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This commit is contained in:
Antonio Ramos 2018-02-22 16:15:07 +01:00
parent 592d50af79
commit e2c2da67c4
4 changed files with 22 additions and 11 deletions
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6
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -1713,11 +1713,9 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
// DEBUG MESSAGE: Display position in console output // DEBUG MESSAGE: Display position in console output
if( (d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true) ) if( (d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true) )
{ {
std::string text_green = "\033[32m"; std::cout << TEXT_GREEN << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
std::string text_reset = "\033[0m";
std::cout << text_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() << " 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]" << text_reset << 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()) 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() << " 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/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@ -350,11 +350,19 @@ 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 decoder_latency_ms=(double)(current_symbol.Tracking_sample_counter-d_symbol_history.at(0).Tracking_sample_counter)
// /(double)current_symbol.fs; // /(double)current_symbol.fs;
// update TOW at the preamble instant (account with decoder latency) // 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; double tmp_tow = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
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_current_symbol = floor(d_TOW_at_Preamble * 1000.0) / 1000.0;
flag_TOW_set = true; flag_TOW_set = true;
d_flag_new_tow_available = false; d_flag_new_tow_available = false;
double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
if ((tmp_tow != 0) or (tmp_diff > 0.0))
{
std::cout << TEXT_RED <<
"GPS L1 C/A. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
}
} }
else else
{ {

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
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@ -156,17 +156,15 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
//* delay by the formulae: //* delay by the formulae:
//* \code //* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory //* symbolTime_ms = msg->tow * 6000 + *pdelay * 20 + (12 * 20); 12 symbols of the encoder's transitory
double tmp_tow= d_TOW_at_current_symbol += GPS_L2_M_PERIOD; double tmp_tow = d_TOW_at_current_symbol + GPS_L2_M_PERIOD;
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 = 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;
double tmp_diff = std::fabs(tmp_tow-d_TOW_at_current_symbol); double tmp_diff = std::fabs(tmp_tow - d_TOW_at_current_symbol);
if ((tmp_tow != 0) or (tmp_diff > 0.0)) if ((tmp_tow != 0) or (tmp_diff > 0.0))
{ {
std::string text_red = "\033[31m"; std::cout << TEXT_RED <<
std::string text_reset = "\033[0m";
std::cout << text_red <<
"GPS L2C. TOW incoherence on channel: "<< d_channel << ". TOW difference = " << "GPS L2C. TOW incoherence on channel: "<< d_channel << ". TOW difference = " <<
tmp_diff * 1000.0 << " [ms]" << text_reset << std::endl; tmp_diff * 1000.0 << " [ms]" << TEXT_RESET << std::endl;
} }
d_flag_valid_word = true; d_flag_valid_word = true;
} }

7
src/core/system_parameters/MATH_CONSTANTS.h
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@ -31,6 +31,8 @@
#ifndef GNSS_SDR_MATH_CONSTANTS_H_ #ifndef GNSS_SDR_MATH_CONSTANTS_H_
#define GNSS_SDR_MATH_CONSTANTS_H_ #define GNSS_SDR_MATH_CONSTANTS_H_
#include<string>
/* Constants for scaling the ephemeris found in the data message /* 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 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 Additionally some of the PI*2^N terms are used in the tracking stuff
@ -41,6 +43,11 @@
ONE_PI_TWO_PX = (1/Pi)*2^X ONE_PI_TWO_PX = (1/Pi)*2^X
*/ */
const std::string TEXT_RED = "\033[31m";
const std::string TEXT_GREEN = "\033[32m";
const std::string TEXT_RESET = "\033[0m";
const double PI = 3.1415926535897932; //!< pi const double PI = 3.1415926535897932; //!< pi
const double PI_2 = 2.0 * PI; //!< 2 * pi const double PI_2 = 2.0 * PI; //!< 2 * pi