New feature (FE01): RINEX v 2.11 now outputs the following observables:

PSEUDORANGE
CARRIER PHASE
CARRIER DOPPLER
SIGNAL STRENGTH (dB-Hz)

thus, it enables the realtime kinematics and PPP positioning for first time in an open source GNSS SDR. Enjoy!

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@359 64b25241-fba3-4117-9849-534c7e92360d

src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc

@@ -221,7 +221,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
 				gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
 				if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
 				{
-					rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_tx_time, pseudoranges);
+					rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_tx_time, gnss_pseudoranges_map);
 				}
     		}
     		}

src/algorithms/PVT/libs/rinex_printer.cc

@@ -136,6 +136,7 @@ Rinex_Printer::Rinex_Printer()
     // RINEX v2.10 and v2.11 codes
     observationType["PSEUDORANGE_CA_v2"] = "C";
     observationType["PSEUDORANGE_P_v2"] = "P";
+    observationType["CARRIER_PHASE_CA_v2"] = "L";
     observationType["DOPPLER_v2"] = "D";
     observationType["SIGNAL_STRENGTH_v2"] = "S";
     observationCode["GPS_L1_CA_v2"] = "1";
@@ -992,10 +993,17 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
 		strm << numberTypesObservations;
 		line += Rinex_Printer::rightJustify(strm.str(), 6);
 		// per type of observation
+		// GPS L1 PSEUDORANGE
 		line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
 		line += observationCode["GPS_L1_CA_v2"];
-		line += std::string(1, ' ');
+		// GPS L1 PHASE
-		line += observationType["SIGNAL_STRENGTH_v2"];
+		line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
+		line += observationCode["GPS_L1_CA_v2"];
+		// GPS DOPPLER L1
+		line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
+		line += observationCode["GPS_L1_CA_v2"];
+		// GPS L1 SIGNAL STRENGTH
+		line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
 		line += observationCode["GPS_L1_CA_v2"];
 		line += std::string(60-line.size(), ' ');
 		line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
@@ -1050,7 +1058,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
 
 
 
-void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,double> pseudoranges)
+void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
 {
 	// RINEX observations timestamps are GPS timestamps.
 
@@ -1103,14 +1111,14 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
             line += std::string(1, '0');
             //Number of satellites observed in current epoch
             int numSatellitesObserved = 0;
-            std::map<int,double>::iterator pseudoranges_iter;
+            std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
             for(pseudoranges_iter = pseudoranges.begin();
                     pseudoranges_iter != pseudoranges.end();
                     pseudoranges_iter++)
                 {
                     numSatellitesObserved++;
                 }
-            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 2);
+            line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
             for(pseudoranges_iter = pseudoranges.begin();
                     pseudoranges_iter != pseudoranges.end();
                     pseudoranges_iter++)
@@ -1133,8 +1141,9 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
                     std::string lineObs;
                     lineObs.clear();
                     line.clear();
+                    // GPS L1 PSEUDORANGE
                     line += std::string(2, ' ');
-                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
+                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Pseudorange_m, 3), 14);
 
                     //Loss of lock indicator (LLI)
                     int lli = 0; // Include in the observation!!
@@ -1146,15 +1155,13 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
                         {
                             lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
                         }
-                    int ssi=signalStrength(54.0); // TODO: include estimated signal strength
+                    // GPS L1 CA PHASE
-                    if (ssi == 0)
+                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
-                        {
+                    // GPS L1 CA DOPPLER
-                            lineObs += std::string(1, ' ');
+                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
-                        }
+                    //GPS L1 SIGNAL STRENGTH
-                    else
+                    //int ssi=signalStrength(54.0); // The original RINEX 2.11 file stores the RSS in a tabulated format 1-9. However, it is also valid to store the CN0 using dB-Hz units
-                        {
+                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
-                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(ssi), 1);
-                        }
                     if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
                     out << lineObs << std::endl;
                 }
@@ -1189,7 +1196,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
 
             //Number of satellites observed in current epoch
             int numSatellitesObserved = 0;
-            std::map<int,double>::iterator pseudoranges_iter;
+            std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
             for(pseudoranges_iter = pseudoranges.begin();
                     pseudoranges_iter != pseudoranges.end();
                     pseudoranges_iter++)
@@ -1216,7 +1223,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
                     if ((int)pseudoranges_iter->first < 10) lineObs += std::string(1, '0');
                     lineObs += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
                     //lineObs += std::string(2, ' ');
-                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
+                    lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Pseudorange_m, 3), 14);
 
                     //Loss of lock indicator (LLI)
                     int lli = 0; // Include in the observation!!

src/algorithms/PVT/libs/rinex_printer.h

@@ -59,6 +59,7 @@
 #include "gps_navigation_message.h"
 #include "boost/date_time/posix_time/posix_time.hpp"
 #include "GPS_L1_CA.h"
+#include "gnss_synchro.h"
 
 /*!
  * \brief Class that handles the generation of Receiver
@@ -109,7 +110,7 @@ public:
     /*!
      *  \brief Writes observables into the RINEX file
      */
-    void log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,double> pseudoranges);
+    void log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges);
     std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
     std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors

src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc

@@ -438,6 +438,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
             // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
             current_synchro_data.Code_phase_secs = 0;
             current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz= (double)d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
             *out[0] = current_synchro_data;
 

src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc

@@ -451,6 +451,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
             // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
             current_synchro_data.Code_phase_secs=0;
             current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz= (double)d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
             *out[0] = current_synchro_data;
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc

@@ -553,6 +553,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
             // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, Code_phase_secs=0
             current_synchro_data.Code_phase_secs=0;
             current_synchro_data.Carrier_phase_rads=d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz=d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz=d_CN0_SNV_dB_Hz;
             current_synchro_data.Flag_valid_tracking=true;
             *out[0] =current_synchro_data;

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc

@@ -494,6 +494,7 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
             // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
             current_synchro_data.Code_phase_secs=0;
             current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz= (double)d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
             *out[0] = current_synchro_data;
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc

@@ -498,6 +498,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
             // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
             current_synchro_data.Code_phase_secs=0;
             current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz= (double)d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
             *out[0] = current_synchro_data;
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc

@@ -534,6 +534,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
             current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
             current_synchro_data.Tracking_timestamp_secs = d_sample_counter_seconds;
             current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+            current_synchro_data.Carrier_Doppler_hz= (double)d_carrier_doppler_hz;
             current_synchro_data.Code_phase_secs = (double)d_code_phase_samples * (1/(float)d_fs_in);
             current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
             *out[0] = current_synchro_data;

src/core/system_parameters/gnss_synchro.h

@@ -59,6 +59,7 @@ public:
     double Code_phase_secs;         //!< Set by Tracking processing block
     double Tracking_timestamp_secs; //!< Set by Tracking processing block
     double CN0_dB_hz;               //!< Set by Tracking processing block
+    double Carrier_Doppler_hz;		 //!< Set by Tracking processing block
     bool Flag_valid_tracking;
     //Telemetry Decoder
     double Preamble_timestamp_ms; //!< Set by Telemetry Decoder processing block