_GT(error_mean_ch1, -1e-2);
ASSERT_LT(error_var_ch1, 1e-2);
ASSERT_LT(rmse_ch1, 5e-2);
ASSERT_LT(error_mean_ch1, 5e-2);
ASSERT_GT(error_mean_ch1, -5e-2);
ASSERT_LT(error_var_ch1, 5e-2);
ASSERT_LT(max_error_ch1, 5e-2);
ASSERT_GT(min_error_ch1, -5e-2);
}
void HybridObservablesTest::check_results_code_psudorange(
arma::vec& true_ch0_dist_m,
arma::vec& true_ch1_dist_m,
arma::vec& true_ch0_tow_s,
arma::vec& measuded_ch0_Pseudorange_m,
arma::vec& measuded_ch1_Pseudorange_m,
arma::vec& measuded_ch0_RX_time_s)
arma::mat& true_ch0,
arma::mat& true_ch1,
arma::vec& true_tow_s,
arma::mat& measured_ch0,
arma::mat& measured_ch1)
{
//1. True value interpolation to match the measurement times
double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
int size1 = measured_ch0.col(0).n_rows;
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
arma::vec true_ch0_dist_interp;
arma::vec true_ch1_dist_interp;
arma::interp1(true_ch0_tow_s, true_ch0_dist_m, measuded_ch0_RX_time_s, true_ch0_dist_interp);
arma::interp1(true_ch0_tow_s, true_ch1_dist_m, measuded_ch0_RX_time_s, true_ch1_dist_interp);
arma::interp1(true_tow_s, true_ch0.col(1), t, true_ch0_dist_interp);
arma::interp1(true_tow_s, true_ch1.col(1), t, true_ch1_dist_interp);
arma::vec meas_ch0_dist_interp;
arma::vec meas_ch1_dist_interp;
arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
// generate delta pseudoranges
arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
arma::vec delta_measured_dist_m = measuded_ch0_Pseudorange_m - measuded_ch1_Pseudorange_m;
arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
//2. RMSE
arma::vec err;
@ -413,10 +430,10 @@ void HybridObservablesTest::check_results_code_psudorange(
//5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "Delta Observables RMSE="
<< rmse << ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var)
<< " (max,min)=" << max_error
std::cout << std::setprecision(10) << "Delta Observables RMSE = "
<< rmse << ", mean = " << error_mean
<< ", stdev = " << sqrt(error_var)
<< " (max,min) = " << max_error
<< "," << min_error
<< " [meters]" << std::endl;
std::cout.precision(ss);
@ -425,8 +442,8 @@ void HybridObservablesTest::check_results_code_psudorange(
ASSERT_LT(error_mean, 0.5);
ASSERT_GT(error_mean, -0.5);
ASSERT_LT(error_var, 0.5);
ASSERT_LT(max_error, 2);
ASSERT_GT(min_error, -2);
ASSERT_LT(max_error, 2.0);
ASSERT_GT(min_error, -2.0);
}
@ -474,9 +491,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block = gr::make_top_block("Telemetry_Decoder test");
std::shared_ptr<TrackingInterface> tracking_ch0 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<TrackingInterface> tracking_ch1 = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch0 = HybridObservablesTest_msg_rx_make();
boost::shared_ptr<HybridObservablesTest_msg_rx> msg_rx_ch1 = HybridObservablesTest_msg_rx_make();
@ -528,7 +543,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx> tlm_msg_rx_ch2 = HybridObservablesTest_tlm_msg_rx_make();
//Observables
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 2, 2));
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", 3, 2));
ASSERT_NO_THROW({
tracking_ch0->set_channel(gnss_synchro_ch0.Channel_ID);
@ -552,7 +567,10 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink_ch0 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gr::blocks::null_sink::sptr sink_ch1 = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
//ch0
top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch0->get_left_block(), 0);
top_block->connect(tracking_ch0->get_right_block(), 0, tlm_ch0->get_left_block(), 0);
@ -566,6 +584,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
top_block->connect(observables->get_right_block(), 0, sink_ch0, 0);
top_block->connect(observables->get_right_block(), 1, sink_ch1, 0);
top_block->connect(samp_counter, 0, observables->get_left_block(), 2);
}) << "Failure connecting the blocks.";
tracking_ch0->start_tracking();
@ -587,20 +607,15 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
{
throw std::exception();
};
}
}) << "Failure opening true observables file";
long int nepoch = true_observables.num_epochs();
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
std::cout << "True observation epochs=" << nepoch << std::endl;
arma::vec true_ch0_dist_m = arma::zeros(nepoch, 1);
arma::vec true_ch0_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_ch0_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_ch0_tow_s = arma::zeros(nepoch, 1);
arma::vec true_ch1_dist_m = arma::zeros(nepoch, 1);
arma::vec true_ch1_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_ch1_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_ch1_tow_s = arma::zeros(nepoch, 1);
std::cout << "True observation epochs = " << nepoch << std::endl;
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
arma::mat true_ch0 = arma::zeros<arma::mat>(nepoch, 4);
arma::mat true_ch1 = arma::zeros<arma::mat>(nepoch, 4);
true_observables.restart();
long int epoch_counter = 0;
@ -609,23 +624,23 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
{
if (round(true_observables.prn[0]) != gnss_synchro_ch0.PRN)
{
std::cout << "True observables SV PRN do not match" << round(true_observables.prn[1]) << std::endl;
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception();
}
if (round(true_observables.prn[1]) != gnss_synchro_ch1.PRN)
{
std::cout << "True observables SV PRN do not match " << round(true_observables.prn[1]) << std::endl;
std::cout << "True observables SV PRN does not match " << round(true_observables.prn[1]) << std::endl;
throw std::exception();
}
true_ch0_tow_s(epoch_counter) = true_observables.gps_time_sec[0];
true_ch0_dist_m(epoch_counter) = true_observables.dist_m[0];
true_ch0_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[0];
true_ch0_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[0];
true_ch0(epoch_counter, 0) = true_observables.gps_time_sec[0];
true_ch0(epoch_counter, 1) = true_observables.dist_m[0];
true_ch0(epoch_counter, 2) = true_observables.doppler_l1_hz[0];
true_ch0(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[0];
true_ch1_tow_s(epoch_counter) = true_observables.gps_time_sec[1];
true_ch1_dist_m(epoch_counter) = true_observables.dist_m[1];
true_ch1_Doppler_Hz(epoch_counter) = true_observables.doppler_l1_hz[1];
true_ch1_acc_carrier_phase_cycles(epoch_counter) = true_observables.acc_carrier_phase_l1_cycles[1];
true_ch1(epoch_counter, 0) = true_observables.gps_time_sec[1];
true_ch1(epoch_counter, 1) = true_observables.dist_m[1];
true_ch1(epoch_counter, 2) = true_observables.doppler_l1_hz[1];
true_ch1(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[1];
epoch_counter++;
}
@ -637,83 +652,85 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
{
throw std::exception();
};
}
}) << "Failure opening dump observables file";
nepoch = estimated_observables.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl;
nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
std::cout << "Measured observation epochs = " << nepoch << std::endl;
arma::vec measuded_ch0_RX_time_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_TOW_at_current_symbol_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Carrier_Doppler_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch0_Pseudorange_m = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_RX_time_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_TOW_at_current_symbol_s = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Carrier_Doppler_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Acc_carrier_phase_hz = arma::zeros(nepoch, 1);
arma::vec measuded_ch1_Pseudorange_m = arma::zeros(nepoch, 1);
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
arma::mat measured_ch0 = arma::zeros<arma::mat>(nepoch, 5);
arma::mat measured_ch1 = arma::zeros<arma::mat>(nepoch, 5);
estimated_observables.restart();
epoch_counter = 0;
long int epoch_counter2 = 0;
while (estimated_observables.read_binary_obs())
{
measuded_ch0_RX_time_s(epoch_counter) = estimated_observables.RX_time[0];
measuded_ch0_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[0];
measuded_ch0_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[0];
measuded_ch0_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[0];
measuded_ch0_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[0];
if (static_cast<bool>(estimated_observables.valid[0]))
{
measured_ch0(epoch_counter, 0) = estimated_observables.RX_time[0];
measured_ch0(epoch_counter, 1) = estimated_observables.TOW_at_current_symbol_s[0];
measured_ch0(epoch_counter, 2) = estimated_observables.Carrier_Doppler_hz[0];
measured_ch0(epoch_counter, 3) = estimated_observables.Acc_carrier_phase_hz[0];
measured_ch0(epoch_counter, 4) = estimated_observables.Pseudorange_m[0];
epoch_counter++;
}
if (static_cast<bool>(estimated_observables.valid[1]))
{
measured_ch1(epoch_counter2, 0) = estimated_observables.RX_time[1];
measured_ch1(epoch_counter2, 1) = estimated_observables.TOW_at_current_symbol_s[1];
measured_ch1(epoch_counter2, 2) = estimated_observables.Carrier_Doppler_hz[1];
measured_ch1(epoch_counter2, 3) = estimated_observables.Acc_carrier_phase_hz[1];
measured_ch1(epoch_counter2, 4) = estimated_observables.Pseudorange_m[1];
epoch_counter2++;
}
}
measuded_ch1_RX_time_s(epoch_counter) = estimated_observables.RX_time[1];
measuded_ch1_TOW_at_current_symbol_s(epoch_counter) = estimated_observables.TOW_at_current_symbol_s[1];
measuded_ch1_Carrier_Doppler_hz(epoch_counter) = estimated_observables.Carrier_Doppler_hz[1];
measuded_ch1_Acc_carrier_phase_hz(epoch_counter) = estimated_observables.Acc_carrier_phase_hz[1];
measuded_ch1_Pseudorange_m(epoch_counter) = estimated_observables.Pseudorange_m[1];
epoch_counter++;
//Cut measurement tail zeros
arma::uvec index = arma::find(measured_ch0.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch0.shed_rows(index(0) + 1, nepoch - 1);
}
index = arma::find(measured_ch1.col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_ch1.shed_rows(index(0) + 1, nepoch - 1);
}
//Cut measurement initial transitory of the measurements
arma::uvec initial_meas_point = arma::find(measuded_ch0_RX_time_s >= true_ch0_tow_s(0), 1, "first");
index = arma::find(measured_ch0.col(0) >= true_ch0(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch0.shed_rows(0, index(0));
}
index = arma::find(measured_ch1.col(0) >= true_ch1(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_ch1.shed_rows(0, index(0));
}
measuded_ch0_RX_time_s = measuded_ch0_RX_time_s.subvec(initial_meas_point(0), measuded_ch0_RX_time_s.size() - 1);
measuded_ch0_Pseudorange_m = measuded_ch0_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch0_Pseudorange_m.size() - 1);
measuded_ch0_Acc_carrier_phase_hz = measuded_ch0_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch0_Acc_carrier_phase_hz.size() - 1);
measuded_ch1_RX_time_s = measuded_ch1_RX_time_s.subvec(initial_meas_point(0), measuded_ch1_RX_time_s.size() - 1);
measuded_ch1_Pseudorange_m = measuded_ch1_Pseudorange_m.subvec(initial_meas_point(0), measuded_ch1_Pseudorange_m.size() - 1);
measuded_ch1_Acc_carrier_phase_hz = measuded_ch1_Acc_carrier_phase_hz.subvec(initial_meas_point(0), measuded_ch1_Acc_carrier_phase_hz.size() - 1);
//correct the clock error using true values (it is not possible for a receiver to correct
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
//find the reference satellite and compute the receiver time offset at obsevable level
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
arma::vec receiver_time_offset_s;
if (measuded_ch0_Pseudorange_m(0) < measuded_ch1_Pseudorange_m(0))
if (measured_ch0(0, 4) < measured_ch1(0, 4))
{
receiver_time_offset_s = true_ch0_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
receiver_time_offset_s = true_ch0.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
}
else
{
receiver_time_offset_s = true_ch1_dist_m / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
receiver_time_offset_s = true_ch1.col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
}
arma::vec corrected_reference_TOW_s = true_ch0_tow_s - receiver_time_offset_s;
arma::vec corrected_reference_TOW_s = true_ch0.col(0) - receiver_time_offset_s;
std::cout << "Receiver time offset: " << receiver_time_offset_s(0) * 1e3 << " [ms]" << std::endl;
std::cout << " receiver_time_offset_s [0]: " << receiver_time_offset_s(0) << std::endl;
//Compare measured observables
check_results_code_psudorange(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
check_results_carrier_phase(true_ch0, true_ch1, corrected_reference_TOW_s, measured_ch0, measured_ch1);
//compare measured observables
check_results_code_psudorange(true_ch0_dist_m, true_ch1_dist_m, corrected_reference_TOW_s,
measuded_ch0_Pseudorange_m, measuded_ch1_Pseudorange_m, measuded_ch0_RX_time_s);
check_results_carrier_phase(true_ch0_acc_carrier_phase_cycles,
true_ch1_acc_carrier_phase_cycles,
corrected_reference_TOW_s,
measuded_ch0_Acc_carrier_phase_hz,
measuded_ch1_Acc_carrier_phase_hz,
measuded_ch0_RX_time_s);
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
}

15
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
View File

@ -265,13 +265,12 @@ void GpsL1CATelemetryDecoderTest::configure_receiver()
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "1.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true");
}
@ -293,9 +292,9 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
//arma::vec err = meas_value - true_value_interp + 0.001;
arma::vec err = meas_value - true_value_interp - 0.001;
err = meas_value - true_value_interp + 0.001;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
@ -317,10 +316,10 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
<< " [Seconds]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse, 0.2E-6);
ASSERT_LT(error_mean, 0.2E-6);
ASSERT_GT(error_mean, -0.2E-6);
ASSERT_LT(error_var, 0.2E-6);
ASSERT_LT(rmse, 0.3E-6);
ASSERT_LT(error_mean, 0.3E-6);
ASSERT_GT(error_mean, -0.3E-6);
ASSERT_LT(error_var, 0.3E-6);
ASSERT_LT(max_error, 0.5E-6);
ASSERT_GT(min_error, -0.5E-6);
}

1
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
View File

@ -39,6 +39,7 @@
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"

2
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -394,7 +394,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0;