mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Code indentation
This commit is contained in:
Carles Fernandez
parent
314b80e8ac
commit
e82799d687
@ -41,56 +41,53 @@
|
|||||||
#include "Galileo_E1.h"
|
#include "Galileo_E1.h"
|
||||||
#include "GPS_L1_CA.h"
|
#include "GPS_L1_CA.h"
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
using google::LogMessage;
|
using google::LogMessage;
|
||||||
|
|
||||||
|
|
||||||
hybrid_observables_cc_sptr
|
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
|
||||||
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
|
|
||||||
{
|
{
|
||||||
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, dump, dump_filename, deep_history));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
|
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::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||||
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
|
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
|
||||||
{
|
{
|
||||||
// initialize internal vars
|
// initialize internal vars
|
||||||
d_dump = dump;
|
d_dump = dump;
|
||||||
d_nchannels = nchannels;
|
d_nchannels = nchannels;
|
||||||
d_dump_filename = dump_filename;
|
d_dump_filename = dump_filename;
|
||||||
history_deep = deep_history;
|
history_deep = deep_history;
|
||||||
T_rx_s=0.0;
|
T_rx_s = 0.0;
|
||||||
T_rx_step_s=1e-3;// todo: move to gnss-sdr config
|
T_rx_step_s = 1e-3;// todo: move to gnss-sdr config
|
||||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||||
{
|
{
|
||||||
d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
|
d_gnss_synchro_history_queue.push_back(std::deque<Gnss_Synchro>());
|
||||||
}
|
}
|
||||||
//todo: this is a gnuradio scheduler hack.
|
//todo: this is a gnuradio scheduler hack.
|
||||||
// Migrate the queues to gnuradio set_history to see if the scheduler can handle
|
// Migrate the queues to gnuradio set_history to see if the scheduler can handle
|
||||||
// the multiple output flow
|
// the multiple output flow
|
||||||
d_max_noutputs=100;
|
d_max_noutputs = 100;
|
||||||
this->set_min_noutput_items(100);
|
this->set_min_noutput_items(100);
|
||||||
|
|
||||||
// ############# ENABLE DATA FILE LOG #################
|
// ############# ENABLE DATA FILE LOG #################
|
||||||
if (d_dump == true)
|
if (d_dump == true)
|
||||||
{
|
|
||||||
if (d_dump_file.is_open() == false)
|
|
||||||
{
|
{
|
||||||
try
|
if (d_dump_file.is_open() == false)
|
||||||
{
|
{
|
||||||
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
|
try
|
||||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
{
|
||||||
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
|
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
|
||||||
}
|
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||||
catch (const std::ifstream::failure & e)
|
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
|
||||||
{
|
}
|
||||||
LOG(WARNING) << "Exception opening observables dump file " << e.what();
|
catch (const std::ifstream::failure & e)
|
||||||
}
|
{
|
||||||
|
LOG(WARNING) << "Exception opening observables dump file " << e.what();
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -105,25 +102,31 @@ bool Hybrid_pairCompare_gnss_synchro_sample_counter(const std::pair<int,Gnss_Syn
|
|||||||
return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
|
return (a.second.Tracking_sample_counter) < (b.second.Tracking_sample_counter);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro& a, unsigned long int b)
|
bool Hybrid_valueCompare_gnss_synchro_sample_counter(const Gnss_Synchro& a, unsigned long int b)
|
||||||
{
|
{
|
||||||
return (a.Tracking_sample_counter) < (b);
|
return (a.Tracking_sample_counter) < (b);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro& a, double b)
|
bool Hybrid_valueCompare_gnss_synchro_receiver_time(const Gnss_Synchro& a, double b)
|
||||||
{
|
{
|
||||||
return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(double)a.fs) < (b);
|
return (((double)a.Tracking_sample_counter+a.Code_phase_samples)/(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)
|
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);
|
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)
|
bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b)
|
||||||
{
|
{
|
||||||
return (a.TOW_at_current_symbol_s) < (b);
|
return (a.TOW_at_current_symbol_s) < (b);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
int hybrid_observables_cc::general_work (int noutput_items,
|
int hybrid_observables_cc::general_work (int noutput_items,
|
||||||
gr_vector_int &ninput_items,
|
gr_vector_int &ninput_items,
|
||||||
gr_vector_const_void_star &input_items,
|
gr_vector_const_void_star &input_items,
|
||||||
@ -131,9 +134,9 @@ int hybrid_observables_cc::general_work (int noutput_items,
|
|||||||
{
|
{
|
||||||
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
|
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
|
||||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
|
||||||
int n_outputs=0;
|
int n_outputs = 0;
|
||||||
int n_consume[d_nchannels];
|
int n_consume[d_nchannels];
|
||||||
double past_history_s=100e-3;
|
double past_history_s = 100e-3;
|
||||||
|
|
||||||
Gnss_Synchro current_gnss_synchro[d_nchannels];
|
Gnss_Synchro current_gnss_synchro[d_nchannels];
|
||||||
|
|
||||||
@ -143,255 +146,232 @@ int hybrid_observables_cc::general_work (int noutput_items,
|
|||||||
* Record all synchronization data into queues
|
* Record all synchronization data into queues
|
||||||
*/
|
*/
|
||||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||||
{
|
|
||||||
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]);
|
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]);
|
||||||
|
}
|
||||||
|
//std::cout<<"push["<<i<<"] items "<<n_consume[i]
|
||||||
|
/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
|
||||||
|
// <<" [s] q size: "
|
||||||
|
// <<d_gnss_synchro_history_queue[i].size()
|
||||||
|
// <<std::endl;
|
||||||
}
|
}
|
||||||
//std::cout<<"push["<<i<<"] items "<<n_consume[i]
|
|
||||||
/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
|
|
||||||
// <<" [s] q size: "
|
|
||||||
// <<d_gnss_synchro_history_queue[i].size()
|
|
||||||
// <<std::endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool channel_history_ok;
|
bool channel_history_ok;
|
||||||
do{
|
do
|
||||||
channel_history_ok=true;
|
|
||||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
|
||||||
{
|
{
|
||||||
if (d_gnss_synchro_history_queue[i].size()<history_deep)
|
channel_history_ok = true;
|
||||||
{
|
|
||||||
channel_history_ok=false;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
if (channel_history_ok==true)
|
|
||||||
{
|
|
||||||
std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
|
|
||||||
std::deque<Gnss_Synchro>::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++)
|
|
||||||
{
|
|
||||||
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.begin(),
|
|
||||||
gnss_synchro_map.end(),
|
|
||||||
Hybrid_pairCompare_gnss_synchro_sample_counter);
|
|
||||||
T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter/(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++)
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||||
{
|
|
||||||
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
|
|
||||||
d_gnss_synchro_history_queue[i].end(),
|
|
||||||
T_rx_s,
|
|
||||||
Hybrid_valueCompare_gnss_synchro_receiver_time);
|
|
||||||
if (gnss_synchro_deque_iter!=d_gnss_synchro_history_queue[i].end())
|
|
||||||
{
|
{
|
||||||
if (gnss_synchro_deque_iter->Flag_valid_word==true)
|
if (d_gnss_synchro_history_queue[i].size() < history_deep)
|
||||||
{
|
|
||||||
double T_rx_channel=(double)gnss_synchro_deque_iter->Tracking_sample_counter/(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<(double)gnss_synchro_deque_iter->correlation_length_ms)
|
|
||||||
{
|
{
|
||||||
//record the word structure in a map for pseudorange computation
|
channel_history_ok = false;
|
||||||
//save the previous observable
|
}
|
||||||
int distance=std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
|
|
||||||
if (distance>0)
|
}
|
||||||
{
|
if (channel_history_ok == true)
|
||||||
double T_rx_channel_prev=(double)d_gnss_synchro_history_queue[i].at(distance-1).Tracking_sample_counter/(double)gnss_synchro_deque_iter->fs;
|
{
|
||||||
double delta_T_rx_s_prev=T_rx_channel_prev-T_rx_s;
|
std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
|
||||||
if (fabs(delta_T_rx_s_prev)<fabs(delta_T_rx_s))
|
std::deque<Gnss_Synchro>::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++)
|
||||||
{
|
{
|
||||||
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(
|
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].front().Channel_ID,
|
||||||
d_gnss_synchro_history_queue[i].at(distance-1)));
|
d_gnss_synchro_history_queue[i].front()));
|
||||||
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{
|
gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
|
||||||
realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID,
|
gnss_synchro_map.end(),
|
||||||
*gnss_synchro_deque_iter));
|
Hybrid_pairCompare_gnss_synchro_sample_counter);
|
||||||
}
|
T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / (double)gnss_synchro_map_iter->second.fs;
|
||||||
|
T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
|
||||||
}else{
|
T_rx_s += past_history_s; // increase T_rx to have a minimum past history to interpolate
|
||||||
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
|
|
||||||
}
|
}
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if(!realigned_gnss_synchro_map.empty())
|
|
||||||
{
|
|
||||||
/*
|
|
||||||
* 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.begin(),
|
|
||||||
realigned_gnss_synchro_map.end(),
|
|
||||||
Hybrid_pairCompare_gnss_synchro_d_TOW);
|
|
||||||
double ref_fs_hz=(double)gnss_synchro_map_iter->second.fs;
|
|
||||||
|
|
||||||
// compute interpolated TOW value at T_rx_s
|
//2. Realign RX time in all valid channels
|
||||||
int ref_channel_key=gnss_synchro_map_iter->second.Channel_ID;
|
std::map<int,Gnss_Synchro> realigned_gnss_synchro_map; //container for the aligned set of observables for the selected T_rx
|
||||||
Gnss_Synchro adj_obs=adjacent_gnss_synchro_map.at(ref_channel_key);
|
std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; //container for the previous observable values to interpolate
|
||||||
double ref_adj_T_rx_s=(double)adj_obs.Tracking_sample_counter/ref_fs_hz
|
//shift channels history to match the reference TOW
|
||||||
+adj_obs.Code_phase_samples/ref_fs_hz;
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||||
|
|
||||||
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
|
||||||
double d_ref_T_rx_s=(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);
|
|
||||||
|
|
||||||
//std::cout<<"DELTA T REF:"<<T_rx_s-ref_adj_T_rx_s<<std::endl;
|
|
||||||
//std::cout<<"ref TOW:"<<d_TOW_reference<<" ref_TOW_at_T_rx_s:"<<ref_TOW_at_T_rx_s<<std::endl;
|
|
||||||
|
|
||||||
// std::cout << std::fixed;
|
|
||||||
// std::cout << std::setprecision(2);
|
|
||||||
// std::cout<<"d_TOW_reference:"<<d_TOW_reference*1000.0<<std::endl;
|
|
||||||
//std::cout<<"OBS SV REF SAT: "<<gnss_synchro_map_iter->second.PRN<<std::endl;
|
|
||||||
|
|
||||||
// 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;
|
|
||||||
double delta_T_rx_s;
|
|
||||||
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
|
|
||||||
{
|
|
||||||
channel_fs_hz=(double)gnss_synchro_map_iter->second.fs;
|
|
||||||
channel_TOW_s=gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
|
||||||
channel_T_rx_s=(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;
|
|
||||||
adj_obs=adjacent_gnss_synchro_map.at(element_key);
|
|
||||||
|
|
||||||
double adj_T_rx_s=(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;
|
|
||||||
//debug
|
|
||||||
//double delta_T_rx_s_previous=((double)adjacent_gnss_synchro_map.at(gnss_synchro_map_iter->second.Channel_ID).Tracking_sample_counter/(double)gnss_synchro_map_iter->second.fs - T_rx_s);
|
|
||||||
|
|
||||||
// std::cout<<"["<<gnss_synchro_map_iter->second.PRN<<"] delta_TOW at T_rx: "<<(ref_TOW_at_T_rx_s - channel_TOW_at_T_rx_s)*1000.0
|
|
||||||
// <<" [ms] delta_TOW_ms: "<<(d_TOW_reference - gnss_synchro_map_iter->second.TOW_at_current_symbol_s) * 1000.0
|
|
||||||
// <<" Pr: "<<pseudorange_m<<" [m]"
|
|
||||||
// <<std::endl;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
//std::cout<<std::endl;
|
|
||||||
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;
|
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
d_gnss_synchro_history_queue[i].end(),
|
||||||
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
|
T_rx_s,
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
Hybrid_valueCompare_gnss_synchro_receiver_time);
|
||||||
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
|
if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
{
|
||||||
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
|
if (gnss_synchro_deque_iter->Flag_valid_word == true)
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
{
|
||||||
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
double T_rx_channel = (double)gnss_synchro_deque_iter->Tracking_sample_counter / (double)gnss_synchro_deque_iter->fs;
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
double delta_T_rx_s = T_rx_channel - T_rx_s;
|
||||||
tmp_double = current_gnss_synchro[i].PRN;
|
|
||||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
//check that T_rx difference is less than a threshold (the correlation interval)
|
||||||
|
if (delta_T_rx_s * 1000.0 < (double)gnss_synchro_deque_iter->correlation_length_ms)
|
||||||
|
{
|
||||||
|
//record the word structure in a map for pseudorange computation
|
||||||
|
//save the previous observable
|
||||||
|
int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
|
||||||
|
if (distance > 0)
|
||||||
|
{
|
||||||
|
double T_rx_channel_prev = (double)d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter / (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));
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure& e)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
if(!realigned_gnss_synchro_map.empty())
|
||||||
{
|
{
|
||||||
out[i][n_outputs] = current_gnss_synchro[i];
|
/*
|
||||||
}
|
* 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.begin(),
|
||||||
|
realigned_gnss_synchro_map.end(),
|
||||||
|
Hybrid_pairCompare_gnss_synchro_d_TOW);
|
||||||
|
double ref_fs_hz = (double)gnss_synchro_map_iter->second.fs;
|
||||||
|
|
||||||
n_outputs++;
|
// compute interpolated TOW value at T_rx_s
|
||||||
}
|
int ref_channel_key = gnss_synchro_map_iter->second.Channel_ID;
|
||||||
|
Gnss_Synchro adj_obs = adjacent_gnss_synchro_map.at(ref_channel_key);
|
||||||
|
double ref_adj_T_rx_s = (double)adj_obs.Tracking_sample_counter / ref_fs_hz + adj_obs.Code_phase_samples / ref_fs_hz;
|
||||||
|
|
||||||
//Move RX time
|
double d_TOW_reference = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||||
T_rx_s=T_rx_s+T_rx_step_s;
|
double d_ref_T_rx_s = (double)gnss_synchro_map_iter->second.Tracking_sample_counter / ref_fs_hz + gnss_synchro_map_iter->second.Code_phase_samples / ref_fs_hz;
|
||||||
//pop old elements from queue
|
|
||||||
for (unsigned int i=0; i<d_nchannels;i++)
|
double selected_T_rx_s = T_rx_s;
|
||||||
{
|
// two points linear interpolation using adjacent (adj) values: y=y1+(x-x1)*(y2-y1)/(x2-x1)
|
||||||
while (d_gnss_synchro_history_queue[i].front().Tracking_sample_counter/(double)d_gnss_synchro_history_queue[i].front().fs<(T_rx_s-past_history_s))
|
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);
|
||||||
d_gnss_synchro_history_queue[i].pop_front();
|
|
||||||
|
// 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;
|
||||||
|
double delta_T_rx_s;
|
||||||
|
for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
|
||||||
|
{
|
||||||
|
channel_fs_hz = (double)gnss_synchro_map_iter->second.fs;
|
||||||
|
channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
|
||||||
|
channel_T_rx_s = (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;
|
||||||
|
adj_obs = adjacent_gnss_synchro_map.at(element_key);
|
||||||
|
|
||||||
|
double adj_T_rx_s = (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((char*)&tmp_double, sizeof(double));
|
||||||
|
tmp_double = current_gnss_synchro[i].TOW_at_current_symbol_s;
|
||||||
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||||
|
tmp_double = current_gnss_synchro[i].Carrier_Doppler_hz;
|
||||||
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||||
|
tmp_double = current_gnss_synchro[i].Carrier_phase_rads/GPS_TWO_PI;
|
||||||
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||||
|
tmp_double = current_gnss_synchro[i].Pseudorange_m;
|
||||||
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||||
|
tmp_double = current_gnss_synchro[i].PRN;
|
||||||
|
d_dump_file.write((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 (d_gnss_synchro_history_queue[i].front().Tracking_sample_counter / (double)d_gnss_synchro_history_queue[i].front().fs < (T_rx_s - past_history_s))
|
||||||
|
{
|
||||||
|
d_gnss_synchro_history_queue[i].pop_front();
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}while(channel_history_ok == true && d_max_noutputs>n_outputs);
|
||||||
}
|
|
||||||
}while(channel_history_ok==true && d_max_noutputs>n_outputs);
|
|
||||||
|
|
||||||
//Multi-rate consume!
|
//Multi-rate consume!
|
||||||
for (unsigned int i=0; i<d_nchannels;i++)
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||||
{
|
{
|
||||||
consume(i,n_consume[i]); //which input, how many items
|
consume(i, n_consume[i]); //which input, how many items
|
||||||
}
|
}
|
||||||
|
|
||||||
//std::cout<<"OBS noutput_items: "<<noutput_items<<std::endl;
|
|
||||||
return n_outputs;
|
return n_outputs;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user