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Migration of the internal LS PVT solver to RTKLIB solver in progress. First working version for GPS L1. Removing SBAS duplicated code.

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This commit is contained in:
Javier Arribas 2017-04-20 16:10:12 +02:00
parent 807ca24fc2
commit e90a9aa2bf
50 changed files with 12029 additions and 3104 deletions
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4
conf/gnss-sdr_Hybrid_byte_sim.conf
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@ -142,7 +142,7 @@ Resampler.item_type = gr_complex;
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=12
Channels_1C.count=11
;#count: Number of available Galileo satellite channels.
Channels_1B.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
@ -304,7 +304,7 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=Hybrid_PVT
PVT.implementation=RTKLIB_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10

2
src/algorithms/PVT/adapters/CMakeLists.txt
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@ -18,6 +18,7 @@
set(PVT_ADAPTER_SOURCES
hybrid_pvt.cc
rtklib_pvt.cc
)
include_directories(
@ -27,6 +28,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}

2
src/algorithms/PVT/adapters/hybrid_pvt.cc
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@ -1,6 +1,6 @@
/*!
* \file hybrid_pvt.cc
* \brief Implementation of an adapter of a GALILEO E1 PVT solver block to a
* \brief Implementation of an adapter of a HYBRID PVT solver block to a
* PvtInterface
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*

2
src/algorithms/PVT/adapters/hybrid_pvt.h
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@ -1,6 +1,6 @@
/*!
* \file hybrid_pvt.h
* \brief Interface of an adapter of a GALILEO E1 PVT solver block to a
* \brief Interface of an adapter of a HYBRID PVT solver block to a
* PvtInterface.
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*

235
src/algorithms/PVT/adapters/rtklib_pvt.cc Normal file
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@ -0,0 +1,235 @@
/*!
* \file rtklib_pvt.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt.h"
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"
using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// moving average depth parameters
int averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging = configuration->property(role + ".flag_averaging", false);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
* 13 | Galileo E1B + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + Galileo E5a
* 18 | GPS L2C + Galileo E5b
* 19 | GPS L5 + Galileo E5a
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
int gal_1B_count = configuration->property("Channels_1B.count", 0);
int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
int gal_E5b_count = configuration->property("Channels_7X.count", 0);
unsigned int type_of_receiver = 0;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
bool RtklibPvt::save_assistance_to_XML()
{
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
}
RtklibPvt::~RtklibPvt()
{
save_assistance_to_XML();
}
void RtklibPvt::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr RtklibPvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr RtklibPvt::get_right_block()
{
return pvt_; // this is a sink, nothing downstream
}

95
src/algorithms/PVT/adapters/rtklib_pvt.h Normal file
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@ -0,0 +1,95 @@
/*!
* \file rtklib_pvt.h
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_
#include <string>
#include "pvt_interface.h"
#include "rtklib_pvt_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for Galileo E1
*/
class RtklibPvt : public PvtInterface
{
public:
RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~RtklibPvt();
std::string role()
{
return role_;
}
//! Returns "Hybrid_Pvt"
std::string implementation()
{
return "RTKLIB_PVT";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation. Returns sizeof(gr_complex)
size_t item_size()
{
return sizeof(gr_complex);
}
private:
rtklib_pvt_cc_sptr pvt_;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
std::string eph_xml_filename_;
bool save_assistance_to_XML();
};
#endif

2
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
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@ -18,6 +18,7 @@
set(PVT_GR_BLOCKS_SOURCES
hybrid_pvt_cc.cc
rtklib_pvt_cc.cc
)
include_directories(
@ -26,6 +27,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}

1
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
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@ -40,7 +40,6 @@
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "concurrent_map.h"
using google::LogMessage;

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src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc Normal file
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src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h Normal file
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/*!
* \file rtklib_pvt_cc.h
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H
#include <fstream>
#include <utility>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <gnuradio/block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
#include "geojson_printer.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_solver.h"
class rtklib_pvt_cc;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
*/
class rtklib_pvt_cc : public gr::block
{
private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump;
bool b_rinex_header_written;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms;
int d_rtcm_MT1019_rate_ms;
int d_rtcm_MT1077_rate_ms;
int d_rtcm_MT1097_rate_ms;
int d_rtcm_MSM_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_averaging_depth;
bool d_flag_averaging;
int d_output_rate_ms;
int d_display_rate_ms;
long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<rtklib_solver> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
unsigned int type_of_rx;
bool first_fix;
key_t sysv_msg_key;
int sysv_msqid;
typedef struct {
long mtype;//required by sys v message
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
public:
/*!
* \brief Get latest set of GPS L1 ephemeris from PVT block
*
* It is used to save the assistance data at the receiver shutdown
*/
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~rtklib_pvt_cc (); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
};
#endif

18
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -27,6 +27,7 @@ set(PVT_LIB_SOURCES
nmea_printer.cc
rtcm_printer.cc
geojson_printer.cc
rtklib_solver.cc
)
include_directories(
@ -35,6 +36,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
@ -44,5 +46,17 @@ file(GLOB PVT_LIB_HEADERS "*.h")
list(SORT PVT_LIB_HEADERS)
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
source_group(Headers FILES ${PVT_LIB_HEADERS})
add_dependencies(pvt_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${GLOG_LIBRARIES} ${ARMADILLO_LIBRARIES})
add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries(
pvt_lib
rtklib_lib
${Boost_LIBRARIES}
${GFlags_LIBS}
${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES}
${BLAS}
${LAPACK}
)

155
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -71,161 +71,6 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
d_dump_file.close();
}
gtime_t hybrid_ls_pvt::epoch2time(const double *ep)
{
const int doy[]={1,32,60,91,121,152,182,213,244,274,305,335};
gtime_t time={0};
int days,sec,year=(int)ep[0],mon=(int)ep[1],day=(int)ep[2];
if (year<1970||2099<year||mon<1||12<mon) return time;
/* leap year if year%4==0 in 1901-2099 */
days=(year-1970)*365+(year-1969)/4+doy[mon-1]+day-2+(year%4==0&&mon>=3?1:0);
sec=(int)floor(ep[5]);
time.time=(time_t)days*86400+(int)ep[3]*3600+(int)ep[4]*60+sec;
time.sec=ep[5]-sec;
return time;
}
gtime_t hybrid_ls_pvt::gpst2time(int week, double sec)
{
const static double gpst0[]={1980,1, 6,0,0,0}; /* gps time reference */
gtime_t t=epoch2time(gpst0);
if (sec<-1E9||1E9<sec) sec=0.0;
t.time+=86400*7*week+(int)sec;
t.sec=sec-(int)sec;
return t;
}
void hybrid_ls_pvt::time2str(gtime_t t, char *s, int n)
{
double ep[6];
if (n<0) n=0; else if (n>12) n=12;
if (1.0-t.sec<0.5/pow(10.0,n)) {t.time++; t.sec=0.0;};
time2epoch(t,ep);
sprintf(s,"%04.0f/%02.0f/%02.0f %02.0f:%02.0f:%0*.*f",ep[0],ep[1],ep[2],
ep[3],ep[4],n<=0?2:n+3,n<=0?0:n,ep[5]);
}
double hybrid_ls_pvt::time2gpst(gtime_t t, int *week)
{
const static double gpst0[]={1980,1, 6,0,0,0}; /* gps time reference */
gtime_t t0=epoch2time(gpst0);
time_t sec=t.time-t0.time;
int w=(int)(sec/(86400*7));
if (week) *week=w;
return (double)(sec-w*86400*7)+t.sec;
}
void hybrid_ls_pvt::time2epoch(gtime_t t, double *ep)
{
const int mday[]={ /* # of days in a month */
31,28,31,30,31,30,31,31,30,31,30,31,31,28,31,30,31,30,31,31,30,31,30,31,
31,29,31,30,31,30,31,31,30,31,30,31,31,28,31,30,31,30,31,31,30,31,30,31
};
int days,sec,mon,day;
/* leap year if year%4==0 in 1901-2099 */
days=(int)(t.time/86400);
sec=(int)(t.time-(time_t)days*86400);
for (day=days%1461,mon=0;mon<48;mon++) {
if (day>=mday[mon]) day-=mday[mon]; else break;
}
ep[0]=1970+days/1461*4+mon/12; ep[1]=mon%12+1; ep[2]=day+1;
ep[3]=sec/3600; ep[4]=sec%3600/60; ep[5]=sec%60+t.sec;
}
char* hybrid_ls_pvt::time_str(gtime_t t, int n)
{
static char buff[64];
time2str(t,buff,n);
return buff;
}
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
double hybrid_ls_pvt::timediff(gtime_t t1, gtime_t t2)
{
return difftime(t1.time,t2.time)+t1.sec-t2.sec;
}
/* add time --------------------------------------------------------------------
* add time to gtime_t struct
* args : gtime_t t I gtime_t struct
* double sec I time to add (s)
* return : gtime_t struct (t+sec)
*-----------------------------------------------------------------------------*/
gtime_t hybrid_ls_pvt::timeadd(gtime_t t, double sec)
{
double tt;
t.sec+=sec; tt=floor(t.sec); t.time+=(int)tt; t.sec-=tt;
return t;
}
gtime_t hybrid_ls_pvt::utc2gpst(gtime_t t)
{
const int MAXLEAPS=64;
static double leaps[MAXLEAPS+1][7]={ /* leap seconds (y,m,d,h,m,s,utc-gpst) */
{2017,1,1,0,0,0,-18},
{2015,7,1,0,0,0,-17},
{2012,7,1,0,0,0,-16},
{2009,1,1,0,0,0,-15},
{2006,1,1,0,0,0,-14},
{1999,1,1,0,0,0,-13},
{1997,7,1,0,0,0,-12},
{1996,1,1,0,0,0,-11},
{1994,7,1,0,0,0,-10},
{1993,7,1,0,0,0, -9},
{1992,7,1,0,0,0, -8},
{1991,1,1,0,0,0, -7},
{1990,1,1,0,0,0, -6},
{1988,1,1,0,0,0, -5},
{1985,7,1,0,0,0, -4},
{1983,7,1,0,0,0, -3},
{1982,7,1,0,0,0, -2},
{1981,7,1,0,0,0, -1},
{0}
};
int i;
for (i=0;leaps[i][0]>0;i++) {
if (timediff(t,epoch2time(leaps[i]))>=0.0) return timeadd(t,-leaps[i][6]);
}
return t;
}
gtime_t hybrid_ls_pvt::timeget(void)
{
static double timeoffset_=0.0; /* time offset (s) */
double ep[6]={0};
struct timeval tv;
struct tm *tt;
if (!gettimeofday(&tv,NULL)&&(tt=gmtime(&tv.tv_sec))) {
ep[0]=tt->tm_year+1900; ep[1]=tt->tm_mon+1; ep[2]=tt->tm_mday;
ep[3]=tt->tm_hour; ep[4]=tt->tm_min; ep[5]=tt->tm_sec+tv.tv_usec*1E-6;
}
return timeadd(epoch2time(ep),timeoffset_);
}
int hybrid_ls_pvt::adjgpsweek(int week)
{
int w;
(void)time2gpst(utc2gpst(timeget()),&w);
if (w<1560) w=1560; /* use 2009/12/1 if time is earlier than 2009/12/1 */
return week+(w-week+512)/1024*1024;
}
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;

95
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -41,12 +41,7 @@
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "gnss_synchro.h"
typedef struct { /* time struct */
time_t time; /* time (s) expressed by standard time_t */
double sec; /* fraction of second under 1 s */
} gtime_t;
#include "rtklib_rtkcmn.h"
/*!
* \brief This class implements a simple PVT Least Squares solution
@ -54,94 +49,6 @@ typedef struct { /* time struct */
class hybrid_ls_pvt : public Ls_Pvt
{
private:
/* convert calendar day/time to time -------------------------------------------
* convert calendar day/time to gtime_t struct
* args : double *ep I day/time {year,month,day,hour,min,sec}
* return : gtime_t struct
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
gtime_t epoch2time(const double *ep);
/* gps time to time ------------------------------------------------------------
* convert week and tow in gps time to gtime_t struct
* args : int week I week number in gps time
* double sec I time of week in gps time (s)
* return : gtime_t struct
*-----------------------------------------------------------------------------*/
gtime_t gpst2time(int week, double sec);
/* get time string -------------------------------------------------------------
* get time string
* args : gtime_t t I gtime_t struct
* int n I number of decimals
* return : time string
* notes : not reentrant, do not use multiple in a function
*-----------------------------------------------------------------------------*/
char *time_str(gtime_t t, int n);
/* time to string --------------------------------------------------------------
* convert gtime_t struct to string
* args : gtime_t t I gtime_t struct
* char *s O string ("yyyy/mm/dd hh:mm:ss.ssss")
* int n I number of decimals
* return : none
*-----------------------------------------------------------------------------*/
void time2str(gtime_t t, char *s, int n);
/* time to calendar day/time ---------------------------------------------------
* convert gtime_t struct to calendar day/time
* args : gtime_t t I gtime_t struct
* double *ep O day/time {year,month,day,hour,min,sec}
* return : none
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
void time2epoch(gtime_t t, double *ep);
/* adjust gps week number ------------------------------------------------------
* adjust gps week number using cpu time
* args : int week I not-adjusted gps week number
* return : adjusted gps week number
*-----------------------------------------------------------------------------*/
int adjgpsweek(int week);
/* time to gps time ------------------------------------------------------------
* convert gtime_t struct to week and tow in gps time
* args : gtime_t t I gtime_t struct
* int *week IO week number in gps time (NULL: no output)
* return : time of week in gps time (s)
*-----------------------------------------------------------------------------*/
double time2gpst(gtime_t t, int *week);
/* utc to gpstime --------------------------------------------------------------
* convert utc to gpstime considering leap seconds
* args : gtime_t t I time expressed in utc
* return : time expressed in gpstime
* notes : ignore slight time offset under 100 ns
*-----------------------------------------------------------------------------*/
gtime_t utc2gpst(gtime_t t);
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
double timediff(gtime_t t1, gtime_t t2);
/* add time --------------------------------------------------------------------
* add time to gtime_t struct
* args : gtime_t t I gtime_t struct
* double sec I time to add (s)
* return : gtime_t struct (t+sec)
*-----------------------------------------------------------------------------*/
gtime_t timeadd(gtime_t t, double sec);
/* get current time in utc -----------------------------------------------------
* get current time in utc
* args : none
* return : current time in utc
*-----------------------------------------------------------------------------*/
gtime_t timeget();
public:
hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);

162
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -4770,87 +4770,87 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &mont
}
void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
{
// line 1: PRN / EPOCH / RCVR
std::stringstream line1;
// SBAS PRN
line1 << sbs_message.get_prn();
line1 << " ";
// gps time of reception
int gps_week;
double gps_sec;
if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
{
int year;
int month;
int day;
int hour;
int minute;
int second;
double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
int gps_tow = trunc(gps_sec_one_digit_precicion);
double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
}
else
{
line1 << std::string(19, ' ');
}
line1 << " ";
// band
line1 << "L1";
line1 << " ";
// Length of data message (bytes)
line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
line1 << " ";
// File-internal receiver index
line1 << " 0";
line1 << " ";
// Transmission System Identifier
line1 << "SBA";
line1 << std::string(35, ' ');
lengthCheck(line1.str());
out << line1.str() << std::endl;
// DATA RECORD - 1
std::stringstream line2;
line2 << " ";
// Message frame identifier
if (sbs_message.get_msg_type() < 10) line2 << " ";
line2 << sbs_message.get_msg_type();
line2 << std::string(4, ' ');
// First 18 bytes of message (hex)
std::vector<unsigned char> msg = sbs_message.get_msg();
for (size_t i = 0; i < 18 && i < msg.size(); ++i)
{
line2 << std::hex << std::setfill('0') << std::setw(2);
line2 << int(msg[i]) << " ";
}
line2 << std::string(19, ' ');
lengthCheck(line2.str());
out << line2.str() << std::endl;
// DATA RECORD - 2
std::stringstream line3;
line3 << std::string(7, ' ');
// Remaining bytes of message (hex)
for (size_t i = 18; i < 36 && i < msg.size(); ++i)
{
line3 << std::hex << std::setfill('0') << std::setw(2);
line3 << int(msg[i]) << " ";
}
line3 << std::string(31, ' ');
lengthCheck(line3.str());
out << line3.str() << std::endl;
}
//void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
//{
// // line 1: PRN / EPOCH / RCVR
// std::stringstream line1;
//
// // SBAS PRN
// line1 << sbs_message.get_prn();
// line1 << " ";
//
// // gps time of reception
// int gps_week;
// double gps_sec;
// if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
// {
// int year;
// int month;
// int day;
// int hour;
// int minute;
// int second;
//
// double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
// int gps_tow = trunc(gps_sec_one_digit_precicion);
// double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
//
// to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
// line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
// }
// else
// {
// line1 << std::string(19, ' ');
// }
// line1 << " ";
//
// // band
// line1 << "L1";
// line1 << " ";
//
// // Length of data message (bytes)
// line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
// line1 << " ";
// // File-internal receiver index
// line1 << " 0";
// line1 << " ";
// // Transmission System Identifier
// line1 << "SBA";
// line1 << std::string(35, ' ');
// lengthCheck(line1.str());
// out << line1.str() << std::endl;
//
// // DATA RECORD - 1
// std::stringstream line2;
// line2 << " ";
// // Message frame identifier
// if (sbs_message.get_msg_type() < 10) line2 << " ";
// line2 << sbs_message.get_msg_type();
// line2 << std::string(4, ' ');
// // First 18 bytes of message (hex)
// std::vector<unsigned char> msg = sbs_message.get_msg();
// for (size_t i = 0; i < 18 && i < msg.size(); ++i)
// {
// line2 << std::hex << std::setfill('0') << std::setw(2);
// line2 << int(msg[i]) << " ";
// }
// line2 << std::string(19, ' ');
// lengthCheck(line2.str());
// out << line2.str() << std::endl;
//
// // DATA RECORD - 2
// std::stringstream line3;
// line3 << std::string(7, ' ');
// // Remaining bytes of message (hex)
// for (size_t i = 18; i < 36 && i < msg.size(); ++i)
// {
// line3 << std::hex << std::setfill('0') << std::setw(2);
// line3 << int(msg[i]) << " ";
// }
// line3 << std::string(31, ' ');
// lengthCheck(line3.str());
// out << line3.str() << std::endl;
//}
int Rinex_Printer::signalStrength(const double snr)

3
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -61,7 +61,6 @@
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "sbas_telemetry_data.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "gnss_synchro.h"
@ -214,7 +213,7 @@ public:
/*!
* \brief Writes raw SBAS messages into the RINEX file
*/
void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);

291
src/algorithms/PVT/libs/rtklib_solver.cc Normal file
View File

@ -0,0 +1,291 @@
/*!
* \file rtklib_solver.cc
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
#include <glog/logging.h>
#include "rtklib_conversions.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "rtklib_solver.h"
using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file)
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
count_valid_position = 0;
d_flag_averaging = false;
//RTKLIB PVT solver options
/* defaults processing options */
prcopt_t default_opt={PMODE_SINGLE,0,2,SYS_GPS, /* mode,soltype,nf,navsys */
15.0*D2R,{}, /* elmin,snrmask */
0,1,1,1, /* sateph,modear,glomodear,bdsmodear */
5,0,10,1, /* maxout,minlock,minfix,armaxiter */
0,0,0,0, /* estion,esttrop,dynamics,tidecorr */
1,0,0,0,0, /* niter,codesmooth,intpref,sbascorr,sbassatsel */
0,0, /* rovpos,refpos */
{100.0,100.0}, /* eratio[] */
{100.0,0.003,0.003,0.0,1.0}, /* err[] */
{30.0,0.03,0.3}, /* std[] */
{1E-4,1E-3,1E-4,1E-1,1E-2,0.0}, /* prn[] */
5E-12, /* sclkstab */
{3.0,0.9999,0.25,0.1,0.05}, /* thresar */
0.0,0.0,0.05, /* elmaskar,almaskhold,thresslip */
30.0,30.0,30.0, /* maxtdif,maxinno,maxgdop */
{},{},{}, /* baseline,ru,rb */
{"",""}, /* anttype */
{},{},{}, /* antdel,pcv,exsats */
{},{},{},{},{},{},{},{},{},{}
};
rtklib_opt=default_opt;
old_pvt_sol={};
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open() == false)
{
try
{
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);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
}
}
}
}
rtklib_solver::~rtklib_solver()
{
d_dump_file.close();
}
bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
d_flag_averaging = flag_averaging;
// ********************************************************************************
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ********************************************************************************
int valid_obs = 0; //valid observations counter
obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++)
{
switch(gnss_observables_iter->second.System)
{
case 'E':
{
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5);
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
break;
}
case 'G':
{
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0)
{
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, gps_ephemeris_iter->second.i_GPS_week);
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
}
if(sig_.compare("2S") == 0)
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs]=eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obs_data[valid_obs]=obs_to_rtklib(gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week);
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;
}
}
// **********************************************************************
// ****** SOLVE PVT******************************************************
// **********************************************************************
d_valid_observations = valid_obs;
b_valid_position = false;
if (valid_obs>0)
{
int result=0;
char rtklib_msg[128];
nav_t nav_data;
nav_data.eph=eph_data;
nav_data.n=valid_obs;
for (int i=0; i< MAXSAT;i++)
{
nav_data.lam[i][0]=CLIGHT/FREQ1; /* L1/E1 */
nav_data.lam[i][1]=CLIGHT/FREQ2; /* L2 */
}
result=pntpos(obs_data, valid_obs, &nav_data, &rtklib_opt, &old_pvt_sol, NULL, NULL,rtklib_msg);
if(result==0)
{
DLOG(INFO)<<"RTKLIB pntpos error message: "<<rtklib_msg;
d_rx_dt_s = 0; //reset rx time estimation
}else{
b_valid_position=true;
arma::vec rx_position_and_time(4);
rx_position_and_time(0)=old_pvt_sol.rr[0];
rx_position_and_time(1)=old_pvt_sol.rr[1];
rx_position_and_time(2)=old_pvt_sol.rr[2];
rx_position_and_time(3)=old_pvt_sol.dtr[0];
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "Hybrid Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time;
gtime_t rtklib_utc_time=gpst2utc(old_pvt_sol.time);
p_time=boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec*1e6));
d_position_UTC_time = p_time;
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = Rx_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
}
}
}
}
return b_valid_position;
}

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/*!
* \file rtklib_solver.h
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_H_
#define GNSS_SDR_RTKLIB_SOLVER_H_
#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include "rtklib_pntpos.h"
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "gnss_synchro.h"
#include "pvt_solution.h"
/*!
* \brief This class implements a simple PVT Least Squares solution
*/
class rtklib_solver : public Pvt_Solution
{
private:
public:
rtklib_solver(int nchannels,std::string dump_filename, bool flag_dump_to_file);
~rtklib_solver();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;
Galileo_Almanac galileo_almanac;
Gps_Utc_Model gps_utc_model;
Gps_Iono gps_iono;
Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model;
int count_valid_position;
bool d_flag_dump_enabled;
prcopt_t rtklib_opt;
sol_t old_pvt_sol;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

1
src/algorithms/libs/CMakeLists.txt
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@ -16,6 +16,7 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
add_subdirectory(rtklib)
set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc

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# Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
#
# 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/>.
#
add_definitions( -DGNSS_SDR_VERSION="${VERSION}" )
set(RTKLIB_LIB_SOURCES
rtklib_rtkcmn.cc
rtklib_ephemeris.cc
rtklib_preceph.cc
rtklib_sbas.cc
rtklib_ionex.cc
rtklib_pntpos.cc
rtklib_conversions.cc
)
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)
file(GLOB RTKLIB_LIB_HEADERS "*.h")
list(SORT RTKLIB_LIB_HEADERS)
add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
add_dependencies(rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
#set_property(SOURCE rtklib_rtkcmn.cc APPEND_STRING PROPERTY COMPILE_FLAGS " -Wno-missing-field-initializers ")
target_link_libraries(
rtklib_lib
${Boost_LIBRARIES}
${GFlags_LIBS}
${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES}
${BLAS}
${LAPACK}
)
#MESSAGE( STATUS "*****************BLAS: " ${BLAS} )

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/*!
* \file rtklib_conversions.cc
* \brief GNSS-SDR to RTKLIB data structures conversion functions
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
#include "rtklib_conversions.h"
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week)
{
obsd_t rtklib_obs;
rtklib_obs.D[0]=gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[0]=gnss_synchro.Pseudorange_m;
rtklib_obs.L[0]=gnss_synchro.Carrier_phase_rads;//todo: check units
//rtklib_obs.SNR=gnss_synchro.CN0_dB_hz;
rtklib_obs.sat=gnss_synchro.PRN;
rtklib_obs.time=gpst2time(adjgpsweek(week),gnss_synchro.RX_time);
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs;
}
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph)
{
eph_t rtklib_sat;
rtklib_sat.sat = gal_eph.i_satellite_PRN;
rtklib_sat.A=gal_eph.A_1*gal_eph.A_1;
rtklib_sat.M0=gal_eph.M0_1;
rtklib_sat.deln=gal_eph.delta_n_3;
rtklib_sat.OMG0=gal_eph.OMEGA_0_2;
rtklib_sat.OMGd=gal_eph.OMEGA_dot_3;
rtklib_sat.omg=gal_eph.omega_2;
rtklib_sat.i0=gal_eph.i_0_2;
rtklib_sat.idot=gal_eph.iDot_2;
rtklib_sat.e=gal_eph.e_1;
rtklib_sat.Adot=0; //only in CNAV;
rtklib_sat.ndot=0; //only in CNAV;
rtklib_sat.week=adjgpsweek(gal_eph.WN_5); /* week of tow */
rtklib_sat.cic=gal_eph.C_ic_4;
rtklib_sat.cis=gal_eph.C_is_4;
rtklib_sat.cuc=gal_eph.C_uc_3;
rtklib_sat.cus=gal_eph.C_us_3;
rtklib_sat.crc=gal_eph.C_rc_3;
rtklib_sat.crs=gal_eph.C_rs_3;
rtklib_sat.f0=gal_eph.af0_4;
rtklib_sat.f1=gal_eph.af1_4;
rtklib_sat.f2=gal_eph.af2_4;
rtklib_sat.tgd[0]=0;
rtklib_sat.tgd[1]=0;
rtklib_sat.tgd[2]=0;
rtklib_sat.tgd[3]=0;
rtklib_sat.toes=gal_eph.t0e_1;
rtklib_sat.toc=gpst2time(rtklib_sat.week,gal_eph.t0c_4);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,gal_eph.TOW_5);
/* adjustment for week handover */
double tow, toc;
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph)
{
eph_t rtklib_sat;
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;
rtklib_sat.deln=gps_eph.d_Delta_n;
rtklib_sat.OMG0=gps_eph.d_OMEGA0;
rtklib_sat.OMGd=gps_eph.d_OMEGA_DOT;
rtklib_sat.omg=gps_eph.d_OMEGA;
rtklib_sat.i0=gps_eph.d_i_0;
rtklib_sat.idot=gps_eph.d_IDOT;
rtklib_sat.e=gps_eph.d_e_eccentricity;
rtklib_sat.Adot=0; //only in CNAV;
rtklib_sat.ndot=0; //only in CNAV;
rtklib_sat.week=adjgpsweek(gps_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic=gps_eph.d_Cic;
rtklib_sat.cis=gps_eph.d_Cis;
rtklib_sat.cuc=gps_eph.d_Cuc;
rtklib_sat.cus=gps_eph.d_Cus;
rtklib_sat.crc=gps_eph.d_Crc;
rtklib_sat.crs=gps_eph.d_Crs;
rtklib_sat.f0=gps_eph.d_A_f0;
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.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);
/* adjustment for week handover */
double tow, toc;
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
//printf("EPHEMERIS TIME [%i]: %s,%f\n\r",rtklib_sat.sat,time_str(rtklib_sat.toe,3),rtklib_sat.toe.sec);
return rtklib_sat;
}
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph)
{
eph_t rtklib_sat;
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;
rtklib_sat.M0=gps_cnav_eph.d_M_0;
rtklib_sat.deln=gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0=gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200H pp. 164
double d_OMEGA_DOT = OMEGA_DOT_REF*GPS_L2_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd=d_OMEGA_DOT;
rtklib_sat.omg=gps_cnav_eph.d_OMEGA;
rtklib_sat.i0=gps_cnav_eph.d_i_0;
rtklib_sat.idot=gps_cnav_eph.d_IDOT;
rtklib_sat.e=gps_cnav_eph.d_e_eccentricity;
rtklib_sat.Adot=gps_cnav_eph.d_A_DOT; //only in CNAV;
rtklib_sat.ndot=gps_cnav_eph.d_DELTA_DOT_N; //only in CNAV;
rtklib_sat.week=adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic=gps_cnav_eph.d_Cic;
rtklib_sat.cis=gps_cnav_eph.d_Cis;
rtklib_sat.cuc=gps_cnav_eph.d_Cuc;
rtklib_sat.cus=gps_cnav_eph.d_Cus;
rtklib_sat.crc=gps_cnav_eph.d_Crc;
rtklib_sat.crs=gps_cnav_eph.d_Crs;
rtklib_sat.f0=gps_cnav_eph.d_A_f0;
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.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);
/* adjustment for week handover */
double tow, toc;
tow=time2gpst(rtklib_sat.ttr,&rtklib_sat.week);
toc=time2gpst(rtklib_sat.toc,NULL);
if (rtklib_sat.toes<tow-302400.0) {rtklib_sat.week++; tow-=604800.0;}
else if (rtklib_sat.toes>tow+302400.0) {rtklib_sat.week--; tow+=604800.0;}
rtklib_sat.toe=gpst2time(rtklib_sat.week,rtklib_sat.toes);
rtklib_sat.toc=gpst2time(rtklib_sat.week,toc);
rtklib_sat.ttr=gpst2time(rtklib_sat.week,tow);
return rtklib_sat;
}

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/*!
* \file rtklib_conversions.h
* \brief GNSS-SDR to RTKLIB data structures conversion functions
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*/
#ifndef SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_
#define SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_
#include "rtklib_rtkcmn.h"
#include "gnss_synchro.h"
#include "galileo_ephemeris.h"
#include "gps_ephemeris.h"
#include "gps_cnav_ephemeris.h"
eph_t eph_to_rtklib(Galileo_Ephemeris gal_eph);
eph_t eph_to_rtklib(Gps_Ephemeris gps_eph);
eph_t eph_to_rtklib(Gps_CNAV_Ephemeris gps_cnav_eph);
obsd_t obs_to_rtklib(Gnss_Synchro gnss_synchro, int week);
#endif /* SRC_ALGORITHMS_PVT_LIBS_RTKLIB_CONVERSIONS_H_ */

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/*!
* \file rtklib_ephemeris.cc
* \brief satellite ephemeris and clock functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* history : 2010/07/28 1.1 moved from rtkcmn.c
* added api:
* eph2clk(),geph2clk(),seph2clk(),satantoff()
* satposs()
* changed api:
* eph2pos(),geph2pos(),satpos()
* deleted api:
* satposv(),satposiode()
* 2010/08/26 1.2 add ephemeris option EPHOPT_LEX
* 2010/09/09 1.3 fix problem when precise clock outage
* 2011/01/12 1.4 add api alm2pos()
* change api satpos(),satposs()
* enable valid unhealthy satellites and output status
* fix bug on exception by glonass ephem computation
* 2013/01/10 1.5 support beidou (compass)
* use newton's method to solve kepler eq.
* update ssr correction algorithm
* 2013/03/20 1.6 fix problem on ssr clock relativitic correction
* 2013/09/01 1.7 support negative pseudorange
* fix bug on variance in case of ura ssr = 63
* 2013/11/11 1.8 change constant MAXAGESSR 70.0 -> 90.0
* 2014/10/24 1.9 fix bug on return of var_uraeph() if ura<0||15<ura
* 2014/12/07 1.10 modify MAXDTOE for qzss,gal and bds
* test max number of iteration for Kepler
* 2015/08/26 1.11 update RTOL_ELPLER 1E-14 -> 1E-13
* set MAX_ITER_KEPLER for alm2pos()
*-----------------------------------------------------------------------------*/
#include "rtklib_ephemeris.h"
static const char rcsid[]="$Id:$";
/* constants and macros ------------------------------------------------------*/
#define SQR(x) ((x)*(x))
#define RE_GLO 6378136.0 /* radius of earth (m) ref [2] */
#define MU_GPS 3.9860050E14 /* gravitational constant ref [1] */
#define MU_GLO 3.9860044E14 /* gravitational constant ref [2] */
#define MU_GAL 3.986004418E14 /* earth gravitational constant ref [7] */
#define MU_CMP 3.986004418E14 /* earth gravitational constant ref [9] */
#define J2_GLO 1.0826257E-3 /* 2nd zonal harmonic of geopot ref [2] */
#define OMGE_GLO 7.292115E-5 /* earth angular velocity (rad/s) ref [2] */
#define OMGE_GAL 7.2921151467E-5 /* earth angular velocity (rad/s) ref [7] */
#define OMGE_CMP 7.292115E-5 /* earth angular velocity (rad/s) ref [9] */
#define SIN_5 -0.0871557427476582 /* sin(-5.0 deg) */
#define COS_5 0.9961946980917456 /* cos(-5.0 deg) */
#define ERREPH_GLO 5.0 /* error of glonass ephemeris (m) */
#define TSTEP 60.0 /* integration step glonass ephemeris (s) */
#define RTOL_KEPLER 1E-13 /* relative tolerance for Kepler equation */
#define DEFURASSR 0.15 /* default accurary of ssr corr (m) */
#define MAXECORSSR 10.0 /* max orbit correction of ssr (m) */
#define MAXCCORSSR (1E-6*CLIGHT) /* max clock correction of ssr (m) */
#define MAXAGESSR 90.0 /* max age of ssr orbit and clock (s) */
#define MAXAGESSR_HRCLK 10.0 /* max age of ssr high-rate clock (s) */
#define STD_BRDCCLK 30.0 /* error of broadcast clock (m) */
#define MAX_ITER_KEPLER 30 /* max number of iteration of Kelpler */
/* variance by ura ephemeris (ref [1] 20.3.3.3.1.1) --------------------------*/
double var_uraeph(int ura)
{
const double ura_value[]={
2.4,3.4,4.85,6.85,9.65,13.65,24.0,48.0,96.0,192.0,384.0,768.0,1536.0,
3072.0,6144.0
};
return ura<0||15<ura?SQR(6144.0):SQR(ura_value[ura]);
}
/* variance by ura ssr (ref [4]) ---------------------------------------------*/
double var_urassr(int ura)
{
double std;
if (ura<= 0) return SQR(DEFURASSR);
if (ura>=63) return SQR(5.4665);
std=(pow(3.0,(ura>>3)&7)*(1.0+(ura&7)/4.0)-1.0)*1E-3;
return SQR(std);
}
/* almanac to satellite position and clock bias --------------------------------
* compute satellite position and clock bias with almanac (gps, galileo, qzss)
* args : gtime_t time I time (gpst)
* alm_t *alm I almanac
* double *rs O satellite position (ecef) {x,y,z} (m)
* double *dts O satellite clock bias (s)
* return : none
* notes : see ref [1],[7],[8]
*-----------------------------------------------------------------------------*/
void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts)
{
double tk,M,E,Ek,sinE,cosE,u,r,i,O,x,y,sinO,cosO,cosi,mu;
int n;
trace(4,"alm2pos : time=%s sat=%2d\n",time_str(time,3),alm->sat);
tk=timediff(time,alm->toa);
if (alm->A<=0.0) {
rs[0]=rs[1]=rs[2]=*dts=0.0;
return;
}
mu=satsys(alm->sat,NULL)==SYS_GAL?MU_GAL:MU_GPS;
M=alm->M0+sqrt(mu/(alm->A*alm->A*alm->A))*tk;
for (n=0,E=M,Ek=0.0;fabs(E-Ek)>RTOL_KEPLER&&n<MAX_ITER_KEPLER;n++) {
Ek=E; E-=(E-alm->e*sin(E)-M)/(1.0-alm->e*cos(E));
}
if (n>=MAX_ITER_KEPLER) {
trace(2,"alm2pos: kepler iteration overflow sat=%2d\n",alm->sat);
return;
}
sinE=sin(E); cosE=cos(E);
u=atan2(sqrt(1.0-alm->e*alm->e)*sinE,cosE-alm->e)+alm->omg;
r=alm->A*(1.0-alm->e*cosE);
i=alm->i0;
O=alm->OMG0+(alm->OMGd-OMGE)*tk-OMGE*alm->toas;
x=r*cos(u); y=r*sin(u); sinO=sin(O); cosO=cos(O); cosi=cos(i);
rs[0]=x*cosO-y*cosi*sinO;
rs[1]=x*sinO+y*cosi*cosO;
rs[2]=y*sin(i);
*dts=alm->f0+alm->f1*tk;
}
/* broadcast ephemeris to satellite clock bias ---------------------------------
* compute satellite clock bias with broadcast ephemeris (gps, galileo, qzss)
* args : gtime_t time I time by satellite clock (gpst)
* eph_t *eph I broadcast ephemeris
* return : satellite clock bias (s) without relativeity correction
* notes : see ref [1],[7],[8]
* satellite clock does not include relativity correction and tdg
*-----------------------------------------------------------------------------*/
double eph2clk(gtime_t time, const eph_t *eph)
{
double t;
int i;
trace(4,"eph2clk : time=%s sat=%2d\n",time_str(time,3),eph->sat);
t=timediff(time,eph->toc);
for (i=0;i<2;i++) {
t-=eph->f0+eph->f1*t+eph->f2*t*t;
}
return eph->f0+eph->f1*t+eph->f2*t*t;
}
/* broadcast ephemeris to satellite position and clock bias --------------------
* compute satellite position and clock bias with broadcast ephemeris (gps,
* galileo, qzss)
* args : gtime_t time I time (gpst)
* eph_t *eph I broadcast ephemeris
* double *rs O satellite position (ecef) {x,y,z} (m)
* double *dts O satellite clock bias (s)
* double *var O satellite position and clock variance (m^2)
* return : none
* notes : see ref [1],[7],[8]
* satellite clock includes relativity correction without code bias
* (tgd or bgd)
*-----------------------------------------------------------------------------*/
void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
double *var)
{
double tk,M,E,Ek,sinE,cosE,u,r,i,O,sin2u,cos2u,x,y,sinO,cosO,cosi,mu,omge;
double xg,yg,zg,sino,coso;
int n,sys,prn;
trace(4,"eph2pos : time=%s sat=%2d\n",time_str(time,3),eph->sat);
if (eph->A<=0.0) {
rs[0]=rs[1]=rs[2]=*dts=*var=0.0;
return;
}
tk=timediff(time,eph->toe);
switch ((sys=satsys(eph->sat,&prn))) {
case SYS_GAL: mu=MU_GAL; omge=OMGE_GAL; break;
case SYS_CMP: mu=MU_CMP; omge=OMGE_CMP; break;
default: mu=MU_GPS; omge=OMGE; break;
}
M=eph->M0+(sqrt(mu/(eph->A*eph->A*eph->A))+eph->deln)*tk;
for (n=0,E=M,Ek=0.0;fabs(E-Ek)>RTOL_KEPLER&&n<MAX_ITER_KEPLER;n++) {
Ek=E; E-=(E-eph->e*sin(E)-M)/(1.0-eph->e*cos(E));
}
if (n>=MAX_ITER_KEPLER) {
trace(2,"eph2pos: kepler iteration overflow sat=%2d\n",eph->sat);
return;
}
sinE=sin(E); cosE=cos(E);
trace(4,"kepler: sat=%2d e=%8.5f n=%2d del=%10.3e\n",eph->sat,eph->e,n,E-Ek);
u=atan2(sqrt(1.0-eph->e*eph->e)*sinE,cosE-eph->e)+eph->omg;
r=eph->A*(1.0-eph->e*cosE);
i=eph->i0+eph->idot*tk;
sin2u=sin(2.0*u); cos2u=cos(2.0*u);
u+=eph->cus*sin2u+eph->cuc*cos2u;
r+=eph->crs*sin2u+eph->crc*cos2u;
i+=eph->cis*sin2u+eph->cic*cos2u;
x=r*cos(u); y=r*sin(u); cosi=cos(i);
/* beidou geo satellite (ref [9]) */
if (sys==SYS_CMP&&prn<=5) {
O=eph->OMG0+eph->OMGd*tk-omge*eph->toes;
sinO=sin(O); cosO=cos(O);
xg=x*cosO-y*cosi*sinO;
yg=x*sinO+y*cosi*cosO;
zg=y*sin(i);
sino=sin(omge*tk); coso=cos(omge*tk);
rs[0]= xg*coso+yg*sino*COS_5+zg*sino*SIN_5;
rs[1]=-xg*sino+yg*coso*COS_5+zg*coso*SIN_5;
rs[2]=-yg*SIN_5+zg*COS_5;
}
else {
O=eph->OMG0+(eph->OMGd-omge)*tk-omge*eph->toes;
sinO=sin(O); cosO=cos(O);
rs[0]=x*cosO-y*cosi*sinO;
rs[1]=x*sinO+y*cosi*cosO;
rs[2]=y*sin(i);
}
tk=timediff(time,eph->toc);
*dts=eph->f0+eph->f1*tk+eph->f2*tk*tk;
/* relativity correction */
*dts-=2.0*sqrt(mu*eph->A)*eph->e*sinE/SQR(CLIGHT);
/* position and clock error variance */
*var=var_uraeph(eph->sva);
}
/* glonass orbit differential equations --------------------------------------*/
void deq(const double *x, double *xdot, const double *acc)
{
double a,b,c,r2=dot(x,x,3),r3=r2*sqrt(r2),omg2=SQR(OMGE_GLO);
if (r2<=0.0) {
xdot[0]=xdot[1]=xdot[2]=xdot[3]=xdot[4]=xdot[5]=0.0;
return;
}
/* ref [2] A.3.1.2 with bug fix for xdot[4],xdot[5] */
a=1.5*J2_GLO*MU_GLO*SQR(RE_GLO)/r2/r3; /* 3/2*J2*mu*Ae^2/r^5 */
b=5.0*x[2]*x[2]/r2; /* 5*z^2/r^2 */
c=-MU_GLO/r3-a*(1.0-b); /* -mu/r^3-a(1-b) */
xdot[0]=x[3]; xdot[1]=x[4]; xdot[2]=x[5];
xdot[3]=(c+omg2)*x[0]+2.0*OMGE_GLO*x[4]+acc[0];
xdot[4]=(c+omg2)*x[1]-2.0*OMGE_GLO*x[3]+acc[1];
xdot[5]=(c-2.0*a)*x[2]+acc[2];
}
/* glonass position and velocity by numerical integration --------------------*/
void glorbit(double t, double *x, const double *acc)
{
double k1[6],k2[6],k3[6],k4[6],w[6];
int i;
deq(x,k1,acc); for (i=0;i<6;i++) w[i]=x[i]+k1[i]*t/2.0;
deq(w,k2,acc); for (i=0;i<6;i++) w[i]=x[i]+k2[i]*t/2.0;
deq(w,k3,acc); for (i=0;i<6;i++) w[i]=x[i]+k3[i]*t;
deq(w,k4,acc);
for (i=0;i<6;i++) x[i]+=(k1[i]+2.0*k2[i]+2.0*k3[i]+k4[i])*t/6.0;
}
/* glonass ephemeris to satellite clock bias -----------------------------------
* compute satellite clock bias with glonass ephemeris
* args : gtime_t time I time by satellite clock (gpst)
* geph_t *geph I glonass ephemeris
* return : satellite clock bias (s)
* notes : see ref [2]
*-----------------------------------------------------------------------------*/
double geph2clk(gtime_t time, const geph_t *geph)
{
double t;
int i;
trace(4,"geph2clk: time=%s sat=%2d\n",time_str(time,3),geph->sat);
t=timediff(time,geph->toe);
for (i=0;i<2;i++) {
t-=-geph->taun+geph->gamn*t;
}
return -geph->taun+geph->gamn*t;
}
/* glonass ephemeris to satellite position and clock bias ----------------------
* compute satellite position and clock bias with glonass ephemeris
* args : gtime_t time I time (gpst)
* geph_t *geph I glonass ephemeris
* double *rs O satellite position {x,y,z} (ecef) (m)
* double *dts O satellite clock bias (s)
* double *var O satellite position and clock variance (m^2)
* return : none
* notes : see ref [2]
*-----------------------------------------------------------------------------*/
void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts,
double *var)
{
double t,tt,x[6];
int i;
trace(4,"geph2pos: time=%s sat=%2d\n",time_str(time,3),geph->sat);
t=timediff(time,geph->toe);
*dts=-geph->taun+geph->gamn*t;
for (i=0;i<3;i++) {
x[i ]=geph->pos[i];
x[i+3]=geph->vel[i];
}
for (tt=t<0.0?-TSTEP:TSTEP;fabs(t)>1E-9;t-=tt) {
if (fabs(t)<TSTEP) tt=t;
glorbit(tt,x,geph->acc);
}
for (i=0;i<3;i++) rs[i]=x[i];
*var=SQR(ERREPH_GLO);
}
/* sbas ephemeris to satellite clock bias --------------------------------------
* compute satellite clock bias with sbas ephemeris
* args : gtime_t time I time by satellite clock (gpst)
* seph_t *seph I sbas ephemeris
* return : satellite clock bias (s)
* notes : see ref [3]
*-----------------------------------------------------------------------------*/
double seph2clk(gtime_t time, const seph_t *seph)
{
double t;
int i;
trace(4,"seph2clk: time=%s sat=%2d\n",time_str(time,3),seph->sat);
t=timediff(time,seph->t0);
for (i=0;i<2;i++) {
t-=seph->af0+seph->af1*t;
}
return seph->af0+seph->af1*t;
}
/* sbas ephemeris to satellite position and clock bias -------------------------
* compute satellite position and clock bias with sbas ephemeris
* args : gtime_t time I time (gpst)
* seph_t *seph I sbas ephemeris
* double *rs O satellite position {x,y,z} (ecef) (m)
* double *dts O satellite clock bias (s)
* double *var O satellite position and clock variance (m^2)
* return : none
* notes : see ref [3]
*-----------------------------------------------------------------------------*/
void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts,
double *var)
{
double t;
int i;
trace(4,"seph2pos: time=%s sat=%2d\n",time_str(time,3),seph->sat);
t=timediff(time,seph->t0);
for (i=0;i<3;i++) {
rs[i]=seph->pos[i]+seph->vel[i]*t+seph->acc[i]*t*t/2.0;
}
*dts=seph->af0+seph->af1*t;
*var=var_uraeph(seph->sva);
}
/* select ephememeris --------------------------------------------------------*/
eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
{
double t,tmax,tmin;
int i,j=-1;
trace(4,"seleph : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode);
switch (satsys(sat,NULL)) {
case SYS_QZS: tmax=MAXDTOE_QZS+1.0; break;
case SYS_GAL: tmax=MAXDTOE_GAL+1.0; break;
case SYS_CMP: tmax=MAXDTOE_CMP+1.0; break;
default: tmax=MAXDTOE+1.0; break;
}
tmin=tmax+1.0;
for (i=0;i<nav->n;i++) {
if (nav->eph[i].sat!=sat) continue;
if (iode>=0&&nav->eph[i].iode!=iode) continue;
if ((t=fabs(timediff(nav->eph[i].toe,time)))>tmax) continue;
if (iode>=0) return nav->eph+i;
if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */
}
if (iode>=0||j<0) {
trace(3,"no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
sat,iode);
return NULL;
}
return nav->eph+j;
}
/* select glonass ephememeris ------------------------------------------------*/
geph_t *selgeph(gtime_t time, int sat, int iode, const nav_t *nav)
{
double t,tmax=MAXDTOE_GLO,tmin=tmax+1.0;
int i,j=-1;
trace(4,"selgeph : time=%s sat=%2d iode=%2d\n",time_str(time,3),sat,iode);
for (i=0;i<nav->ng;i++) {
if (nav->geph[i].sat!=sat) continue;
if (iode>=0&&nav->geph[i].iode!=iode) continue;
if ((t=fabs(timediff(nav->geph[i].toe,time)))>tmax) continue;
if (iode>=0) return nav->geph+i;
if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */
}
if (iode>=0||j<0) {
trace(3,"no glonass ephemeris : %s sat=%2d iode=%2d\n",time_str(time,0),
sat,iode);
return NULL;
}
return nav->geph+j;
}
/* select sbas ephememeris ---------------------------------------------------*/
seph_t *selseph(gtime_t time, int sat, const nav_t *nav)
{
double t,tmax=MAXDTOE_SBS,tmin=tmax+1.0;
int i,j=-1;
trace(4,"selseph : time=%s sat=%2d\n",time_str(time,3),sat);
for (i=0;i<nav->ns;i++) {
if (nav->seph[i].sat!=sat) continue;
if ((t=fabs(timediff(nav->seph[i].t0,time)))>tmax) continue;
if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */
}
if (j<0) {
trace(3,"no sbas ephemeris : %s sat=%2d\n",time_str(time,0),sat);
return NULL;
}
return nav->seph+j;
}
/* satellite clock with broadcast ephemeris ----------------------------------*/
int ephclk(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
double *dts)
{
eph_t *eph;
geph_t *geph;
seph_t *seph;
int sys;
trace(4,"ephclk : time=%s sat=%2d\n",time_str(time,3),sat);
sys=satsys(sat,NULL);
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,-1,nav))) return 0;
*dts=eph2clk(time,eph);
}
else if (sys==SYS_GLO) {
if (!(geph=selgeph(teph,sat,-1,nav))) return 0;
*dts=geph2clk(time,geph);
}
else if (sys==SYS_SBS) {
if (!(seph=selseph(teph,sat,nav))) return 0;
*dts=seph2clk(time,seph);
}
else return 0;
return 1;
}
/* satellite position and clock by broadcast ephemeris -----------------------*/
int ephpos(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int iode, double *rs, double *dts, double *var, int *svh)
{
eph_t *eph;
geph_t *geph;
seph_t *seph;
double rst[3],dtst[1],tt=1E-3;
int i,sys;
trace(4,"ephpos : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode);
sys=satsys(sat,NULL);
*svh=-1;
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,iode,nav))) return 0;
eph2pos(time,eph,rs,dts,var);
time=timeadd(time,tt);
eph2pos(time,eph,rst,dtst,var);
*svh=eph->svh;
}
else if (sys==SYS_GLO) {
if (!(geph=selgeph(teph,sat,iode,nav))) return 0;
geph2pos(time,geph,rs,dts,var);
time=timeadd(time,tt);
geph2pos(time,geph,rst,dtst,var);
*svh=geph->svh;
}
else if (sys==SYS_SBS) {
if (!(seph=selseph(teph,sat,nav))) return 0;
seph2pos(time,seph,rs,dts,var);
time=timeadd(time,tt);
seph2pos(time,seph,rst,dtst,var);
*svh=seph->svh;
}
else return 0;
/* satellite velocity and clock drift by differential approx */
for (i=0;i<3;i++) rs[i+3]=(rst[i]-rs[i])/tt;
dts[1]=(dtst[0]-dts[0])/tt;
return 1;
}
/* satellite position and clock with sbas correction -------------------------*/
int satpos_sbas(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
double *rs, double *dts, double *var, int *svh)
{
const sbssatp_t *sbs;
int i;
trace(4,"satpos_sbas: time=%s sat=%2d\n",time_str(time,3),sat);
/* search sbas satellite correciton */
for (i=0;i<nav->sbssat.nsat;i++) {
sbs=nav->sbssat.sat+i;
if (sbs->sat==sat) break;
}
if (i>=nav->sbssat.nsat) {
trace(2,"no sbas correction for orbit: %s sat=%2d\n",time_str(time,0),sat);
ephpos(time,teph,sat,nav,-1,rs,dts,var,svh);
*svh=-1;
return 0;
}
/* satellite postion and clock by broadcast ephemeris */
if (!ephpos(time,teph,sat,nav,sbs->lcorr.iode,rs,dts,var,svh)) return 0;
/* sbas satellite correction (long term and fast) */
if (sbssatcorr(time,sat,nav,rs,dts,var)) return 1;
*svh=-1;
return 0;
}
/* satellite position and clock with ssr correction --------------------------*/
int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int opt, double *rs, double *dts, double *var, int *svh)
{
const ssr_t *ssr;
eph_t *eph;
double t1,t2,t3,er[3],ea[3],ec[3],rc[3],deph[3],dclk,dant[3]={0},tk;
int i,sys;
trace(4,"satpos_ssr: time=%s sat=%2d\n",time_str(time,3),sat);
ssr=nav->ssr+sat-1;
if (!ssr->t0[0].time) {
trace(2,"no ssr orbit correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
if (!ssr->t0[1].time) {
trace(2,"no ssr clock correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* inconsistency between orbit and clock correction */
if (ssr->iod[0]!=ssr->iod[1]) {
trace(2,"inconsist ssr correction: %s sat=%2d iod=%d %d\n",
time_str(time,0),sat,ssr->iod[0],ssr->iod[1]);
*svh=-1;
return 0;
}
t1=timediff(time,ssr->t0[0]);
t2=timediff(time,ssr->t0[1]);
t3=timediff(time,ssr->t0[2]);
/* ssr orbit and clock correction (ref [4]) */
if (fabs(t1)>MAXAGESSR||fabs(t2)>MAXAGESSR) {
trace(2,"age of ssr error: %s sat=%2d t=%.0f %.0f\n",time_str(time,0),
sat,t1,t2);
*svh=-1;
return 0;
}
if (ssr->udi[0]>=1.0) t1-=ssr->udi[0]/2.0;
if (ssr->udi[1]>=1.0) t2-=ssr->udi[0]/2.0;
for (i=0;i<3;i++) deph[i]=ssr->deph[i]+ssr->ddeph[i]*t1;
dclk=ssr->dclk[0]+ssr->dclk[1]*t2+ssr->dclk[2]*t2*t2;
/* ssr highrate clock correction (ref [4]) */
if (ssr->iod[0]==ssr->iod[2]&&ssr->t0[2].time&&fabs(t3)<MAXAGESSR_HRCLK) {
dclk+=ssr->hrclk;
}
if (norm(deph,3)>MAXECORSSR||fabs(dclk)>MAXCCORSSR) {
trace(3,"invalid ssr correction: %s deph=%.1f dclk=%.1f\n",
time_str(time,0),norm(deph,3),dclk);
*svh=-1;
return 0;
}
/* satellite postion and clock by broadcast ephemeris */
if (!ephpos(time,teph,sat,nav,ssr->iode,rs,dts,var,svh)) return 0;
/* satellite clock for gps, galileo and qzss */
sys=satsys(sat,NULL);
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,ssr->iode,nav))) return 0;
/* satellite clock by clock parameters */
tk=timediff(time,eph->toc);
dts[0]=eph->f0+eph->f1*tk+eph->f2*tk*tk;
dts[1]=eph->f1+2.0*eph->f2*tk;
/* relativity correction */
dts[0]-=2.0*dot(rs,rs+3,3)/CLIGHT/CLIGHT;
}
/* radial-along-cross directions in ecef */
if (!normv3(rs+3,ea)) return 0;
cross3(rs,rs+3,rc);
if (!normv3(rc,ec)) {
*svh=-1;
return 0;
}
cross3(ea,ec,er);
/* satellite antenna offset correction */
if (opt) {
satantoff(time,rs,sat,nav,dant);
}
for (i=0;i<3;i++) {
rs[i]+=-(er[i]*deph[0]+ea[i]*deph[1]+ec[i]*deph[2])+dant[i];
}
/* t_corr = t_sv - (dts(brdc) + dclk(ssr) / CLIGHT) (ref [10] eq.3.12-7) */
dts[0]+=dclk/CLIGHT;
/* variance by ssr ura */
*var=var_urassr(ssr->ura);
trace(5,"satpos_ssr: %s sat=%2d deph=%6.3f %6.3f %6.3f er=%6.3f %6.3f %6.3f dclk=%6.3f var=%6.3f\n",
time_str(time,2),sat,deph[0],deph[1],deph[2],er[0],er[1],er[2],dclk,*var);
return 1;
}
/* satellite position and clock ------------------------------------------------
* compute satellite position, velocity and clock
* args : gtime_t time I time (gpst)
* gtime_t teph I time to select ephemeris (gpst)
* int sat I satellite number
* nav_t *nav I navigation data
* int ephopt I ephemeris option (EPHOPT_???)
* double *rs O sat position and velocity (ecef)
* {x,y,z,vx,vy,vz} (m|m/s)
* double *dts O sat clock {bias,drift} (s|s/s)
* double *var O sat position and clock error variance (m^2)
* int *svh O sat health flag (-1:correction not available)
* return : status (1:ok,0:error)
* notes : satellite position is referenced to antenna phase center
* satellite clock does not include code bias correction (tgd or bgd)
*-----------------------------------------------------------------------------*/
int satpos(gtime_t time, gtime_t teph, int sat, int ephopt,
const nav_t *nav, double *rs, double *dts, double *var,
int *svh)
{
trace(4,"satpos : time=%s sat=%2d ephopt=%d\n",time_str(time,3),sat,ephopt);
*svh=0;
switch (ephopt) {
case EPHOPT_BRDC : return ephpos (time,teph,sat,nav,-1,rs,dts,var,svh);
case EPHOPT_SBAS : return satpos_sbas(time,teph,sat,nav, rs,dts,var,svh);
case EPHOPT_SSRAPC: return satpos_ssr (time,teph,sat,nav, 0,rs,dts,var,svh);
case EPHOPT_SSRCOM: return satpos_ssr (time,teph,sat,nav, 1,rs,dts,var,svh);
case EPHOPT_PREC :
if (!peph2pos(time,sat,nav,1,rs,dts,var)) break; else return 1;
//TODO: enable lex
//case EPHOPT_LEX :
// if (!lexeph2pos(time,sat,nav,rs,dts,var)) break; else return 1;
}
*svh=-1;
return 0;
}
/* satellite positions and clocks ----------------------------------------------
* compute satellite positions, velocities and clocks
* args : gtime_t teph I time to select ephemeris (gpst)
* obsd_t *obs I observation data
* int n I number of observation data
* nav_t *nav I navigation data
* int ephopt I ephemeris option (EPHOPT_???)
* double *rs O satellite positions and velocities (ecef)
* double *dts O satellite clocks
* double *var O sat position and clock error variances (m^2)
* int *svh O sat health flag (-1:correction not available)
* return : none
* notes : rs [(0:2)+i*6]= obs[i] sat position {x,y,z} (m)
* rs [(3:5)+i*6]= obs[i] sat velocity {vx,vy,vz} (m/s)
* dts[(0:1)+i*2]= obs[i] sat clock {bias,drift} (s|s/s)
* var[i] = obs[i] sat position and clock error variance (m^2)
* svh[i] = obs[i] sat health flag
* if no navigation data, set 0 to rs[], dts[], var[] and svh[]
* satellite position and clock are values at signal transmission time
* satellite position is referenced to antenna phase center
* satellite clock does not include code bias correction (tgd or bgd)
* any pseudorange and broadcast ephemeris are always needed to get
* signal transmission time
*-----------------------------------------------------------------------------*/
void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
int ephopt, double *rs, double *dts, double *var, int *svh)
{
gtime_t time[MAXOBS]={};
double dt,pr;
int i,j;
trace(3,"satposs : teph=%s n=%d ephopt=%d\n",time_str(teph,3),n,ephopt);
for (i=0;i<n&&i<MAXOBS;i++) {
for (j=0;j<6;j++) rs [j+i*6]=0.0;
for (j=0;j<2;j++) dts[j+i*2]=0.0;
var[i]=0.0; svh[i]=0;
/* search any psuedorange */
for (j=0,pr=0.0;j<NFREQ;j++) if ((pr=obs[i].P[j])!=0.0) break;
if (j>=NFREQ) {
trace(2,"no pseudorange %s sat=%2d\n",time_str(obs[i].time,3),obs[i].sat);
continue;
}
/* transmission time by satellite clock */
time[i]=timeadd(obs[i].time,-pr/CLIGHT);
/* satellite clock bias by broadcast ephemeris */
if (!ephclk(time[i],teph,obs[i].sat,nav,&dt)) {
trace(3,"no broadcast clock %s sat=%2d\n",time_str(time[i],3),obs[i].sat);
continue;
}
time[i]=timeadd(time[i],-dt);
/* satellite position and clock at transmission time */
if (!satpos(time[i],teph,obs[i].sat,ephopt,nav,rs+i*6,dts+i*2,var+i,
svh+i)) {
trace(3,"no ephemeris %s sat=%2d\n",time_str(time[i],3),obs[i].sat);
continue;
}
/* if no precise clock available, use broadcast clock instead */
if (dts[i*2]==0.0) {
if (!ephclk(time[i],teph,obs[i].sat,nav,dts+i*2)) continue;
dts[1+i*2]=0.0;
*var=SQR(STD_BRDCCLK);
}
}
for (i=0;i<n&&i<MAXOBS;i++) {
trace(4,"%s sat=%2d rs=%13.3f %13.3f %13.3f dts=%12.3f var=%7.3f svh=%02X\n",
time_str(time[i],6),obs[i].sat,rs[i*6],rs[1+i*6],rs[2+i*6],
dts[i*2]*1E9,var[i],svh[i]);
}
}

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/*!
* \file rtklib_ephemeris.h
* \brief satellite ephemeris and clock functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* history : 2010/07/28 1.1 moved from rtkcmn.c
* added api:
* eph2clk(),geph2clk(),seph2clk(),satantoff()
* satposs()
* changed api:
* eph2pos(),geph2pos(),satpos()
* deleted api:
* satposv(),satposiode()
* 2010/08/26 1.2 add ephemeris option EPHOPT_LEX
* 2010/09/09 1.3 fix problem when precise clock outage
* 2011/01/12 1.4 add api alm2pos()
* change api satpos(),satposs()
* enable valid unhealthy satellites and output status
* fix bug on exception by glonass ephem computation
* 2013/01/10 1.5 support beidou (compass)
* use newton's method to solve kepler eq.
* update ssr correction algorithm
* 2013/03/20 1.6 fix problem on ssr clock relativitic correction
* 2013/09/01 1.7 support negative pseudorange
* fix bug on variance in case of ura ssr = 63
* 2013/11/11 1.8 change constant MAXAGESSR 70.0 -> 90.0
* 2014/10/24 1.9 fix bug on return of var_uraeph() if ura<0||15<ura
* 2014/12/07 1.10 modify MAXDTOE for qzss,gal and bds
* test max number of iteration for Kepler
* 2015/08/26 1.11 update RTOL_ELPLER 1E-14 -> 1E-13
* set MAX_ITER_KEPLER for alm2pos()
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_EPHEMERIS_H_
#define RTKLIB_EPHEMERIS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_sbas.h"
#include "rtklib_preceph.h"
double var_uraeph(int ura);
double var_urassr(int ura);
void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts);
double eph2clk(gtime_t time, const eph_t *eph);
void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
double *var);
void deq(const double *x, double *xdot, const double *acc);
void glorbit(double t, double *x, const double *acc);
double geph2clk(gtime_t time, const geph_t *geph);
void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts,
double *var);
double seph2clk(gtime_t time, const seph_t *seph);
void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts,
double *var);
eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav);
geph_t *selgeph(gtime_t time, int sat, int iode, const nav_t *nav);
seph_t *selseph(gtime_t time, int sat, const nav_t *nav);
int ephclk(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
double *dts);
//satellite position and clock by broadcast ephemeris
int ephpos(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int iode, double *rs, double *dts, double *var, int *svh);
int satpos_sbas(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
double *rs, double *dts, double *var, int *svh);
int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int opt, double *rs, double *dts, double *var, int *svh);
int satpos(gtime_t time, gtime_t teph, int sat, int ephopt,
const nav_t *nav, double *rs, double *dts, double *var,
int *svh);
void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
int ephopt, double *rs, double *dts, double *var, int *svh);
#endif /* RTKLIB_EPHEMERIS_H_ */

516
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/*!
* \file rtklib_ionex.h
* \brief ionex functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* references:
* [1] S.Schear, W.Gurtner and J.Feltens, IONEX: The IONosphere Map EXchange
* Format Version 1, February 25, 1998
* [2] S.Schaer, R.Markus, B.Gerhard and A.S.Timon, Daily Global Ionosphere
* Maps based on GPS Carrier Phase Data Routinely producted by CODE
* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
*
* version : $Revision:$ $Date:$
* history : 2011/03/29 1.0 new
* 2013/03/05 1.1 change api readtec()
* fix problem in case of lat>85deg or lat<-85deg
* 2014/02/22 1.2 fix problem on compiled as C++
*-----------------------------------------------------------------------------*/
#include "rtklib_ionex.h"
/* get index -----------------------------------------------------------------*/
int getindex(double value, const double *range)
{
if (range[2]==0.0) return 0;
if (range[1]>0.0&&(value<range[0]||range[1]<value)) return -1;
if (range[1]<0.0&&(value<range[1]||range[0]<value)) return -1;
return (int)floor((value-range[0])/range[2]+0.5);
}
/* get number of items -------------------------------------------------------*/
int nitem(const double *range)
{
return getindex(range[1],range)+1;
}
/* data index (i:lat,j:lon,k:hgt) --------------------------------------------*/
int dataindex(int i, int j, int k, const int *ndata)
{
if (i<0||ndata[0]<=i||j<0||ndata[1]<=j||k<0||ndata[2]<=k) return -1;
return i+ndata[0]*(j+ndata[1]*k);
}
/* add tec data to navigation data -------------------------------------------*/
tec_t *addtec(const double *lats, const double *lons, const double *hgts,
double rb, nav_t *nav)
{
tec_t *p,*nav_tec;
gtime_t time0={};
int i,n,ndata[3];
trace(3,"addtec :\n");
ndata[0]=nitem(lats);
ndata[1]=nitem(lons);
ndata[2]=nitem(hgts);
if (ndata[0]<=1||ndata[1]<=1||ndata[2]<=0) return NULL;
if (nav->nt>=nav->ntmax) {
nav->ntmax+=256;
if (!(nav_tec=(tec_t *)realloc(nav->tec,sizeof(tec_t)*nav->ntmax))) {
trace(1,"readionex malloc error ntmax=%d\n",nav->ntmax);
free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0;
return NULL;
}
nav->tec=nav_tec;
}
p=nav->tec+nav->nt;
p->time=time0;
p->rb=rb;
for (i=0;i<3;i++) {
p->ndata[i]=ndata[i];
p->lats[i]=lats[i];
p->lons[i]=lons[i];
p->hgts[i]=hgts[i];
}
n=ndata[0]*ndata[1]*ndata[2];
if (!(p->data=(double *)malloc(sizeof(double)*n))||
!(p->rms =(float *)malloc(sizeof(float )*n))) {
return NULL;
}
for (i=0;i<n;i++) {
p->data[i]=0.0;
p->rms [i]=0.0f;
}
nav->nt++;
return p;
}
/* read ionex dcb aux data ----------------------------------------------------*/
void readionexdcb(FILE *fp, double *dcb, double *rms)
{
int i,sat;
char buff[1024],id[32],*label;
trace(3,"readionexdcb:\n");
for (i=0;i<MAXSAT;i++) dcb[i]=rms[i]=0.0;
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
label=buff+60;
if (strstr(label,"PRN / BIAS / RMS")==label) {
strncpy(id,buff+3,3); id[3]='\0';
if (!(sat=satid2no(id))) {
trace(2,"ionex invalid satellite: %s\n",id);
continue;
}
dcb[sat-1]=str2num(buff, 6,10);
rms[sat-1]=str2num(buff,16,10);
}
else if (strstr(label,"END OF AUX DATA")==label) break;
}
}
/* read ionex header ---------------------------------------------------------*/
double readionexh(FILE *fp, double *lats, double *lons, double *hgts,
double *rb, double *nexp, double *dcb, double *rms)
{
double ver=0.0;
char buff[1024],*label;
trace(3,"readionexh:\n");
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
label=buff+60;
if (strstr(label,"IONEX VERSION / TYPE")==label) {
if (buff[20]=='I') ver=str2num(buff,0,8);
}
else if (strstr(label,"BASE RADIUS")==label) {
*rb=str2num(buff,0,8);
}
else if (strstr(label,"HGT1 / HGT2 / DHGT")==label) {
hgts[0]=str2num(buff, 2,6);
hgts[1]=str2num(buff, 8,6);
hgts[2]=str2num(buff,14,6);
}
else if (strstr(label,"LAT1 / LAT2 / DLAT")==label) {
lats[0]=str2num(buff, 2,6);
lats[1]=str2num(buff, 8,6);
lats[2]=str2num(buff,14,6);
}
else if (strstr(label,"LON1 / LON2 / DLON")==label) {
lons[0]=str2num(buff, 2,6);
lons[1]=str2num(buff, 8,6);
lons[2]=str2num(buff,14,6);
}
else if (strstr(label,"EXPONENT")==label) {
*nexp=str2num(buff,0,6);
}
else if (strstr(label,"START OF AUX DATA")==label&&
strstr(buff,"DIFFERENTIAL CODE BIASES")) {
readionexdcb(fp,dcb,rms);
}
else if (strstr(label,"END OF HEADER")==label) {
return ver;
}
}
return 0.0;
}
/* read ionex body -----------------------------------------------------------*/
int readionexb(FILE *fp, const double *lats, const double *lons,
const double *hgts, double rb, double nexp, nav_t *nav)
{
tec_t *p=NULL;
gtime_t time={};
double lat,lon[3],hgt,x;
int i,j,k,n,m,index,type=0;
char buff[1024],*label=buff+60;
trace(3,"readionexb:\n");
while (fgets(buff,sizeof(buff),fp)) {
if (strlen(buff)<60) continue;
if (strstr(label,"START OF TEC MAP")==label) {
if ((p=addtec(lats,lons,hgts,rb,nav))) type=1;
}
else if (strstr(label,"END OF TEC MAP")==label) {
type=0;
p=NULL;
}
else if (strstr(label,"START OF RMS MAP")==label) {
type=2;
p=NULL;
}
else if (strstr(label,"END OF RMS MAP")==label) {
type=0;
p=NULL;
}
else if (strstr(label,"EPOCH OF CURRENT MAP")==label) {
if (str2time(buff,0,36,&time)) {
trace(2,"ionex epoch invalid: %-36.36s\n",buff);
continue;
}
if (type==2) {
for (i=nav->nt-1;i>=0;i--) {
if (fabs(timediff(time,nav->tec[i].time))>=1.0) continue;
p=nav->tec+i;
break;
}
}
else if (p) p->time=time;
}
else if (strstr(label,"LAT/LON1/LON2/DLON/H")==label&&p) {
lat =str2num(buff, 2,6);
lon[0]=str2num(buff, 8,6);
lon[1]=str2num(buff,14,6);
lon[2]=str2num(buff,20,6);
hgt =str2num(buff,26,6);
i=getindex(lat,p->lats);
k=getindex(hgt,p->hgts);
n=nitem(lon);
for (m=0;m<n;m++) {
if (m%16==0&&!fgets(buff,sizeof(buff),fp)) break;
j=getindex(lon[0]+lon[2]*m,p->lons);
if ((index=dataindex(i,j,k,p->ndata))<0) continue;
if ((x=str2num(buff,m%16*5,5))==9999.0) continue;
if (type==1) p->data[index]=x*pow(10.0,nexp);
else p->rms[index]=(float)(x*pow(10.0,nexp));
}
}
}
return 1;
}
/* combine tec grid data -----------------------------------------------------*/
void combtec(nav_t *nav)
{
tec_t tmp;
int i,j,n=0;
trace(3,"combtec : nav->nt=%d\n",nav->nt);
for (i=0;i<nav->nt-1;i++) {
for (j=i+1;j<nav->nt;j++) {
if (timediff(nav->tec[j].time,nav->tec[i].time)<0.0) {
tmp=nav->tec[i];
nav->tec[i]=nav->tec[j];
nav->tec[j]=tmp;
}
}
}
for (i=0;i<nav->nt;i++) {
if (i>0&&timediff(nav->tec[i].time,nav->tec[n-1].time)==0.0) {
free(nav->tec[n-1].data);
free(nav->tec[n-1].rms );
nav->tec[n-1]=nav->tec[i];
continue;
}
nav->tec[n++]=nav->tec[i];
}
nav->nt=n;
trace(4,"combtec : nav->nt=%d\n",nav->nt);
}
/* read ionex tec grid file ----------------------------------------------------
* read ionex ionospheric tec grid file
* args : char *file I ionex tec grid file
* (wind-card * is expanded)
* nav_t *nav IO navigation data
* nav->nt, nav->ntmax and nav->tec are modified
* int opt I read option (1: no clear of tec data,0:clear)
* return : none
* notes : see ref [1]
*-----------------------------------------------------------------------------*/
void readtec(const char *file, nav_t *nav, int opt)
{
FILE *fp;
double lats[3]={0},lons[3]={0},hgts[3]={0},rb=0.0,nexp=-1.0;
double dcb[MAXSAT]={0},rms[MAXSAT]={0};
int i,n;
char *efiles[MAXEXFILE];
trace(3,"readtec : file=%s\n",file);
/* clear of tec grid data option */
if (!opt) {
free(nav->tec); nav->tec=NULL; nav->nt=nav->ntmax=0;
}
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return;
}
}
/* expand wild card in file path */
n=expath(file,efiles,MAXEXFILE);
for (i=0;i<n;i++) {
if (!(fp=fopen(efiles[i],"r"))) {
trace(2,"ionex file open error %s\n",efiles[i]);
continue;
}
/* read ionex header */
if (readionexh(fp,lats,lons,hgts,&rb,&nexp,dcb,rms)<=0.0) {
trace(2,"ionex file format error %s\n",efiles[i]);
continue;
}
/* read ionex body */
readionexb(fp,lats,lons,hgts,rb,nexp,nav);
fclose(fp);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
/* combine tec grid data */
if (nav->nt>0) combtec(nav);
/* P1-P2 dcb */
for (i=0;i<MAXSAT;i++) {
nav->cbias[i][0]=CLIGHT*dcb[i]*1E-9; /* ns->m */
}
}
/* interpolate tec grid data -------------------------------------------------*/
int interptec(const tec_t *tec, int k, const double *posp, double *value,
double *rms)
{
double dlat,dlon,a,b,d[4]={0},r[4]={0};
int i,j,n,index;
trace(3,"interptec: k=%d posp=%.2f %.2f\n",k,posp[0]*R2D,posp[1]*R2D);
*value=*rms=0.0;
if (tec->lats[2]==0.0||tec->lons[2]==0.0) return 0;
dlat=posp[0]*R2D-tec->lats[0];
dlon=posp[1]*R2D-tec->lons[0];
if (tec->lons[2]>0.0) dlon-=floor( dlon/360)*360.0; /* 0<=dlon<360 */
else dlon+=floor(-dlon/360)*360.0; /* -360<dlon<=0 */
a=dlat/tec->lats[2];
b=dlon/tec->lons[2];
i=(int)floor(a); a-=i;
j=(int)floor(b); b-=j;
/* get gridded tec data */
for (n=0;n<4;n++) {
if ((index=dataindex(i+(n%2),j+(n<2?0:1),k,tec->ndata))<0) continue;
d[n]=tec->data[index];
r[n]=tec->rms [index];
}
if (d[0]>0.0&&d[1]>0.0&&d[2]>0.0&&d[3]>0.0) {
/* bilinear interpolation (inside of grid) */
*value=(1.0-a)*(1.0-b)*d[0]+a*(1.0-b)*d[1]+(1.0-a)*b*d[2]+a*b*d[3];
*rms =(1.0-a)*(1.0-b)*r[0]+a*(1.0-b)*r[1]+(1.0-a)*b*r[2]+a*b*r[3];
}
/* nearest-neighbour extrapolation (outside of grid) */
else if (a<=0.5&&b<=0.5&&d[0]>0.0) {*value=d[0]; *rms=r[0];}
else if (a> 0.5&&b<=0.5&&d[1]>0.0) {*value=d[1]; *rms=r[1];}
else if (a<=0.5&&b> 0.5&&d[2]>0.0) {*value=d[2]; *rms=r[2];}
else if (a> 0.5&&b> 0.5&&d[3]>0.0) {*value=d[3]; *rms=r[3];}
else {
i=0;
for (n=0;n<4;n++) if (d[n]>0.0) {i++; *value+=d[n]; *rms+=r[n];}
if(i==0) return 0;
*value/=i; *rms/=i;
}
return 1;
}
/* ionosphere delay by tec grid data -----------------------------------------*/
int iondelay(gtime_t time, const tec_t *tec, const double *pos,
const double *azel, int opt, double *delay, double *var)
{
const double fact=40.30E16/FREQ1/FREQ1; /* tecu->L1 iono (m) */
double fs,posp[3]={0},vtec,rms,hion,rp;
int i;
trace(3,"iondelay: time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
*delay=*var=0.0;
for (i=0;i<tec->ndata[2];i++) { /* for a layer */
hion=tec->hgts[0]+tec->hgts[2]*i;
/* ionospheric pierce point position */
fs=ionppp(pos,azel,tec->rb,hion,posp);
if (opt&2) {
/* modified single layer mapping function (M-SLM) ref [2] */
rp=tec->rb/(tec->rb+hion)*sin(0.9782*(PI/2.0-azel[1]));
fs=1.0/sqrt(1.0-rp*rp);
}
if (opt&1) {
/* earth rotation correction (sun-fixed coordinate) */
posp[1]+=2.0*PI*timediff(time,tec->time)/86400.0;
}
/* interpolate tec grid data */
if (!interptec(tec,i,posp,&vtec,&rms)) return 0;
*delay+=fact*fs*vtec;
*var+=fact*fact*fs*fs*rms*rms;
}
trace(4,"iondelay: delay=%7.2f std=%6.2f\n",*delay,sqrt(*var));
return 1;
}
/* ionosphere model by tec grid data -------------------------------------------
* compute ionospheric delay by tec grid data
* args : gtime_t time I time (gpst)
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,h} (rad,m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int opt I model option
* bit0: 0:earth-fixed,1:sun-fixed
* bit1: 0:single-layer,1:modified single-layer
* double *delay O ionospheric delay (L1) (m)
* double *var O ionospheric dealy (L1) variance (m^2)
* return : status (1:ok,0:error)
* notes : before calling the function, read tec grid data by calling readtec()
* return ok with delay=0 and var=VAR_NOTEC if el<MIN_EL or h<MIN_HGT
*-----------------------------------------------------------------------------*/
int iontec(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int opt, double *delay, double *var)
{
double dels[2],vars[2],a,tt;
int i,stat[2];
trace(3,"iontec : time=%s pos=%.1f %.1f azel=%.1f %.1f\n",time_str(time,0),
pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
if (azel[1]<MIN_EL||pos[2]<MIN_HGT) {
*delay=0.0;
*var=VAR_NOTEC;
return 1;
}
for (i=0;i<nav->nt;i++) {
if (timediff(nav->tec[i].time,time)>0.0) break;
}
if (i==0||i>=nav->nt) {
trace(2,"%s: tec grid out of period\n",time_str(time,0));
return 0;
}
if ((tt=timediff(nav->tec[i].time,nav->tec[i-1].time))==0.0) {
trace(2,"tec grid time interval error\n");
return 0;
}
/* ionospheric delay by tec grid data */
stat[0]=iondelay(time,nav->tec+i-1,pos,azel,opt,dels ,vars );
stat[1]=iondelay(time,nav->tec+i ,pos,azel,opt,dels+1,vars+1);
if (!stat[0]&&!stat[1]) {
trace(2,"%s: tec grid out of area pos=%6.2f %7.2f azel=%6.1f %5.1f\n",
time_str(time,0),pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,azel[1]*R2D);
return 0;
}
if (stat[0]&&stat[1]) { /* linear interpolation by time */
a=timediff(time,nav->tec[i-1].time)/tt;
*delay=dels[0]*(1.0-a)+dels[1]*a;
*var =vars[0]*(1.0-a)+vars[1]*a;
}
else if (stat[0]) { /* nearest-neighbour extrapolation by time */
*delay=dels[0];
*var =vars[0];
}
else {
*delay=dels[1];
*var =vars[1];
}
trace(3,"iontec : delay=%5.2f std=%5.2f\n",*delay,sqrt(*var));
return 1;
}

95
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/*!
* \file rtklib_ionex.cc
* \brief ionex functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* references:
* [1] S.Schear, W.Gurtner and J.Feltens, IONEX: The IONosphere Map EXchange
* Format Version 1, February 25, 1998
* [2] S.Schaer, R.Markus, B.Gerhard and A.S.Timon, Daily Global Ionosphere
* Maps based on GPS Carrier Phase Data Routinely producted by CODE
* Analysis Center, Proceeding of the IGS Analysis Center Workshop, 1996
*
* version : $Revision:$ $Date:$
* history : 2011/03/29 1.0 new
* 2013/03/05 1.1 change api readtec()
* fix problem in case of lat>85deg or lat<-85deg
* 2014/02/22 1.2 fix problem on compiled as C++
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_IONEX_H_
#define RTKLIB_IONEX_H_
#include "rtklib_rtkcmn.h"
#define SQR(x) ((x)*(x))
#define VAR_NOTEC SQR(30.0) /* variance of no tec */
#define MIN_EL 0.0 /* min elevation angle (rad) */
#define MIN_HGT -1000.0 /* min user height (m) */
int getindex(double value, const double *range);
int nitem(const double *range);
int dataindex(int i, int j, int k, const int *ndata);
tec_t *addtec(const double *lats, const double *lons, const double *hgts,
double rb, nav_t *nav);
void readionexdcb(FILE *fp, double *dcb, double *rms);
double readionexh(FILE *fp, double *lats, double *lons, double *hgts,
double *rb, double *nexp, double *dcb, double *rms);
int readionexb(FILE *fp, const double *lats, const double *lons,
const double *hgts, double rb, double nexp, nav_t *nav);
void combtec(nav_t *nav);
void readtec(const char *file, nav_t *nav, int opt);
int interptec(const tec_t *tec, int k, const double *posp, double *value,
double *rms);
int iondelay(gtime_t time, const tec_t *tec, const double *pos,
const double *azel, int opt, double *delay, double *var);
int iontec(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int opt, double *delay, double *var);
#endif /* SRC_ALGORITHMS_PVT_LIBS_RTKLIB_IONEX_H_ */

704
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/*!
* \file rtklib_pntpos.cc
* \brief standard code-based positioning
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* history : 2010/07/28 1.0 moved from rtkcmn.c
* changed api:
* pntpos()
* deleted api:
* pntvel()
* 2011/01/12 1.1 add option to include unhealthy satellite
* reject duplicated observation data
* changed api: ionocorr()
* 2011/11/08 1.2 enable snr mask for single-mode (rtklib_2.4.1_p3)
* 2012/12/25 1.3 add variable snr mask
* 2014/05/26 1.4 support galileo and beidou
* 2015/03/19 1.5 fix bug on ionosphere correction for GLO and BDS
*-----------------------------------------------------------------------------*/
#include "rtklib_pntpos.h"
/* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys)
{
double fact,varr;
fact=sys==SYS_GLO?EFACT_GLO:(sys==SYS_SBS?EFACT_SBS:EFACT_GPS);
varr=SQR(opt->err[0])*(SQR(opt->err[1])+SQR(opt->err[2])/sin(el));
if (opt->ionoopt==IONOOPT_IFLC) varr*=SQR(3.0); /* iono-free */
return SQR(fact)*varr;
}
/* get tgd parameter (m) -----------------------------------------------------*/
double gettgd(int sat, const nav_t *nav)
{
int i;
for (i=0;i<nav->n;i++) {
if (nav->eph[i].sat!=sat) continue;
return CLIGHT*nav->eph[i].tgd[0];
}
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;
*var=0.0;
if (!(sys=satsys(obs->sat,NULL)))
{
trace(4,"prange: satsys NULL\n");
return 0.0;
}
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (NFREQ>=3&&(sys&(SYS_GAL|SYS_SBS))) j=2;
if (NFREQ<2||lam[i]==0.0||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]);
return 0.0;
}
/* test snr mask */
if (iter>0) {
if (testsnr(0,i,azel[1],obs->SNR[i]*0.25,&opt->snrmask)) {
trace(4,"snr mask: %s sat=%2d el=%.1f snr=%.1f\n",
time_str(obs->time,0),obs->sat,azel[1]*R2D,obs->SNR[i]*0.25);
return 0.0;
}
if (opt->ionoopt==IONOOPT_IFLC) {
if (testsnr(0,j,azel[1],obs->SNR[j]*0.25,&opt->snrmask))
{
trace(4,"prange: testsnr error\n");
return 0.0;
}
}
}
gamma=SQR(lam[j])/SQR(lam[i]); /* f1^2/f2^2 */
P1=obs->P[i];
P2=obs->P[j];
P1_P2=nav->cbias[obs->sat-1][0];
P1_C1=nav->cbias[obs->sat-1][1];
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))) {
P1_P2=(1.0-gamma)*gettgd(obs->sat,nav);
}
if (opt->ionoopt==IONOOPT_IFLC) { /* dual-frequency */
if (P1==0.0||P2==0.0) return 0.0;
if (obs->code[i]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
if (obs->code[j]==CODE_L2C) P2+=P2_C2; /* C2->P2 */
/* iono-free combination */
PC=(gamma*P1-P2)/(gamma-1.0);
}
else { /* single-frequency */
if (P1==0.0) return 0.0;
if (obs->code[i]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
PC=P1-P1_P2/(1.0-gamma);
}
if (opt->sateph==EPHOPT_SBAS) PC-=P1_C1; /* sbas clock based C1 */
*var=SQR(ERR_CBIAS);
return PC;
}
/* ionospheric correction ------------------------------------------------------
* compute ionospheric correction
* args : gtime_t time I time
* nav_t *nav I navigation data
* int sat I satellite number
* double *pos I receiver position {lat,lon,h} (rad|m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int ionoopt I ionospheric correction option (IONOOPT_???)
* double *ion O ionospheric delay (L1) (m)
* double *var O ionospheric delay (L1) variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
const double *azel, int ionoopt, double *ion, double *var)
{
trace(4,"ionocorr: time=%s opt=%d sat=%2d pos=%.3f %.3f azel=%.3f %.3f\n",
time_str(time,3),ionoopt,sat,pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,
azel[1]*R2D);
/* broadcast model */
if (ionoopt==IONOOPT_BRDC) {
*ion=ionmodel(time,nav->ion_gps,pos,azel);
*var=SQR(*ion*ERR_BRDCI);
return 1;
}
/* sbas ionosphere model */
if (ionoopt==IONOOPT_SBAS) {
return sbsioncorr(time,nav,pos,azel,ion,var);
}
/* ionex tec model */
if (ionoopt==IONOOPT_TEC) {
return iontec(time,nav,pos,azel,1,ion,var);
}
/* qzss broadcast model */
if (ionoopt==IONOOPT_QZS&&norm(nav->ion_qzs,8)>0.0) {
*ion=ionmodel(time,nav->ion_qzs,pos,azel);
*var=SQR(*ion*ERR_BRDCI);
return 1;
}
/* lex ionosphere model */
//if (ionoopt==IONOOPT_LEX) {
// return lexioncorr(time,nav,pos,azel,ion,var);
//}
*ion=0.0;
*var=ionoopt==IONOOPT_OFF?SQR(ERR_ION):0.0;
return 1;
}
/* tropospheric correction -----------------------------------------------------
* compute tropospheric correction
* args : gtime_t time I time
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,h} (rad|m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int tropopt I tropospheric correction option (TROPOPT_???)
* double *trp O tropospheric delay (m)
* double *var O tropospheric delay variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int tropopt, double *trp, double *var)
{
trace(4,"tropcorr: time=%s opt=%d pos=%.3f %.3f azel=%.3f %.3f\n",
time_str(time,3),tropopt,pos[0]*R2D,pos[1]*R2D,azel[0]*R2D,
azel[1]*R2D);
/* saastamoinen model */
if (tropopt==TROPOPT_SAAS||tropopt==TROPOPT_EST||tropopt==TROPOPT_ESTG) {
*trp=tropmodel(time,pos,azel,REL_HUMI);
*var=SQR(ERR_SAAS/(sin(azel[1])+0.1));
return 1;
}
/* sbas troposphere model */
if (tropopt==TROPOPT_SBAS) {
*trp=sbstropcorr(time,pos,azel,var);
return 1;
}
/* no correction */
*trp=0.0;
*var=tropopt==TROPOPT_OFF?SQR(ERR_TROP):0.0;
return 1;
}
/* pseudorange residuals -----------------------------------------------------*/
int rescode(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, const prcopt_t *opt,
double *v, double *H, double *var, double *azel, int *vsat,
double *resp, int *ns)
{
double r,dion,dtrp,vmeas,vion,vtrp,rr[3],pos[3],dtr,e[3],P,lam_L1;
int i,j,nv=0,sys,mask[4]={0};
trace(3,"resprng : n=%d\n",n);
for (i=0;i<3;i++) rr[i]=x[i]; dtr=x[3];
ecef2pos(rr,pos);
for (i=*ns=0;i<n&&i<MAXOBS;i++) {
vsat[i]=0; azel[i*2]=azel[1+i*2]=resp[i]=0.0;
if (!(sys=satsys(obs[i].sat,NULL))) continue;
/* reject duplicated observation data */
if (i<n-1&&i<MAXOBS-1&&obs[i].sat==obs[i+1].sat) {
trace(2,"duplicated observation data %s sat=%2d\n",
time_str(obs[i].time,3),obs[i].sat);
i++;
continue;
}
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin)
{
trace(4,"geodist / satazel error\n");
continue;
}
/* psudorange with code bias correction */
if ((P=prange(obs+i,nav,azel+i*2,iter,opt,&vmeas))==0.0)
{
trace(4,"prange error\n");
continue;
}
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt))
{
trace(4,"satexclude error\n");
continue;
}
/* ionospheric corrections */
if (!ionocorr(obs[i].time,nav,obs[i].sat,pos,azel+i*2,
iter>0?opt->ionoopt:IONOOPT_BRDC,&dion,&vion))
{
trace(4,"ionocorr error\n");
continue;
}
/* GPS-L1 -> L1/B1 */
if ((lam_L1=nav->lam[obs[i].sat-1][0])>0.0) {
dion*=SQR(lam_L1/lam_carr[0]);
}
/* tropospheric corrections */
if (!tropcorr(obs[i].time,nav,pos,azel+i*2,
iter>0?opt->tropopt:TROPOPT_SAAS,&dtrp,&vtrp)) {
trace(4,"tropocorr error\n");
continue;
}
/* pseudorange residual */
v[nv]=P-(r+dtr-CLIGHT*dts[i*2]+dion+dtrp);
/* design matrix */
for (j=0;j<NX;j++) H[j+nv*NX]=j<3?-e[j]:(j==3?1.0:0.0);
/* time system and receiver bias offset correction */
if (sys==SYS_GLO) {v[nv]-=x[4]; H[4+nv*NX]=1.0; mask[1]=1;}
else if (sys==SYS_GAL) {v[nv]-=x[5]; H[5+nv*NX]=1.0; mask[2]=1;}
else if (sys==SYS_CMP) {v[nv]-=x[6]; H[6+nv*NX]=1.0; mask[3]=1;}
else mask[0]=1;
vsat[i]=1; resp[i]=v[nv]; (*ns)++;
/* error variance */
var[nv++]=varerr(opt,azel[1+i*2],sys)+vare[i]+vmeas+vion+vtrp;
trace(4,"sat=%2d azel=%5.1f %4.1f res=%7.3f sig=%5.3f\n",obs[i].sat,
azel[i*2]*R2D,azel[1+i*2]*R2D,resp[i],sqrt(var[nv-1]));
}
/* constraint to avoid rank-deficient */
for (i=0;i<4;i++) {
if (mask[i]) continue;
v[nv]=0.0;
for (j=0;j<NX;j++) H[j+nv*NX]=j==i+3?1.0:0.0;
var[nv++]=0.01;
}
return nv;
}
/* validate solution ---------------------------------------------------------*/
int valsol(const double *azel, const int *vsat, int n,
const prcopt_t *opt, const double *v, int nv, int nx,
char *msg)
{
double azels[MAXOBS*2],dop[4],vv;
int i,ns;
trace(3,"valsol : n=%d nv=%d\n",n,nv);
/* chi-square validation of residuals */
vv=dot(v,v,nv);
if (nv>nx&&vv>chisqr[nv-nx-1]) {
sprintf(msg,"chi-square error nv=%d vv=%.1f cs=%.1f",nv,vv,chisqr[nv-nx-1]);
return 0;
}
/* large gdop check */
for (i=ns=0;i<n;i++) {
if (!vsat[i]) continue;
azels[ ns*2]=azel[ i*2];
azels[1+ns*2]=azel[1+i*2];
ns++;
}
dops(ns,azels,opt->elmin,dop);
if (dop[0]<=0.0||dop[0]>opt->maxgdop) {
sprintf(msg,"gdop error nv=%d gdop=%.1f",nv,dop[0]);
return 0;
}
return 1;
}
/* estimate receiver position ------------------------------------------------*/
int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, int *vsat,
double *resp, char *msg)
{
double x[NX]={0},dx[NX],Q[NX*NX],*v,*H,*var,sig;
int i,j,k,info,stat,nv,ns;
trace(3,"estpos : n=%d\n",n);
v=mat(n+4,1); H=mat(NX,n+4); var=mat(n+4,1);
for (i=0;i<3;i++) x[i]=sol->rr[i];
for (i=0;i<MAXITR;i++) {
/* pseudorange residuals */
nv=rescode(i,obs,n,rs,dts,vare,svh,nav,x,opt,v,H,var,azel,vsat,resp,
&ns);
if (nv<NX) {
sprintf(msg,"lack of valid sats ns=%d",nv);
break;
}
/* weight by variance */
for (j=0;j<nv;j++) {
sig=sqrt(var[j]);
v[j]/=sig;
for (k=0;k<NX;k++) H[k+j*NX]/=sig;
}
/* least square estimation */
if ((info=lsq(H,v,NX,nv,dx,Q))) {
sprintf(msg,"lsq error info=%d",info);
break;
}
for (j=0;j<NX;j++) x[j]+=dx[j];
if (norm(dx,NX)<1E-4) {
sol->type=0;
sol->time=timeadd(obs[0].time,-x[3]/CLIGHT);
sol->dtr[0]=x[3]/CLIGHT; /* receiver clock bias (s) */
sol->dtr[1]=x[4]/CLIGHT; /* glo-gps time offset (s) */
sol->dtr[2]=x[5]/CLIGHT; /* gal-gps time offset (s) */
sol->dtr[3]=x[6]/CLIGHT; /* bds-gps time offset (s) */
for (j=0;j<6;j++) sol->rr[j]=j<3?x[j]:0.0;
for (j=0;j<3;j++) sol->qr[j]=(float)Q[j+j*NX];
sol->qr[3]=(float)Q[1]; /* cov xy */
sol->qr[4]=(float)Q[2+NX]; /* cov yz */
sol->qr[5]=(float)Q[2]; /* cov zx */
sol->ns=(unsigned char)ns;
sol->age=sol->ratio=0.0;
/* validate solution */
if ((stat=valsol(azel,vsat,n,opt,v,nv,NX,msg))) {
sol->stat=opt->sateph==EPHOPT_SBAS?SOLQ_SBAS:SOLQ_SINGLE;
}
free(v); free(H); free(var);
return stat;
}
}
if (i>=MAXITR) sprintf(msg,"iteration divergent i=%d",i);
free(v); free(H); free(var);
return 0;
}
/* raim fde (failure detection and exclution) -------------------------------*/
int raim_fde(const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
double *azel, int *vsat, double *resp, char *msg)
{
obsd_t *obs_e;
sol_t sol_e={};
char tstr[32],name[16],msg_e[128];
double *rs_e,*dts_e,*vare_e,*azel_e,*resp_e,rms_e,rms=100.0;
int i,j,k,nvsat,stat=0,*svh_e,*vsat_e,sat=0;
trace(3,"raim_fde: %s n=%2d\n",time_str(obs[0].time,0),n);
if (!(obs_e=(obsd_t *)malloc(sizeof(obsd_t)*n))) return 0;
rs_e = mat(6,n); dts_e = mat(2,n); vare_e=mat(1,n); azel_e=zeros(2,n);
svh_e=imat(1,n); vsat_e=imat(1,n); resp_e=mat(1,n);
for (i=0;i<n;i++) {
/* satellite exclution */
for (j=k=0;j<n;j++) {
if (j==i) continue;
obs_e[k]=obs[j];
matcpy(rs_e +6*k,rs +6*j,6,1);
matcpy(dts_e+2*k,dts+2*j,2,1);
vare_e[k]=vare[j];
svh_e[k++]=svh[j];
}
/* estimate receiver position without a satellite */
if (!estpos(obs_e,n-1,rs_e,dts_e,vare_e,svh_e,nav,opt,&sol_e,azel_e,
vsat_e,resp_e,msg_e)) {
trace(3,"raim_fde: exsat=%2d (%s)\n",obs[i].sat,msg);
continue;
}
for (j=nvsat=0,rms_e=0.0;j<n-1;j++) {
if (!vsat_e[j]) continue;
rms_e+=SQR(resp_e[j]);
nvsat++;
}
if (nvsat<5) {
trace(3,"raim_fde: exsat=%2d lack of satellites nvsat=%2d\n",
obs[i].sat,nvsat);
continue;
}
rms_e=sqrt(rms_e/nvsat);
trace(3,"raim_fde: exsat=%2d rms=%8.3f\n",obs[i].sat,rms_e);
if (rms_e>rms) continue;
/* save result */
for (j=k=0;j<n;j++) {
if (j==i) continue;
matcpy(azel+2*j,azel_e+2*k,2,1);
vsat[j]=vsat_e[k];
resp[j]=resp_e[k++];
}
stat=1;
*sol=sol_e;
sat=obs[i].sat;
rms=rms_e;
vsat[i]=0;
strcpy(msg,msg_e);
}
if (stat) {
time2str(obs[0].time,tstr,2); satno2id(sat,name);
trace(2,"%s: %s excluded by raim\n",tstr+11,name);
}
free(obs_e);
free(rs_e ); free(dts_e ); free(vare_e); free(azel_e);
free(svh_e); free(vsat_e); free(resp_e);
return stat;
}
/* doppler residuals ---------------------------------------------------------*/
int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
const nav_t *nav, const double *rr, const double *x,
const double *azel, const int *vsat, double *v, double *H)
{
double lam,rate,pos[3],E[9],a[3],e[3],vs[3],cosel;
int i,j,nv=0;
trace(3,"resdop : n=%d\n",n);
ecef2pos(rr,pos); xyz2enu(pos,E);
for (i=0;i<n&&i<MAXOBS;i++) {
lam=nav->lam[obs[i].sat-1][0];
if (obs[i].D[0]==0.0||lam==0.0||!vsat[i]||norm(rs+3+i*6,3)<=0.0) {
continue;
}
/* line-of-sight vector in ecef */
cosel=cos(azel[1+i*2]);
a[0]=sin(azel[i*2])*cosel;
a[1]=cos(azel[i*2])*cosel;
a[2]=sin(azel[1+i*2]);
matmul("TN",3,1,3,1.0,E,a,0.0,e);
/* satellite velocity relative to receiver in ecef */
for (j=0;j<3;j++) vs[j]=rs[j+3+i*6]-x[j];
/* range rate with earth rotation correction */
rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*x[0]-
rs[3+i*6]*rr[1]-rs[ i*6]*x[1]);
/* doppler residual */
v[nv]=-lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);
/* design matrix */
for (j=0;j<4;j++) H[j+nv*4]=j<3?-e[j]:1.0;
nv++;
}
return nv;
}
/* estimate receiver velocity ------------------------------------------------*/
void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
const double *azel, const int *vsat)
{
double x[4]={0},dx[4],Q[16],*v,*H;
int i,j,nv;
trace(3,"estvel : n=%d\n",n);
v=mat(n,1); H=mat(4,n);
for (i=0;i<MAXITR;i++) {
/* doppler residuals */
if ((nv=resdop(obs,n,rs,dts,nav,sol->rr,x,azel,vsat,v,H))<4) {
break;
}
/* least square estimation */
if (lsq(H,v,4,nv,dx,Q)) break;
for (j=0;j<4;j++) x[j]+=dx[j];
if (norm(dx,4)<1E-6) {
for (i=0;i<3;i++) sol->rr[i+3]=x[i];
break;
}
}
free(v); free(H);
}
/* single-point positioning ----------------------------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
* with pseudorange and doppler observables
* args : obsd_t *obs I observation data
* int n I number of observation data
* nav_t *nav I navigation data
* prcopt_t *opt I processing options
* sol_t *sol IO solution
* double *azel IO azimuth/elevation angle (rad) (NULL: no output)
* ssat_t *ssat IO satellite status (NULL: no output)
* char *msg O error message for error exit
* return : status(1:ok,0:error)
* notes : assuming sbas-gps, galileo-gps, qzss-gps, compass-gps time offset and
* receiver bias are negligible (only involving glonass-gps time offset
* and receiver bias)
*-----------------------------------------------------------------------------*/
int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg)
{
// int k=0;
// for (k=0;k<n;k++)
// {
// printf("OBS[%i]: sat %i, P:%f ,LLI:%s \r\n",k,obs[k].sat,obs[k].P[0], obs[k].LLI);
// }
//
// for (k=0;k<nav->n;k++)
// {
// printf("NAV[%i]: sat %i, %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f \r\n",
// k,
// nav->eph[k].sat,
// nav->eph[k].A,
// nav->eph[k].Adot,
// nav->eph[k].M0,
// nav->eph[k].OMG0,
// nav->eph[k].OMGd,
// nav->eph[k].cic,
// nav->eph[k].cis,
// nav->eph[k].code,
// nav->eph[k].crc,
// nav->eph[k].crs,
// nav->eph[k].cuc,
// nav->eph[k].cus,
// nav->eph[k].deln,
// nav->eph[k].e,
// nav->eph[k].f0,
// nav->eph[k].f1,
// nav->eph[k].f2,
// nav->eph[k].fit,
// nav->eph[k].flag,
// nav->eph[k].i0,
// nav->eph[k].idot,
// nav->eph[k].iodc,
// nav->eph[k].iode,
// nav->eph[k].ndot,
// nav->eph[k].omg,
// nav->eph[k].sat,
// nav->eph[k].sva,
// nav->eph[k].svh,
// nav->eph[k].tgd[0],
// nav->eph[k].toc.sec,
// nav->eph[k].toe.sec,
// nav->eph[k].toes,
// nav->eph[k].ttr.sec,
// nav->eph[k].week);
// }
prcopt_t opt_=*opt;
double *rs,*dts,*var,*azel_,*resp;
int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
sol->stat=SOLQ_NONE;
if (n<=0) {strcpy(msg,"no observation data"); return 0;}
trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
sol->time=obs[0].time; msg[0]='\0';
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
#if 0
opt_.sateph =EPHOPT_BRDC;
#endif
opt_.ionoopt=IONOOPT_BRDC;
opt_.tropopt=TROPOPT_SAAS;
}
/* satellite positons, velocities and clocks */
satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
/* estimate receiver position with pseudorange */
stat=estpos(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
/* raim fde */
if (!stat&&n>=6&&opt->posopt[4]) {
stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
}
/* estimate receiver velocity with doppler */
if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
if (azel) {
for (i=0;i<n*2;i++) azel[i]=azel_[i];
}
if (ssat) {
for (i=0;i<MAXSAT;i++) {
ssat[i].vs=0;
ssat[i].azel[0]=ssat[i].azel[1]=0.0;
ssat[i].resp[0]=ssat[i].resc[0]=0.0;
ssat[i].snr[0]=0;
}
for (i=0;i<n;i++) {
ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
if (!vsat[i]) continue;
ssat[obs[i].sat-1].vs=1;
ssat[obs[i].sat-1].resp[0]=resp[i];
}
}
free(rs); free(dts); free(var); free(azel_); free(resp);
return stat;
}

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/*!
* \file rtklib_pntpos.h
* \brief standard code-based positioning
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* history : 2010/07/28 1.0 moved from rtkcmn.c
* changed api:
* pntpos()
* deleted api:
* pntvel()
* 2011/01/12 1.1 add option to include unhealthy satellite
* reject duplicated observation data
* changed api: ionocorr()
* 2011/11/08 1.2 enable snr mask for single-mode (rtklib_2.4.1_p3)
* 2012/12/25 1.3 add variable snr mask
* 2014/05/26 1.4 support galileo and beidou
* 2015/03/19 1.5 fix bug on ionosphere correction for GLO and BDS
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_PNTPOS_H_
#define RTKLIB_PNTPOS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_ephemeris.h"
#include "rtklib_ionex.h"
/* constants -----------------------------------------------------------------*/
#define SQR(x) ((x)*(x))
#define NX (4+3) /* # of estimated parameters */
#define MAXITR 10 /* max number of iteration for point pos */
#define ERR_ION 5.0 /* ionospheric delay std (m) */
#define ERR_TROP 3.0 /* tropspheric delay std (m) */
#define ERR_SAAS 0.3 /* saastamoinen model error std (m) */
#define ERR_BRDCI 0.5 /* broadcast iono model error factor */
#define ERR_CBIAS 0.3 /* code bias error std (m) */
#define REL_HUMI 0.7 /* relative humidity for saastamoinen model */
/* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys);
/* get tgd parameter (m) -----------------------------------------------------*/
double gettgd(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);
/* ionospheric correction ------------------------------------------------------
* compute ionospheric correction
* args : gtime_t time I time
* nav_t *nav I navigation data
* int sat I satellite number
* double *pos I receiver position {lat,lon,h} (rad|m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int ionoopt I ionospheric correction option (IONOOPT_???)
* double *ion O ionospheric delay (L1) (m)
* double *var O ionospheric delay (L1) variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
const double *azel, int ionoopt, double *ion, double *var);
/* tropospheric correction -----------------------------------------------------
* compute tropospheric correction
* args : gtime_t time I time
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,h} (rad|m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* int tropopt I tropospheric correction option (TROPOPT_???)
* double *trp O tropospheric delay (m)
* double *var O tropospheric delay variance (m^2)
* return : status(1:ok,0:error)
*-----------------------------------------------------------------------------*/
int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, int tropopt, double *trp, double *var);
/* pseudorange residuals -----------------------------------------------------*/
int rescode(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, const prcopt_t *opt,
double *v, double *H, double *var, double *azel, int *vsat,
double *resp, int *ns);
/* validate solution ---------------------------------------------------------*/
int valsol(const double *azel, const int *vsat, int n,
const prcopt_t *opt, const double *v, int nv, int nx,
char *msg);
/* estimate receiver position ------------------------------------------------*/
int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, int *vsat,
double *resp, char *msg);
/* raim fde (failure detection and exclution) -------------------------------*/
int raim_fde(const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
double *azel, int *vsat, double *resp, char *msg);
/* doppler residuals ---------------------------------------------------------*/
int resdop(const obsd_t *obs, int n, const double *rs, const double *dts,
const nav_t *nav, const double *rr, const double *x,
const double *azel, const int *vsat, double *v, double *H);
/* estimate receiver velocity ------------------------------------------------*/
void estvel(const obsd_t *obs, int n, const double *rs, const double *dts,
const nav_t *nav, const prcopt_t *opt, sol_t *sol,
const double *azel, const int *vsat);
/*!
* \brief single-point positioning
* compute receiver position, velocity, clock bias by single-point positioning
* with pseudorange and doppler observables
* args : obsd_t *obs I observation data
* int n I number of observation data
* nav_t *nav I navigation data
* prcopt_t *opt I processing options
* sol_t *sol IO solution
* double *azel IO azimuth/elevation angle (rad) (NULL: no output)
* ssat_t *ssat IO satellite status (NULL: no output)
* char *msg O error message for error exit
* return : status(1:ok,0:error)
* notes : assuming sbas-gps, galileo-gps, qzss-gps, compass-gps time offset and
* receiver bias are negligible (only involving glonass-gps time offset
* and receiver bias)
*/
int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg);
#endif /* RTKLIB_PNTPOS_H_ */

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/*!
* \file rtklib_preceph.cc
* \brief precise ephemeris and clock functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* references :
* [1] S.Hilla, The Extended Standard Product 3 Orbit Format (SP3-c),
* 12 February, 2007
* [2] J.Ray, W.Gurtner, RINEX Extensions to Handle Clock Information,
* 27 August, 1998
* [3] D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
* [4] D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed,
* Space Technology Library, 2004
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2009/01/18 1.0 new
* 2009/01/31 1.1 fix bug on numerical error to read sp3a ephemeris
* 2009/05/15 1.2 support glonass,galileo,qzs
* 2009/12/11 1.3 support wild-card expansion of file path
* 2010/07/21 1.4 added api:
* eci2ecef(),sunmoonpos(),peph2pos(),satantoff(),
* readdcb()
* changed api:
* readsp3()
* deleted api:
* eph2posp()
* 2010/09/09 1.5 fix problem when precise clock outage
* 2011/01/23 1.6 support qzss satellite code
* 2011/09/12 1.7 fix problem on precise clock outage
* move sunmmonpos() to rtkcmn.c
* 2011/12/01 1.8 modify api readsp3()
* precede later ephemeris if ephemeris is NULL
* move eci2ecef() to rtkcmn.c
* 2013/05/08 1.9 fix bug on computing std-dev of precise clocks
* 2013/11/20 1.10 modify option for api readsp3()
* 2014/04/03 1.11 accept extenstion including sp3,eph,SP3,EPH
* 2014/05/23 1.12 add function to read sp3 velocity records
* change api: satantoff()
* 2014/08/31 1.13 add member cov and vco in peph_t sturct
* 2014/10/13 1.14 fix bug on clock error variance in peph2pos()
* 2015/05/10 1.15 add api readfcb()
* modify api readdcb()
*-----------------------------------------------------------------------------*/
#include "rtklib_preceph.h"
/* satellite code to satellite system ----------------------------------------*/
int code2sys(char code)
{
if (code=='G'||code==' ') return SYS_GPS;
if (code=='R') return SYS_GLO;
if (code=='E') return SYS_GAL; /* extension to sp3-c */
if (code=='J') return SYS_QZS; /* extension to sp3-c */
if (code=='C') return SYS_CMP; /* extension to sp3-c */
if (code=='L') return SYS_LEO; /* extension to sp3-c */
return SYS_NONE;
}
/* read sp3 header -----------------------------------------------------------*/
int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
double *bfact, char *tsys)
{
int i,j,k=0,ns=0,sys,prn;
char buff[1024];
trace(3,"readsp3h:\n");
for (i=0;i<22;i++) {
if (!fgets(buff,sizeof(buff),fp)) break;
if (i==0) {
*type=buff[2];
if (str2time(buff,3,28,time)) return 0;
}
else if (2<=i&&i<=6) {
if (i==2) {
ns=(int)str2num(buff,4,2);
}
for (j=0;j<17&&k<ns;j++) {
sys=code2sys(buff[9+3*j]);
prn=(int)str2num(buff,10+3*j,2);
if (k<MAXSAT) sats[k++]=satno(sys,prn);
}
}
else if (i==12) {
strncpy(tsys,buff+9,3); tsys[3]='\0';
}
else if (i==14) {
bfact[0]=str2num(buff, 3,10);
bfact[1]=str2num(buff,14,12);
}
}
return ns;
}
/* add precise ephemeris -----------------------------------------------------*/
int addpeph(nav_t *nav, peph_t *peph)
{
peph_t *nav_peph;
if (nav->ne>=nav->nemax) {
nav->nemax+=256;
if (!(nav_peph=(peph_t *)realloc(nav->peph,sizeof(peph_t)*nav->nemax))) {
trace(1,"readsp3b malloc error n=%d\n",nav->nemax);
free(nav->peph); nav->peph=NULL; nav->ne=nav->nemax=0;
return 0;
}
nav->peph=nav_peph;
}
nav->peph[nav->ne++]=*peph;
return 1;
}
/* read sp3 body -------------------------------------------------------------*/
void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
char *tsys, int index, int opt, nav_t *nav)
{
peph_t peph;
gtime_t time;
double val,std,base;
int i,j,sat,sys,prn,n=ns*(type=='P'?1:2),pred_o,pred_c,v;
char buff[1024];
trace(3,"readsp3b: type=%c ns=%d index=%d opt=%d\n",type,ns,index,opt);
while (fgets(buff,sizeof(buff),fp)) {
if (!strncmp(buff,"EOF",3)) break;
if (buff[0]!='*'||str2time(buff,3,28,&time)) {
trace(2,"sp3 invalid epoch %31.31s\n",buff);
continue;
}
if (!strcmp(tsys,"UTC")) time=utc2gpst(time); /* utc->gpst */
peph.time =time;
peph.index=index;
for (i=0;i<MAXSAT;i++) {
for (j=0;j<4;j++) {
peph.pos[i][j]=0.0;
peph.std[i][j]=0.0f;
peph.vel[i][j]=0.0;
peph.vst[i][j]=0.0f;
}
for (j=0;j<3;j++) {
peph.cov[i][j]=0.0f;
peph.vco[i][j]=0.0f;
}
}
for (i=pred_o=pred_c=v=0;i<n&&fgets(buff,sizeof(buff),fp);i++) {
if (strlen(buff)<4||(buff[0]!='P'&&buff[0]!='V')) continue;
sys=buff[1]==' '?SYS_GPS:code2sys(buff[1]);
prn=(int)str2num(buff,2,2);
if (sys==SYS_SBS) prn+=100;
else if (sys==SYS_QZS) prn+=192; /* extension to sp3-c */
if (!(sat=satno(sys,prn))) continue;
if (buff[0]=='P') {
pred_c=strlen(buff)>=76&&buff[75]=='P';
pred_o=strlen(buff)>=80&&buff[79]=='P';
}
for (j=0;j<4;j++) {
/* read option for predicted value */
if (j< 3&&(opt&1)&& pred_o) continue;
if (j< 3&&(opt&2)&&!pred_o) continue;
if (j==3&&(opt&1)&& pred_c) continue;
if (j==3&&(opt&2)&&!pred_c) continue;
val=str2num(buff, 4+j*14,14);
std=str2num(buff,61+j* 3,j<3?2:3);
if (buff[0]=='P') { /* position */
if (val!=0.0&&fabs(val-999999.999999)>=1E-6) {
peph.pos[sat-1][j]=val*(j<3?1000.0:1E-6);
v=1; /* valid epoch */
}
if ((base=bfact[j<3?0:1])>0.0&&std>0.0) {
peph.std[sat-1][j]=(float)(pow(base,std)*(j<3?1E-3:1E-12));
}
}
else if (v) { /* velocity */
if (val!=0.0&&fabs(val-999999.999999)>=1E-6) {
peph.vel[sat-1][j]=val*(j<3?0.1:1E-10);
}
if ((base=bfact[j<3?0:1])>0.0&&std>0.0) {
peph.vst[sat-1][j]=(float)(pow(base,std)*(j<3?1E-7:1E-16));
}
}
}
}
if (v) {
if (!addpeph(nav,&peph)) return;
}
}
}
/* compare precise ephemeris -------------------------------------------------*/
int cmppeph(const void *p1, const void *p2)
{
peph_t *q1=(peph_t *)p1,*q2=(peph_t *)p2;
double tt=timediff(q1->time,q2->time);
return tt<-1E-9?-1:(tt>1E-9?1:q1->index-q2->index);
}
/* combine precise ephemeris -------------------------------------------------*/
void combpeph(nav_t *nav, int opt)
{
int i,j,k,m;
trace(3,"combpeph: ne=%d\n",nav->ne);
qsort(nav->peph,nav->ne,sizeof(peph_t),cmppeph);
if (opt&4) return;
for (i=0,j=1;j<nav->ne;j++) {
if (fabs(timediff(nav->peph[i].time,nav->peph[j].time))<1E-9) {
for (k=0;k<MAXSAT;k++) {
if (norm(nav->peph[j].pos[k],4)<=0.0) continue;
for (m=0;m<4;m++) nav->peph[i].pos[k][m]=nav->peph[j].pos[k][m];
for (m=0;m<4;m++) nav->peph[i].std[k][m]=nav->peph[j].std[k][m];
for (m=0;m<4;m++) nav->peph[i].vel[k][m]=nav->peph[j].vel[k][m];
for (m=0;m<4;m++) nav->peph[i].vst[k][m]=nav->peph[j].vst[k][m];
}
}
else if (++i<j) nav->peph[i]=nav->peph[j];
}
nav->ne=i+1;
trace(4,"combpeph: ne=%d\n",nav->ne);
}
/* read sp3 precise ephemeris file ---------------------------------------------
* read sp3 precise ephemeris/clock files and set them to navigation data
* args : char *file I sp3-c precise ephemeris file
* (wind-card * is expanded)
* nav_t *nav IO navigation data
* int opt I options (1: only observed + 2: only predicted +
* 4: not combined)
* return : none
* notes : see ref [1]
* precise ephemeris is appended and combined
* nav->peph and nav->ne must by properly initialized before calling the
* function
* only files with extensions of .sp3, .SP3, .eph* and .EPH* are read
*-----------------------------------------------------------------------------*/
void readsp3(const char *file, nav_t *nav, int opt)
{
FILE *fp;
gtime_t time={};
double bfact[2]={};
int i,j,n,ns,sats[MAXSAT]={};
char *efiles[MAXEXFILE],*ext,type=' ',tsys[4]="";
trace(3,"readpephs: file=%s\n",file);
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return;
}
}
/* expand wild card in file path */
n=expath(file,efiles,MAXEXFILE);
for (i=j=0;i<n;i++) {
if (!(ext=strrchr(efiles[i],'.'))) continue;
if (!strstr(ext+1,"sp3")&&!strstr(ext+1,".SP3")&&
!strstr(ext+1,"eph")&&!strstr(ext+1,".EPH")) continue;
if (!(fp=fopen(efiles[i],"r"))) {
trace(2,"sp3 file open error %s\n",efiles[i]);
continue;
}
/* read sp3 header */
ns=readsp3h(fp,&time,&type,sats,bfact,tsys);
/* read sp3 body */
readsp3b(fp,type,sats,ns,bfact,tsys,j++,opt,nav);
fclose(fp);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
/* combine precise ephemeris */
if (nav->ne>0) combpeph(nav,opt);
}
/* read satellite antenna parameters -------------------------------------------
* read satellite antenna parameters
* args : char *file I antenna parameter file
* gtime_t time I time
* nav_t *nav IO navigation data
* return : status (1:ok,0:error)
* notes : only support antex format for the antenna parameter file
*-----------------------------------------------------------------------------*/
int readsap(const char *file, gtime_t time, nav_t *nav)
{
pcvs_t pcvs={};
pcv_t pcv0={},*pcv;
int i;
trace(3,"readsap : file=%s time=%s\n",file,time_str(time,0));
if (!readpcv(file,&pcvs)) return 0;
for (i=0;i<MAXSAT;i++) {
pcv=searchpcv(i+1,"",time,&pcvs);
nav->pcvs[i]=pcv?*pcv:pcv0;
}
free(pcvs.pcv);
return 1;
}
/* read dcb parameters file --------------------------------------------------*/
int readdcbf(const char *file, nav_t *nav, const sta_t *sta)
{
FILE *fp;
double cbias;
char buff[256],str1[32],str2[32]="";
int i,j,sat,type=0;
trace(3,"readdcbf: file=%s\n",file);
if (!(fp=fopen(file,"r"))) {
trace(2,"dcb parameters file open error: %s\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) {
if (strstr(buff,"DIFFERENTIAL (P1-P2) CODE BIASES")) type=1;
else if (strstr(buff,"DIFFERENTIAL (P1-C1) CODE BIASES")) type=2;
else if (strstr(buff,"DIFFERENTIAL (P2-C2) CODE BIASES")) type=3;
if (!type||sscanf(buff,"%s %s",str1,str2)<1) continue;
if ((cbias=str2num(buff,26,9))==0.0) continue;
if (sta&&(!strcmp(str1,"G")||!strcmp(str1,"R"))) { /* receiver dcb */
for (i=0;i<MAXRCV;i++) {
if (!strcmp(sta[i].name,str2)) break;
}
if (i<MAXRCV) {
j=!strcmp(str1,"G")?0:1;
nav->rbias[i][j][type-1]=cbias*1E-9*CLIGHT; /* ns -> m */
}
}
else if ((sat=satid2no(str1))) { /* satellite dcb */
nav->cbias[sat-1][type-1]=cbias*1E-9*CLIGHT; /* ns -> m */
}
}
fclose(fp);
return 1;
}
/* read dcb parameters ---------------------------------------------------------
* read differential code bias (dcb) parameters
* args : char *file I dcb parameters file (wild-card * expanded)
* nav_t *nav IO navigation data
* sta_t *sta I station info data to inport receiver dcb
* (NULL: no use)
* return : status (1:ok,0:error)
* notes : currently only p1-c1 bias of code *.dcb file
*-----------------------------------------------------------------------------*/
int readdcb(const char *file, nav_t *nav, const sta_t *sta)
{
int i,j,n;
char *efiles[MAXEXFILE]={};
trace(3,"readdcb : file=%s\n",file);
for (i=0;i<MAXSAT;i++) for (j=0;j<3;j++) {
nav->cbias[i][j]=0.0;
}
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return 0;
}
}
n=expath(file,efiles,MAXEXFILE);
for (i=0;i<n;i++) {
readdcbf(efiles[i],nav,sta);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
return 1;
}
/* add satellite fcb ---------------------------------------------------------*/
int addfcb(nav_t *nav, gtime_t ts, gtime_t te, int sat,
const double *bias, const double *std)
{
fcbd_t *nav_fcb;
int i,j;
if (nav->nf>0&&fabs(timediff(ts,nav->fcb[nav->nf-1].ts))<=1e-3) {
for (i=0;i<3;i++) {
nav->fcb[nav->nf-1].bias[sat-1][i]=bias[i];
nav->fcb[nav->nf-1].std [sat-1][i]=std [i];
}
return 1;
}
if (nav->nf>=nav->nfmax) {
nav->nfmax=nav->nfmax<=0?2048:nav->nfmax*2;
if (!(nav_fcb=(fcbd_t *)realloc(nav->fcb,sizeof(fcbd_t)*nav->nfmax))) {
free(nav->fcb); nav->nf=nav->nfmax=0;
return 0;
}
nav->fcb=nav_fcb;
}
for (i=0;i<MAXSAT;i++) for (j=0;j<3;j++) {
nav->fcb[nav->nf].bias[i][j]=nav->fcb[nav->nf].std[i][j]=0.0;
}
for (i=0;i<3;i++) {
nav->fcb[nav->nf].bias[sat-1][i]=bias[i];
nav->fcb[nav->nf].std [sat-1][i]=std [i];
}
nav->fcb[nav->nf ].ts=ts;
nav->fcb[nav->nf++].te=te;
return 1;
}
/* read satellite fcb file ---------------------------------------------------*/
int readfcbf(const char *file, nav_t *nav)
{
FILE *fp;
gtime_t ts,te;
double ep1[6],ep2[6],bias[3]={},std[3]={};
char buff[1024],str[32],*p;
int sat;
trace(3,"readfcbf: file=%s\n",file);
if (!(fp=fopen(file,"r"))) {
trace(2,"fcb parameters file open error: %s\n",file);
return 0;
}
while (fgets(buff,sizeof(buff),fp)) {
if ((p=strchr(buff,'#'))) *p='\0';
if (sscanf(buff,"%lf/%lf/%lf %lf:%lf:%lf %lf/%lf/%lf %lf:%lf:%lf %s"
"%lf %lf %lf %lf %lf %lf",ep1,ep1+1,ep1+2,ep1+3,ep1+4,ep1+5,
ep2,ep2+1,ep2+2,ep2+3,ep2+4,ep2+5,str,bias,std,bias+1,std+1,
bias+2,std+2)<17) continue;
if (!(sat=satid2no(str))) continue;
ts=epoch2time(ep1);
te=epoch2time(ep2);
if (!addfcb(nav,ts,te,sat,bias,std)) return 0;
}
fclose(fp);
return 1;
}
/* compare satellite fcb -----------------------------------------------------*/
int cmpfcb(const void *p1, const void *p2)
{
fcbd_t *q1=(fcbd_t *)p1,*q2=(fcbd_t *)p2;
double tt=timediff(q1->ts,q2->ts);
return tt<-1E-3?-1:(tt>1E-3?1:0);
}
/* read satellite fcb data -----------------------------------------------------
* read satellite fractional cycle bias (dcb) parameters
* args : char *file I fcb parameters file (wild-card * expanded)
* nav_t *nav IO navigation data
* return : status (1:ok,0:error)
* notes : fcb data appended to navigation data
*-----------------------------------------------------------------------------*/
int readfcb(const char *file, nav_t *nav)
{
char *efiles[MAXEXFILE]={};
int i,n;
trace(3,"readfcb : file=%s\n",file);
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return 0;
}
}
n=expath(file,efiles,MAXEXFILE);
for (i=0;i<n;i++) {
readfcbf(efiles[i],nav);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
if (nav->nf>1) {
qsort(nav->fcb,nav->nf,sizeof(fcbd_t),cmpfcb);
}
return 1;
}
/* polynomial interpolation by Neville's algorithm ---------------------------*/
double interppol(const double *x, double *y, int n)
{
int i,j;
for (j=1;j<n;j++) {
for (i=0;i<n-j;i++) {
y[i]=(x[i+j]*y[i]-x[i]*y[i+1])/(x[i+j]-x[i]);
}
}
return y[0];
}
/* satellite position by precise ephemeris -----------------------------------*/
int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs,
double *dts, double *vare, double *varc)
{
double t[NMAX+1],p[3][NMAX+1],c[2],*pos,std=0.0,s[3],sinl,cosl;
int i,j,k,index;
trace(4,"pephpos : time=%s sat=%2d\n",time_str(time,3),sat);
rs[0]=rs[1]=rs[2]=dts[0]=0.0;
if (nav->ne<NMAX+1||
timediff(time,nav->peph[0].time)<-MAXDTE||
timediff(time,nav->peph[nav->ne-1].time)>MAXDTE) {
trace(3,"no prec ephem %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* binary search */
for (i=0,j=nav->ne-1;i<j;) {
k=(i+j)/2;
if (timediff(nav->peph[k].time,time)<0.0) i=k+1; else j=k;
}
index=i<=0?0:i-1;
/* polynomial interpolation for orbit */
i=index-(NMAX+1)/2;
if (i<0) i=0; else if (i+NMAX>=nav->ne) i=nav->ne-NMAX-1;
for (j=0;j<=NMAX;j++) {
t[j]=timediff(nav->peph[i+j].time,time);
if (norm(nav->peph[i+j].pos[sat-1],3)<=0.0) {
trace(3,"prec ephem outage %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
}
for (j=0;j<=NMAX;j++) {
pos=nav->peph[i+j].pos[sat-1];
#if 0
p[0][j]=pos[0];
p[1][j]=pos[1];
#else
/* correciton for earh rotation ver.2.4.0 */
sinl=sin(OMGE*t[j]);
cosl=cos(OMGE*t[j]);
p[0][j]=cosl*pos[0]-sinl*pos[1];
p[1][j]=sinl*pos[0]+cosl*pos[1];
#endif
p[2][j]=pos[2];
}
for (i=0;i<3;i++) {
rs[i]=interppol(t,p[i],NMAX+1);
}
if (vare) {
for (i=0;i<3;i++) s[i]=nav->peph[index].std[sat-1][i];
std=norm(s,3);
/* extrapolation error for orbit */
if (t[0 ]>0.0) std+=EXTERR_EPH*SQR(t[0 ])/2.0;
else if (t[NMAX]<0.0) std+=EXTERR_EPH*SQR(t[NMAX])/2.0;
*vare=SQR(std);
}
/* linear interpolation for clock */
t[0]=timediff(time,nav->peph[index ].time);
t[1]=timediff(time,nav->peph[index+1].time);
c[0]=nav->peph[index ].pos[sat-1][3];
c[1]=nav->peph[index+1].pos[sat-1][3];
if (t[0]<=0.0) {
if ((dts[0]=c[0])!=0.0) {
std=nav->peph[index].std[sat-1][3]*CLIGHT-EXTERR_CLK*t[0];
}
}
else if (t[1]>=0.0) {
if ((dts[0]=c[1])!=0.0) {
std=nav->peph[index+1].std[sat-1][3]*CLIGHT+EXTERR_CLK*t[1];
}
}
else if (c[0]!=0.0&&c[1]!=0.0) {
dts[0]=(c[1]*t[0]-c[0]*t[1])/(t[0]-t[1]);
i=t[0]<-t[1]?0:1;
std=nav->peph[index+i].std[sat-1][3]+EXTERR_CLK*fabs(t[i]);
}
else {
dts[0]=0.0;
}
if (varc) *varc=SQR(std);
return 1;
}
/* satellite clock by precise clock ------------------------------------------*/
int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts,
double *varc)
{
double t[2],c[2],std;
int i,j,k,index;
trace(4,"pephclk : time=%s sat=%2d\n",time_str(time,3),sat);
if (nav->nc<2||
timediff(time,nav->pclk[0].time)<-MAXDTE||
timediff(time,nav->pclk[nav->nc-1].time)>MAXDTE) {
trace(3,"no prec clock %s sat=%2d\n",time_str(time,0),sat);
return 1;
}
/* binary search */
for (i=0,j=nav->nc-1;i<j;) {
k=(i+j)/2;
if (timediff(nav->pclk[k].time,time)<0.0) i=k+1; else j=k;
}
index=i<=0?0:i-1;
/* linear interpolation for clock */
t[0]=timediff(time,nav->pclk[index ].time);
t[1]=timediff(time,nav->pclk[index+1].time);
c[0]=nav->pclk[index ].clk[sat-1][0];
c[1]=nav->pclk[index+1].clk[sat-1][0];
if (t[0]<=0.0) {
if ((dts[0]=c[0])==0.0) return 0;
std=nav->pclk[index].std[sat-1][0]*CLIGHT-EXTERR_CLK*t[0];
}
else if (t[1]>=0.0) {
if ((dts[0]=c[1])==0.0) return 0;
std=nav->pclk[index+1].std[sat-1][0]*CLIGHT+EXTERR_CLK*t[1];
}
else if (c[0]!=0.0&&c[1]!=0.0) {
dts[0]=(c[1]*t[0]-c[0]*t[1])/(t[0]-t[1]);
i=t[0]<-t[1]?0:1;
std=nav->pclk[index+i].std[sat-1][0]*CLIGHT+EXTERR_CLK*fabs(t[i]);
}
else {
trace(3,"prec clock outage %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
if (varc) *varc=SQR(std);
return 1;
}
/* satellite antenna phase center offset ---------------------------------------
* compute satellite antenna phase center offset in ecef
* args : gtime_t time I time (gpst)
* double *rs I satellite position and velocity (ecef)
* {x,y,z,vx,vy,vz} (m|m/s)
* int sat I satellite number
* nav_t *nav I navigation data
* double *dant I satellite antenna phase center offset (ecef)
* {dx,dy,dz} (m) (iono-free LC value)
* return : none
*-----------------------------------------------------------------------------*/
void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav,
double *dant)
{
const double *lam=nav->lam[sat-1];
const pcv_t *pcv=nav->pcvs+sat-1;
double ex[3],ey[3],ez[3],es[3],r[3],rsun[3],gmst,erpv[5]={};
double gamma,C1,C2,dant1,dant2;
int i,j=0,k=1;
trace(4,"satantoff: time=%s sat=%2d\n",time_str(time,3),sat);
/* sun position in ecef */
sunmoonpos(gpst2utc(time),erpv,rsun,NULL,&gmst);
/* unit vectors of satellite fixed coordinates */
for (i=0;i<3;i++) r[i]=-rs[i];
if (!normv3(r,ez)) return;
for (i=0;i<3;i++) r[i]=rsun[i]-rs[i];
if (!normv3(r,es)) return;
cross3(ez,es,r);
if (!normv3(r,ey)) return;
cross3(ey,ez,ex);
if (NFREQ>=3&&(satsys(sat,NULL)&(SYS_GAL|SYS_SBS))) k=2;
if (NFREQ<2||lam[j]==0.0||lam[k]==0.0) return;
gamma=SQR(lam[k])/SQR(lam[j]);
C1=gamma/(gamma-1.0);
C2=-1.0 /(gamma-1.0);
/* iono-free LC */
for (i=0;i<3;i++) {
dant1=pcv->off[j][0]*ex[i]+pcv->off[j][1]*ey[i]+pcv->off[j][2]*ez[i];
dant2=pcv->off[k][0]*ex[i]+pcv->off[k][1]*ey[i]+pcv->off[k][2]*ez[i];
dant[i]=C1*dant1+C2*dant2;
}
}
/* satellite position/clock by precise ephemeris/clock -------------------------
* compute satellite position/clock with precise ephemeris/clock
* args : gtime_t time I time (gpst)
* int sat I satellite number
* nav_t *nav I navigation data
* int opt I sat postion option
* (0: center of mass, 1: antenna phase center)
* double *rs O sat position and velocity (ecef)
* {x,y,z,vx,vy,vz} (m|m/s)
* double *dts O sat clock {bias,drift} (s|s/s)
* double *var IO sat position and clock error variance (m)
* (NULL: no output)
* return : status (1:ok,0:error or data outage)
* notes : clock includes relativistic correction but does not contain code bias
* before calling the function, nav->peph, nav->ne, nav->pclk and
* nav->nc must be set by calling readsp3(), readrnx() or readrnxt()
* if precise clocks are not set, clocks in sp3 are used instead
*-----------------------------------------------------------------------------*/
int peph2pos(gtime_t time, int sat, const nav_t *nav, int opt,
double *rs, double *dts, double *var)
{
double rss[3],rst[3],dtss[1],dtst[1],dant[3]={},vare=0.0,varc=0.0,tt=1E-3;
int i;
trace(4,"peph2pos: time=%s sat=%2d opt=%d\n",time_str(time,3),sat,opt);
if (sat<=0||MAXSAT<sat) return 0;
/* satellite position and clock bias */
if (!pephpos(time,sat,nav,rss,dtss,&vare,&varc)||
!pephclk(time,sat,nav,dtss,&varc)) return 0;
time=timeadd(time,tt);
if (!pephpos(time,sat,nav,rst,dtst,NULL,NULL)||
!pephclk(time,sat,nav,dtst,NULL)) return 0;
/* satellite antenna offset correction */
if (opt) {
satantoff(time,rss,sat,nav,dant);
}
for (i=0;i<3;i++) {
rs[i ]=rss[i]+dant[i];
rs[i+3]=(rst[i]-rss[i])/tt;
}
/* relativistic effect correction */
if (dtss[0]!=0.0) {
dts[0]=dtss[0]-2.0*dot(rs,rs+3,3)/CLIGHT/CLIGHT;
dts[1]=(dtst[0]-dtss[0])/tt;
}
else { /* no precise clock */
dts[0]=dts[1]=0.0;
}
if (var) *var=vare+varc;
return 1;
}

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/*!
* \file rtklib_preceph.h
* \brief precise ephemeris and clock functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* references :
* [1] S.Hilla, The Extended Standard Product 3 Orbit Format (SP3-c),
* 12 February, 2007
* [2] J.Ray, W.Gurtner, RINEX Extensions to Handle Clock Information,
* 27 August, 1998
* [3] D.D.McCarthy, IERS Technical Note 21, IERS Conventions 1996, July 1996
* [4] D.A.Vallado, Fundamentals of Astrodynamics and Applications 2nd ed,
* Space Technology Library, 2004
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2009/01/18 1.0 new
* 2009/01/31 1.1 fix bug on numerical error to read sp3a ephemeris
* 2009/05/15 1.2 support glonass,galileo,qzs
* 2009/12/11 1.3 support wild-card expansion of file path
* 2010/07/21 1.4 added api:
* eci2ecef(),sunmoonpos(),peph2pos(),satantoff(),
* readdcb()
* changed api:
* readsp3()
* deleted api:
* eph2posp()
* 2010/09/09 1.5 fix problem when precise clock outage
* 2011/01/23 1.6 support qzss satellite code
* 2011/09/12 1.7 fix problem on precise clock outage
* move sunmmonpos() to rtkcmn.c
* 2011/12/01 1.8 modify api readsp3()
* precede later ephemeris if ephemeris is NULL
* move eci2ecef() to rtkcmn.c
* 2013/05/08 1.9 fix bug on computing std-dev of precise clocks
* 2013/11/20 1.10 modify option for api readsp3()
* 2014/04/03 1.11 accept extenstion including sp3,eph,SP3,EPH
* 2014/05/23 1.12 add function to read sp3 velocity records
* change api: satantoff()
* 2014/08/31 1.13 add member cov and vco in peph_t sturct
* 2014/10/13 1.14 fix bug on clock error variance in peph2pos()
* 2015/05/10 1.15 add api readfcb()
* modify api readdcb()
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_PRECEPH_H_
#define RTKLIB_PRECEPH_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
#define SQR(x) ((x)*(x))
#define NMAX 10 /* order of polynomial interpolation */
#define MAXDTE 900.0 /* max time difference to ephem time (s) */
#define EXTERR_CLK 1E-3 /* extrapolation error for clock (m/s) */
#define EXTERR_EPH 5E-7 /* extrapolation error for ephem (m/s^2) */
int code2sys(char code);
int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
double *bfact, char *tsys);
int addpeph(nav_t *nav, peph_t *peph);
void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
char *tsys, int index, int opt, nav_t *nav);
int cmppeph(const void *p1, const void *p2);
void combpeph(nav_t *nav, int opt);
void readsp3(const char *file, nav_t *nav, int opt);
int readsap(const char *file, gtime_t time, nav_t *nav);
int readdcbf(const char *file, nav_t *nav, const sta_t *sta);
int readdcb(const char *file, nav_t *nav, const sta_t *sta);
int addfcb(nav_t *nav, gtime_t ts, gtime_t te, int sat,
const double *bias, const double *std);
int readfcbf(const char *file, nav_t *nav);
int readdcb(const char *file, nav_t *nav, const sta_t *sta);
int addfcb(nav_t *nav, gtime_t ts, gtime_t te, int sat,
const double *bias, const double *std);
int readfcbf(const char *file, nav_t *nav);
int cmpfcb(const void *p1, const void *p2);
int readfcb(const char *file, nav_t *nav);
double interppol(const double *x, double *y, int n);
int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs,
double *dts, double *vare, double *varc);
int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts,
double *varc);
void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav,
double *dant);
int peph2pos(gtime_t time, int sat, const nav_t *nav, int opt,
double *rs, double *dts, double *var);
#endif //RTKLIB_PRECEPH_H_

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/*!
* \file rtklib_rtkcmn.h
* \brief rtklib common functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* options : -DLAPACK use LAPACK/BLAS
* -DMKL use Intel MKL
* -DTRACE enable debug trace
* -DWIN32 use WIN32 API
* -DNOCALLOC no use calloc for zero matrix
* -DIERS_MODEL use GMF instead of NMF
* -DDLL built for shared library
* -DCPUTIME_IN_GPST cputime operated in gpst
*
* references :
* [1] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [3] M.Rothacher, R.Schmid, ANTEX: The Antenna Exchange Format Version 1.4,
* 15 September, 2010
* [4] A.Gelb ed., Applied Optimal Estimation, The M.I.T Press, 1974
* [5] A.E.Niell, Global mapping functions for the atmosphere delay at radio
* wavelengths, Jounal of geophysical research, 1996
* [6] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.00, November 28, 2007
* [7] J.Kouba, A Guide to using International GNSS Service (IGS) products,
* May 2009
* [8] China Satellite Navigation Office, BeiDou navigation satellite system
* signal in space interface control document, open service signal B1I
* (version 1.0), Dec 2012
* [9] J.Boehm, A.Niell, P.Tregoning and H.Shuh, Global Mapping Function
* (GMF): A new empirical mapping function base on numerical weather
* model data, Geophysical Research Letters, 33, L07304, 2006
* [10] GLONASS/GPS/Galileo/Compass/SBAS NV08C receiver series BINR interface
* protocol specification ver.1.3, August, 2012
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/01/12 1.0 new
* 2007/03/06 1.1 input initial rover pos of pntpos()
* update only effective states of filter()
* fix bug of atan2() domain error
* 2007/04/11 1.2 add function antmodel()
* add gdop mask for pntpos()
* change constant MAXDTOE value
* 2007/05/25 1.3 add function execcmd(),expandpath()
* 2008/06/21 1.4 add funciton sortobs(),uniqeph(),screent()
* replace geodist() by sagnac correction way
* 2008/10/29 1.5 fix bug of ionosphereic mapping function
* fix bug of seasonal variation term of tropmapf
* 2008/12/27 1.6 add function tickget(), sleepms(), tracenav(),
* xyz2enu(), satposv(), pntvel(), covecef()
* 2009/03/12 1.7 fix bug on error-stop when localtime() returns NULL
* 2009/03/13 1.8 fix bug on time adjustment for summer time
* 2009/04/10 1.9 add function adjgpsweek(),getbits(),getbitu()
* add function geph2pos()
* 2009/06/08 1.10 add function seph2pos()
* 2009/11/28 1.11 change function pntpos()
* add function tracegnav(),tracepeph()
* 2009/12/22 1.12 change default parameter of ionos std
* valid under second for timeget()
* 2010/07/28 1.13 fix bug in tropmapf()
* added api:
* obs2code(),code2obs(),cross3(),normv3(),
* gst2time(),time2gst(),time_str(),timeset(),
* deg2dms(),dms2deg(),searchpcv(),antmodel_s(),
* tracehnav(),tracepclk(),reppath(),reppaths(),
* createdir()
* changed api:
* readpcv(),
* deleted api:
* uniqeph()
* 2010/08/20 1.14 omit to include mkl header files
* fix bug on chi-sqr(n) table
* 2010/12/11 1.15 added api:
* freeobs(),freenav(),ionppp()
* 2011/05/28 1.16 fix bug on half-hour offset by time2epoch()
* added api:
* uniqnav()
* 2012/06/09 1.17 add a leap second after 2012-6-30
* 2012/07/15 1.18 add api setbits(),setbitu(),utc2gmst()
* fix bug on interpolation of antenna pcv
* fix bug on str2num() for string with over 256 char
* add api readblq(),satexclude(),setcodepri(),
* getcodepri()
* change api obs2code(),code2obs(),antmodel()
* 2012/12/25 1.19 fix bug on satwavelen(),code2obs(),obs2code()
* add api testsnr()
* 2013/01/04 1.20 add api gpst2bdt(),bdt2gpst(),bdt2time(),time2bdt()
* readblq(),readerp(),geterp(),crc16()
* change api eci2ecef(),sunmoonpos()
* 2013/03/26 1.21 tickget() uses clock_gettime() for linux
* 2013/05/08 1.22 fix bug on nutation coefficients for ast_args()
* 2013/06/02 1.23 add #ifdef for undefined CLOCK_MONOTONIC_RAW
* 2013/09/01 1.24 fix bug on interpolation of satellite antenna pcv
* 2013/09/06 1.25 fix bug on extrapolation of erp
* 2014/04/27 1.26 add SYS_LEO for satellite system
* add BDS L1 code for RINEX 3.02 and RTCM 3.2
* support BDS L1 in satwavelen()
* 2014/05/29 1.27 fix bug on obs2code() to search obs code table
* 2014/08/26 1.28 fix problem on output of uncompress() for tar file
* add function to swap trace file with keywords
* 2014/10/21 1.29 strtok() -> strtok_r() in expath() for thread-safe
* add bdsmodear in procopt_default
* 2015/03/19 1.30 fix bug on interpolation of erp values in geterp()
* add leap second insertion before 2015/07/01 00:00
* add api read_leaps()
* 2015/05/31 1.31 delte api windupcorr()
* 2015/08/08 1.32 add compile option CPUTIME_IN_GPST
* add api add_fatal()
* support usno leapsec.dat for api read_leaps()
* 2016/01/23 1.33 enable septentrio
* 2016/02/05 1.34 support GLONASS for savenav(), loadnav()
* 2016/06/11 1.35 delete trace() in reppath() to avoid deadlock
* 2016/07/01 1.36 support IRNSS
* add leap second before 2017/1/1 00:00:00
* 2016/07/29 1.37 rename api compress() -> rtk_uncompress()
* rename api crc16() -> rtk_crc16()
* rename api crc24q() -> rtk_crc24q()
* rename api crc32() -> rtk_crc32()
* 2016/08/20 1.38 fix type incompatibility in win64 environment
* change constant _POSIX_C_SOURCE 199309 -> 199506
* 2016/08/21 1.39 fix bug on week overflow in time2gpst()/gpst2time()
* 2016/09/05 1.40 fix bug on invalid nav data read in readnav()
* 2016/09/17 1.41 suppress warnings
* 2016/09/19 1.42 modify api deg2dms() to consider numerical error
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_RTKCMN_H_
#define RTKLIB_RTKCMN_H_
#include "rtklib.h"
void fatalerr(const char *format, ...);
int satno(int sys, int prn);
int satsys(int sat, int *prn);
int satid2no(const char *id);
void satno2id(int sat, char *id);
int satexclude(int sat, int svh, const prcopt_t *opt);
int testsnr(int base, int freq, double el, double snr,const snrmask_t *mask);
unsigned char obs2code(const char *obs, int *freq);
char *code2obs(unsigned char code, int *freq);
void setcodepri(int sys, int freq, const char *pri);
int getcodepri(int sys, unsigned char code, const char *opt);
unsigned int getbitu(const unsigned char *buff, int pos, int len);
int getbits(const unsigned char *buff, int pos, int len);
void setbitu(unsigned char *buff, int pos, int len, unsigned int data);
void setbits(unsigned char *buff, int pos, int len, int data);
unsigned int rtk_crc32(const unsigned char *buff, int len);
unsigned int rtk_crc24q(const unsigned char *buff, int len);
unsigned short rtk_crc16(const unsigned char *buff, int len);
int decode_word(unsigned int word, unsigned char *data);
double *mat(int n, int m);
int *imat(int n, int m);
double *zeros(int n, int m);
double *eye(int n);
double dot(const double *a, const double *b, int n);
double norm(const double *a, int n);
void cross3(const double *a, const double *b, double *c);
int normv3(const double *a, double *b);
void matcpy(double *A, const double *B, int n, int m);
void matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C);
int matinv(double *A, int n);
int solve(const char *tr, const double *A, const double *Y, int n,
int m, double *X);
int lsq(const double *A, const double *y, int n, int m, double *x,
double *Q);
int filter_(const double *x, const double *P, const double *H,
const double *v, const double *R, int n, int m,
double *xp, double *Pp);
int filter(double *x, double *P, const double *H, const double *v,
const double *R, int n, int m);
int smoother(const double *xf, const double *Qf, const double *xb,
const double *Qb, int n, double *xs, double *Qs);
void matfprint(const double A[], int n, int m, int p, int q, FILE *fp);
void matprint(const double A[], int n, int m, int p, int q);
double str2num(const char *s, int i, int n);
int str2time(const char *s, int i, int n, gtime_t *t);
gtime_t epoch2time(const double *ep);
void time2epoch(gtime_t t, double *ep);
gtime_t gpst2time(int week, double sec);
double time2gpst(gtime_t t, int *week);
gtime_t gst2time(int week, double sec);
double time2gst(gtime_t t, int *week);
gtime_t bdt2time(int week, double sec);
double time2bdt(gtime_t t, int *week);
gtime_t timeadd(gtime_t t, double sec);
double timediff(gtime_t t1, gtime_t t2);
gtime_t timeget(void);
//void timeset(gtime_t t);
int read_leaps_text(FILE *fp);
int read_leaps_usno(FILE *fp);
int read_leaps(const char *file);
gtime_t gpst2utc(gtime_t t);
gtime_t utc2gpst(gtime_t t);
gtime_t gpst2bdt(gtime_t t);
gtime_t bdt2gpst(gtime_t t);
double time2sec(gtime_t time, gtime_t *day);
double utc2gmst(gtime_t t, double ut1_utc);
void time2str(gtime_t t, char *s, int n);
char *time_str(gtime_t t, int n);
double time2doy(gtime_t t);
int adjgpsweek(int week);
unsigned int tickget(void);
void sleepms(int ms);
void deg2dms(double deg, double *dms, int ndec);
double dms2deg(const double *dms);
void ecef2pos(const double *r, double *pos);
void pos2ecef(const double *pos, double *r);
void xyz2enu(const double *pos, double *E);
void ecef2enu(const double *pos, const double *r, double *e);
void enu2ecef(const double *pos, const double *e, double *r);
void covenu(const double *pos, const double *P, double *Q);
void covecef(const double *pos, const double *Q, double *P);
/* coordinate rotation matrix ------------------------------------------------*/
#define Rx(t,X) do { \
(X)[0]=1.0; (X)[1]=(X)[2]=(X)[3]=(X)[6]=0.0; \
(X)[4]=(X)[8]=cos(t); (X)[7]=sin(t); (X)[5]=-(X)[7]; \
} while (0)
#define Ry(t,X) do { \
(X)[4]=1.0; (X)[1]=(X)[3]=(X)[5]=(X)[7]=0.0; \
(X)[0]=(X)[8]=cos(t); (X)[2]=sin(t); (X)[6]=-(X)[2]; \
} while (0)
#define Rz(t,X) do { \
(X)[8]=1.0; (X)[2]=(X)[5]=(X)[6]=(X)[7]=0.0; \
(X)[0]=(X)[4]=cos(t); (X)[3]=sin(t); (X)[1]=-(X)[3]; \
} while (0)
void ast_args(double t, double *f);
void nut_iau1980(double t, const double *f, double *dpsi, double *deps);
void eci2ecef(gtime_t tutc, const double *erpv, double *U, double *gmst);
int decodef(char *p, int n, double *v);
void addpcv(const pcv_t *pcv, pcvs_t *pcvs);
int readngspcv(const char *file, pcvs_t *pcvs);
int readantex(const char *file, pcvs_t *pcvs);
int readpcv(const char *file, pcvs_t *pcvs);
pcv_t *searchpcv(int sat, const char *type, gtime_t time,
const pcvs_t *pcvs);
void readpos(const char *file, const char *rcv, double *pos);
int readblqrecord(FILE *fp, double *odisp);
int readblq(const char *file, const char *sta, double *odisp);
int readerp(const char *file, erp_t *erp);
int geterp(const erp_t *erp, gtime_t time, double *erpv);
int cmpeph(const void *p1, const void *p2);
void uniqeph(nav_t *nav);
int cmpgeph(const void *p1, const void *p2);
void uniqgeph(nav_t *nav);
int cmpseph(const void *p1, const void *p2);
void uniqseph(nav_t *nav);
void uniqnav(nav_t *nav);
int cmpobs(const void *p1, const void *p2);
int sortobs(obs_t *obs);
int screent(gtime_t time, gtime_t ts, gtime_t te, double tint);
int readnav(const char *file, nav_t *nav);
int savenav(const char *file, const nav_t *nav);
void freeobs(obs_t *obs);
void freenav(nav_t *nav, int opt);
void traceopen(const char *file);
void traceclose(void);
void tracelevel(int level);
void trace (int level, const char *format, ...);
void tracet (int level, const char *format, ...);
void tracemat(int level, const double *A, int n, int m, int p, int q);
void traceobs(int level, const obsd_t *obs, int n);
void tracenav(int level, const nav_t *nav);
void tracegnav(int level, const nav_t *nav);
void tracehnav(int level, const nav_t *nav);
void tracepeph(int level, const nav_t *nav);
void tracepclk(int level, const nav_t *nav);
void traceb (int level, const unsigned char *p, int n);
int execcmd(const char *cmd);
void createdir(const char *path);
int repstr(char *str, const char *pat, const char *rep);
int reppath(const char *path, char *rpath, gtime_t time, const char *rov,
const char *base);
int reppaths(const char *path, char *rpath[], int nmax, gtime_t ts,
gtime_t te, const char *rov, const char *base);
double satwavelen(int sat, int frq, const nav_t *nav);
double geodist(const double *rs, const double *rr, double *e);
double satazel(const double *pos, const double *e, double *azel);
#define SQRT(x) ((x)<0.0?0.0:sqrt(x));
void dops(int ns, const double *azel, double elmin, double *dop);
double ionmodel(gtime_t t, const double *ion, const double *pos,
const double *azel);
double ionmapf(const double *pos, const double *azel);
double ionppp(const double *pos, const double *azel, double re,
double hion, double *posp);
double tropmodel(gtime_t time, const double *pos, const double *azel,
double humi);
double interpc(const double coef[], double lat);
double mapf(double el, double a, double b, double c);
double nmf(gtime_t time, const double pos[], const double azel[],
double *mapfw);
double tropmapf(gtime_t time, const double pos[], const double azel[],
double *mapfw);
double interpvar(double ang, const double *var);
void antmodel(const pcv_t *pcv, const double *del, const double *azel,
int opt, double *dant);
void antmodel_s(const pcv_t *pcv, double nadir, double *dant);
void sunmoonpos_eci(gtime_t tut, double *rsun, double *rmoon);
void sunmoonpos(gtime_t tutc, const double *erpv, double *rsun,
double *rmoon, double *gmst);
void csmooth(obs_t *obs, int ns);
int rtk_uncompress(const char *file, char *uncfile);
int expath(const char *path, char *paths[], int nmax);
#endif /* RTKLIB_RTKCMN_H_ */

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src/algorithms/libs/rtklib/rtklib_sbas.cc Normal file
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/*!
* \file rtklib_sbas.cc
* \brief sbas functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* option : -DRRCENA enable rrc correction
*
* references :
* [1] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
* July 31, 2009
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/10/14 1.0 new
* 2009/01/24 1.1 modify sbspntpos() api
* improve fast/ion correction update
* 2009/04/08 1.2 move function crc24q() to rcvlog.c
* support glonass, galileo and qzss
* 2009/06/08 1.3 modify sbsupdatestat()
* delete sbssatpos()
* 2009/12/12 1.4 support glonass
* 2010/01/22 1.5 support ems (egnos message service) format
* 2010/06/10 1.6 added api:
* sbssatcorr(),sbstropcorr(),sbsioncorr(),
* sbsupdatecorr()
* changed api:
* sbsreadmsgt(),sbsreadmsg()
* deleted api:
* sbspntpos(),sbsupdatestat()
* 2010/08/16 1.7 not reject udre==14 or give==15 correction message
* (2.4.0_p4)
* 2011/01/15 1.8 use api ionppp()
* add prn mask of qzss for qzss L1SAIF
* 2016/07/29 1.9 crc24q() -> rtk_crc24q()
*-----------------------------------------------------------------------------*/
#include "rtklib_sbas.h"
/* extract field from line ---------------------------------------------------*/
char *getfield(char *p, int pos)
{
for (pos--;pos>0;pos--,p++) if (!(p=strchr(p,','))) return NULL;
return p;
}
/* variance of fast correction (udre=UDRE+1) ---------------------------------*/
double varfcorr(int udre)
{
const double var[14]={
0.052,0.0924,0.1444,0.283,0.4678,0.8315,1.2992,1.8709,2.5465,3.326,
5.1968,20.7870,230.9661,2078.695
};
return 0<udre&&udre<=14?var[udre-1]:0.0;
}
/* variance of ionosphere correction (give=GIVEI+1) --------------------------*/
double varicorr(int give)
{
const double var[15]={
0.0084,0.0333,0.0749,0.1331,0.2079,0.2994,0.4075,0.5322,0.6735,0.8315,
1.1974,1.8709,3.326,20.787,187.0826
};
return 0<give&&give<=15?var[give-1]:0.0;
}
/* fast correction degradation -----------------------------------------------*/
double degfcorr(int ai)
{
const double degf[16]={
0.00000,0.00005,0.00009,0.00012,0.00015,0.00020,0.00030,0.00045,
0.00060,0.00090,0.00150,0.00210,0.00270,0.00330,0.00460,0.00580
};
return 0<ai&&ai<=15?degf[ai]:0.0058;
}
/* decode type 1: prn masks --------------------------------------------------*/
int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i,n,sat;
trace(4,"decode_sbstype1:\n");
for (i=1,n=0;i<=210&&n<MAXSAT;i++) {
if (getbitu(msg->msg,13+i,1)) {
if (i<= 37) sat=satno(SYS_GPS,i); /* 0- 37: gps */
else if (i<= 61) sat=satno(SYS_GLO,i-37); /* 38- 61: glonass */
else if (i<=119) sat=0; /* 62-119: future gnss */
else if (i<=138) sat=satno(SYS_SBS,i); /* 120-138: geo/waas */
else if (i<=182) sat=0; /* 139-182: reserved */
else if (i<=192) sat=satno(SYS_SBS,i+10); /* 183-192: qzss ref [2] */
else if (i<=202) sat=satno(SYS_QZS,i); /* 193-202: qzss ref [2] */
else sat=0; /* 203- : reserved */
sbssat->sat[n++].sat=sat;
}
}
sbssat->iodp=getbitu(msg->msg,224,2);
sbssat->nsat=n;
trace(5,"decode_sbstype1: nprn=%d iodp=%d\n",n,sbssat->iodp);
return 1;
}
/* decode type 2-5,0: fast corrections ---------------------------------------*/
int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i,j,iodf,type,udre;
double prc,dt;
gtime_t t0;
trace(4,"decode_sbstype2:\n");
if (sbssat->iodp!=(int)getbitu(msg->msg,16,2)) return 0;
type=getbitu(msg->msg, 8,6);
iodf=getbitu(msg->msg,14,2);
for (i=0;i<13;i++) {
if ((j=13*((type==0?2:type)-2)+i)>=sbssat->nsat) break;
udre=getbitu(msg->msg,174+4*i,4);
t0 =sbssat->sat[j].fcorr.t0;
prc=sbssat->sat[j].fcorr.prc;
sbssat->sat[j].fcorr.t0=gpst2time(msg->week,msg->tow);
sbssat->sat[j].fcorr.prc=getbits(msg->msg,18+i*12,12)*0.125f;
sbssat->sat[j].fcorr.udre=udre+1;
dt=timediff(sbssat->sat[j].fcorr.t0,t0);
if (t0.time==0||dt<=0.0||18.0<dt||sbssat->sat[j].fcorr.ai==0) {
sbssat->sat[j].fcorr.rrc=0.0;
sbssat->sat[j].fcorr.dt=0.0;
}
else {
sbssat->sat[j].fcorr.rrc=(sbssat->sat[j].fcorr.prc-prc)/dt;
sbssat->sat[j].fcorr.dt=dt;
}
sbssat->sat[j].fcorr.iodf=iodf;
}
trace(5,"decode_sbstype2: type=%d iodf=%d\n",type,iodf);
return 1;
}
/* decode type 6: integrity info ---------------------------------------------*/
int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i,iodf[4],udre;
trace(4,"decode_sbstype6:\n");
for (i=0;i<4;i++) {
iodf[i]=getbitu(msg->msg,14+i*2,2);
}
for (i=0;i<sbssat->nsat&&i<MAXSAT;i++) {
if (sbssat->sat[i].fcorr.iodf!=iodf[i/13]) continue;
udre=getbitu(msg->msg,22+i*4,4);
sbssat->sat[i].fcorr.udre=udre+1;
}
trace(5,"decode_sbstype6: iodf=%d %d %d %d\n",iodf[0],iodf[1],iodf[2],iodf[3]);
return 1;
}
/* decode type 7: fast correction degradation factor -------------------------*/
int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i;
trace(4,"decode_sbstype7\n");
if (sbssat->iodp!=(int)getbitu(msg->msg,18,2)) return 0;
sbssat->tlat=getbitu(msg->msg,14,4);
for (i=0;i<sbssat->nsat&&i<MAXSAT;i++) {
sbssat->sat[i].fcorr.ai=getbitu(msg->msg,22+i*4,4);
}
return 1;
}
/* decode type 9: geo navigation message -------------------------------------*/
int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav)
{
seph_t seph={};
int i,sat,t;
trace(4,"decode_sbstype9:\n");
if (!(sat=satno(SYS_SBS,msg->prn))) {
trace(2,"invalid prn in sbas type 9: prn=%3d\n",msg->prn);
return 0;
}
t=(int)getbitu(msg->msg,22,13)*16-(int)msg->tow%86400;
if (t<=-43200) t+=86400;
else if (t> 43200) t-=86400;
seph.sat=sat;
seph.t0 =gpst2time(msg->week,msg->tow+t);
seph.tof=gpst2time(msg->week,msg->tow);
seph.sva=getbitu(msg->msg,35,4);
seph.svh=seph.sva==15?1:0; /* unhealthy if ura==15 */
seph.pos[0]=getbits(msg->msg, 39,30)*0.08;
seph.pos[1]=getbits(msg->msg, 69,30)*0.08;
seph.pos[2]=getbits(msg->msg, 99,25)*0.4;
seph.vel[0]=getbits(msg->msg,124,17)*0.000625;
seph.vel[1]=getbits(msg->msg,141,17)*0.000625;
seph.vel[2]=getbits(msg->msg,158,18)*0.004;
seph.acc[0]=getbits(msg->msg,176,10)*0.0000125;
seph.acc[1]=getbits(msg->msg,186,10)*0.0000125;
seph.acc[2]=getbits(msg->msg,196,10)*0.0000625;
seph.af0=getbits(msg->msg,206,12)*P2_31;
seph.af1=getbits(msg->msg,218, 8)*P2_39/2.0;
i=msg->prn-MINPRNSBS;
if (!nav->seph||fabs(timediff(nav->seph[i].t0,seph.t0))<1E-3) { /* not change */
return 0;
}
nav->seph[NSATSBS+i]=nav->seph[i]; /* previous */
nav->seph[i]=seph; /* current */
trace(5,"decode_sbstype9: prn=%d\n",msg->prn);
return 1;
}
/* decode type 18: ionospheric grid point masks ------------------------------*/
int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion)
{
const sbsigpband_t *p;
int i,j,n,m,band=getbitu(msg->msg,18,4);
trace(4,"decode_sbstype18:\n");
if (0<=band&&band<= 8) {p=igpband1[band ]; m=8;}
else if (9<=band&&band<=10) {p=igpband2[band-9]; m=5;}
else return 0;
sbsion[band].iodi=(short)getbitu(msg->msg,22,2);
for (i=1,n=0;i<=201;i++) {
if (!getbitu(msg->msg,23+i,1)) continue;
for (j=0;j<m;j++) {
if (i<p[j].bits||p[j].bite<i) continue;
sbsion[band].igp[n].lat=band<=8?p[j].y[i-p[j].bits]:p[j].x;
sbsion[band].igp[n++].lon=band<=8?p[j].x:p[j].y[i-p[j].bits];
break;
}
}
sbsion[band].nigp=n;
trace(5,"decode_sbstype18: band=%d nigp=%d\n",band,n);
return 1;
}
/* decode half long term correction (vel code=0) -----------------------------*/
int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
int i,n=getbitu(msg->msg,p,6);
trace(4,"decode_longcorr0:\n");
if (n==0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode=getbitu(msg->msg,p+6,8);
for (i=0;i<3;i++) {
sbssat->sat[n-1].lcorr.dpos[i]=getbits(msg->msg,p+14+9*i,9)*0.125;
sbssat->sat[n-1].lcorr.dvel[i]=0.0;
}
sbssat->sat[n-1].lcorr.daf0=getbits(msg->msg,p+41,10)*P2_31;
sbssat->sat[n-1].lcorr.daf1=0.0;
sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow);
trace(5,"decode_longcorr0:sat=%2d\n",sbssat->sat[n-1].sat);
return 1;
}
/* decode half long term correction (vel code=1) -----------------------------*/
int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
int i,n=getbitu(msg->msg,p,6),t;
trace(4,"decode_longcorr1:\n");
if (n==0||n>MAXSAT) return 0;
sbssat->sat[n-1].lcorr.iode=getbitu(msg->msg,p+6,8);
for (i=0;i<3;i++) {
sbssat->sat[n-1].lcorr.dpos[i]=getbits(msg->msg,p+14+i*11,11)*0.125;
sbssat->sat[n-1].lcorr.dvel[i]=getbits(msg->msg,p+58+i* 8, 8)*P2_11;
}
sbssat->sat[n-1].lcorr.daf0=getbits(msg->msg,p+47,11)*P2_31;
sbssat->sat[n-1].lcorr.daf1=getbits(msg->msg,p+82, 8)*P2_39;
t=(int)getbitu(msg->msg,p+90,13)*16-(int)msg->tow%86400;
if (t<=-43200) t+=86400;
else if (t> 43200) t-=86400;
sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow+t);
trace(5,"decode_longcorr1: sat=%2d\n",sbssat->sat[n-1].sat);
return 1;
}
/* decode half long term correction ------------------------------------------*/
int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
trace(4,"decode_longcorrh:\n");
if (getbitu(msg->msg,p,1)==0) { /* vel code=0 */
if (sbssat->iodp==(int)getbitu(msg->msg,p+103,2)) {
return decode_longcorr0(msg,p+ 1,sbssat)&&
decode_longcorr0(msg,p+52,sbssat);
}
}
else if (sbssat->iodp==(int)getbitu(msg->msg,p+104,2)) {
return decode_longcorr1(msg,p+1,sbssat);
}
return 0;
}
/* decode type 24: mixed fast/long term correction ---------------------------*/
int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i,j,iodf,blk,udre;
trace(4,"decode_sbstype24:\n");
if (sbssat->iodp!=(int)getbitu(msg->msg,110,2)) return 0; /* check IODP */
blk =getbitu(msg->msg,112,2);
iodf=getbitu(msg->msg,114,2);
for (i=0;i<6;i++) {
if ((j=13*blk+i)>=sbssat->nsat) break;
udre=getbitu(msg->msg,86+4*i,4);
sbssat->sat[j].fcorr.t0 =gpst2time(msg->week,msg->tow);
sbssat->sat[j].fcorr.prc =getbits(msg->msg,14+i*12,12)*0.125f;
sbssat->sat[j].fcorr.udre=udre+1;
sbssat->sat[j].fcorr.iodf=iodf;
}
return decode_longcorrh(msg,120,sbssat);
}
/* decode type 25: long term satellite error correction ----------------------*/
int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat)
{
trace(4,"decode_sbstype25:\n");
return decode_longcorrh(msg,14,sbssat)&&decode_longcorrh(msg,120,sbssat);
}
/* decode type 26: ionospheric deley corrections -----------------------------*/
int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
{
int i,j,block,delay,give,band=getbitu(msg->msg,14,4);
trace(4,"decode_sbstype26:\n");
if (band>MAXBAND||sbsion[band].iodi!=(int)getbitu(msg->msg,217,2)) return 0;
block=getbitu(msg->msg,18,4);
for (i=0;i<15;i++) {
if ((j=block*15+i)>=sbsion[band].nigp) continue;
give=getbitu(msg->msg,22+i*13+9,4);
delay=getbitu(msg->msg,22+i*13,9);
sbsion[band].igp[j].t0=gpst2time(msg->week,msg->tow);
sbsion[band].igp[j].delay=delay==0x1FF?0.0f:delay*0.125f;
sbsion[band].igp[j].give=give+1;
if (sbsion[band].igp[j].give>=16) {
sbsion[band].igp[j].give=0;
}
}
trace(5,"decode_sbstype26: band=%d block=%d\n",band,block);
return 1;
}
/* update sbas corrections -----------------------------------------------------
* update sbas correction parameters in navigation data with a sbas message
* args : sbsmg_t *msg I sbas message
* nav_t *nav IO navigation data
* return : message type (-1: error or not supported type)
* notes : nav->seph must point to seph[NSATSBS*2] (array of seph_t)
* seph[prn-MINPRNSBS+1] : sat prn current epehmeris
* seph[prn-MINPRNSBS+1+MAXPRNSBS]: sat prn previous epehmeris
*-----------------------------------------------------------------------------*/
int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav)
{
int type=getbitu(msg->msg,8,6),stat=-1;
trace(3,"sbsupdatecorr: type=%d\n",type);
if (msg->week==0) return -1;
switch (type) {
case 0: stat=decode_sbstype2 (msg,&nav->sbssat); break;
case 1: stat=decode_sbstype1 (msg,&nav->sbssat); break;
case 2:
case 3:
case 4:
case 5: stat=decode_sbstype2 (msg,&nav->sbssat); break;
case 6: stat=decode_sbstype6 (msg,&nav->sbssat); break;
case 7: stat=decode_sbstype7 (msg,&nav->sbssat); break;
case 9: stat=decode_sbstype9 (msg,nav); break;
case 18: stat=decode_sbstype18(msg,nav ->sbsion); break;
case 24: stat=decode_sbstype24(msg,&nav->sbssat); break;
case 25: stat=decode_sbstype25(msg,&nav->sbssat); break;
case 26: stat=decode_sbstype26(msg,nav ->sbsion); break;
case 63: break; /* null message */
/*default: trace(2,"unsupported sbas message: type=%d\n",type); break;*/
}
return stat?type:-1;
}
/* read sbas log file --------------------------------------------------------*/
void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
sbs_t *sbs)
{
sbsmsg_t *sbs_msgs;
int i,week,prn,ch,msg;
unsigned int b;
double tow,ep[6]={};
char buff[256],*p;
gtime_t time;
FILE *fp;
trace(3,"readmsgs: file=%s sel=%d\n",file,sel);
if (!(fp=fopen(file,"r"))) {
trace(2,"sbas message file open error: %s\n",file);
return;
}
while (fgets(buff,sizeof(buff),fp)) {
if (sscanf(buff,"%d %lf %d",&week,&tow,&prn)==3&&(p=strstr(buff,": "))) {
p+=2; /* rtklib form */
}
else if (sscanf(buff,"%d %lf %lf %lf %lf %lf %lf %d",
&prn,ep,ep+1,ep+2,ep+3,ep+4,ep+5,&msg)==8) {
/* ems (EGNOS Message Service) form */
ep[0]+=ep[0]<70.0?2000.0:1900.0;
tow=time2gpst(epoch2time(ep),&week);
p=buff+(msg>=10?25:24);
}
else if (!strncmp(buff,"#RAWWAASFRAMEA",14)) { /* NovAtel OEM4/V */
if (!(p=getfield(buff,6))) continue;
if (sscanf(p,"%d,%lf",&week,&tow)<2) continue;
if (!(p=strchr(++p,';'))) continue;
if (sscanf(++p,"%d,%d",&ch,&prn)<2) continue;
if (!(p=getfield(p,4))) continue;
}
else if (!strncmp(buff,"$FRMA",5)) { /* NovAtel OEM3 */
if (!(p=getfield(buff,2))) continue;
if (sscanf(p,"%d,%lf,%d",&week,&tow,&prn)<3) continue;
if (!(p=getfield(p,6))) continue;
if (week<WEEKOFFSET) week+=WEEKOFFSET;
}
else continue;
if (sel!=0&&sel!=prn) continue;
time=gpst2time(week,tow);
if (!screent(time,ts,te,0.0)) continue;
if (sbs->n>=sbs->nmax) {
sbs->nmax=sbs->nmax==0?1024:sbs->nmax*2;
if (!(sbs_msgs=(sbsmsg_t *)realloc(sbs->msgs,sbs->nmax*sizeof(sbsmsg_t)))) {
trace(1,"readsbsmsg malloc error: nmax=%d\n",sbs->nmax);
free(sbs->msgs); sbs->msgs=NULL; sbs->n=sbs->nmax=0;
return;
}
sbs->msgs=sbs_msgs;
}
sbs->msgs[sbs->n].week=week;
sbs->msgs[sbs->n].tow=(int)(tow+0.5);
sbs->msgs[sbs->n].prn=prn;
for (i=0;i<29;i++) sbs->msgs[sbs->n].msg[i]=0;
for (i=0;*(p-1)&&*p&&i<29;p+=2,i++) {
if (sscanf(p,"%2X",&b)==1) sbs->msgs[sbs->n].msg[i]=(unsigned char)b;
}
sbs->msgs[sbs->n++].msg[28]&=0xC0;
}
fclose(fp);
}
/* compare sbas messages -----------------------------------------------------*/
int cmpmsgs(const void *p1, const void *p2)
{
sbsmsg_t *q1=(sbsmsg_t *)p1,*q2=(sbsmsg_t *)p2;
return q1->week!=q2->week?q1->week-q2->week:
(q1->tow<q2->tow?-1:(q1->tow>q2->tow?1:q1->prn-q2->prn));
}
/* read sbas message file ------------------------------------------------------
* read sbas message file
* args : char *file I sbas message file (wind-card * is expanded)
* int sel I sbas satellite prn number selection (0:all)
* (gtime_t ts I start time)
* (gtime_t te I end time )
* sbs_t *sbs IO sbas messages
* return : number of sbas messages
* notes : sbas message are appended and sorted. before calling the funciton,
* sbs->n, sbs->nmax and sbs->msgs must be set properly. (initially
* sbs->n=sbs->nmax=0, sbs->msgs=NULL)
* only the following file extentions after wild card expanded are valid
* to read. others are skipped
* .sbs, .SBS, .ems, .EMS
*-----------------------------------------------------------------------------*/
int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
sbs_t *sbs)
{
char *efiles[MAXEXFILE]={},*ext;
int i,n;
trace(3,"sbsreadmsgt: file=%s sel=%d\n",file,sel);
for (i=0;i<MAXEXFILE;i++) {
if (!(efiles[i]=(char *)malloc(1024))) {
for (i--;i>=0;i--) free(efiles[i]);
return 0;
}
}
/* expand wild card in file path */
n=expath(file,efiles,MAXEXFILE);
for (i=0;i<n;i++) {
if (!(ext=strrchr(efiles[i],'.'))) continue;
if (strcmp(ext,".sbs")&&strcmp(ext,".SBS")&&
strcmp(ext,".ems")&&strcmp(ext,".EMS")) continue;
readmsgs(efiles[i],sel,ts,te,sbs);
}
for (i=0;i<MAXEXFILE;i++) free(efiles[i]);
/* sort messages */
if (sbs->n>0) {
qsort(sbs->msgs,sbs->n,sizeof(sbsmsg_t),cmpmsgs);
}
return sbs->n;
}
int sbsreadmsg(const char *file, int sel, sbs_t *sbs)
{
gtime_t ts={},te={};
trace(3,"sbsreadmsg: file=%s sel=%d\n",file,sel);
return sbsreadmsgt(file,sel,ts,te,sbs);
}
/* output sbas messages --------------------------------------------------------
* output sbas message record to output file in rtklib sbas log format
* args : FILE *fp I output file pointer
* sbsmsg_t *sbsmsg I sbas messages
* return : none
*-----------------------------------------------------------------------------*/
void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg)
{
int i,type=sbsmsg->msg[1]>>2;
trace(4,"sbsoutmsg:\n");
fprintf(fp,"%4d %6d %3d %2d : ",sbsmsg->week,sbsmsg->tow,sbsmsg->prn,type);
for (i=0;i<29;i++) fprintf(fp,"%02X",sbsmsg->msg[i]);
fprintf(fp,"\n");
}
/* search igps ---------------------------------------------------------------*/
void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
const sbsigp_t **igp, double *x, double *y)
{
int i,latp[2],lonp[4];
double lat=pos[0]*R2D,lon=pos[1]*R2D;
const sbsigp_t *p;
trace(4,"searchigp: pos=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D);
if (lon>=180.0) lon-=360.0;
if (-55.0<=lat&&lat<55.0) {
latp[0]=(int)floor(lat/5.0)*5;
latp[1]=latp[0]+5;
lonp[0]=lonp[1]=(int)floor(lon/5.0)*5;
lonp[2]=lonp[3]=lonp[0]+5;
*x=(lon-lonp[0])/5.0;
*y=(lat-latp[0])/5.0;
}
else {
latp[0]=(int)floor((lat-5.0)/10.0)*10+5;
latp[1]=latp[0]+10;
lonp[0]=lonp[1]=(int)floor(lon/10.0)*10;
lonp[2]=lonp[3]=lonp[0]+10;
*x=(lon-lonp[0])/10.0;
*y=(lat-latp[0])/10.0;
if (75.0<=lat&&lat<85.0) {
lonp[1]=(int)floor(lon/90.0)*90;
lonp[3]=lonp[1]+90;
}
else if (-85.0<=lat&&lat<-75.0) {
lonp[0]=(int)floor((lon-50.0)/90.0)*90+40;
lonp[2]=lonp[0]+90;
}
else if (lat>=85.0) {
for (i=0;i<4;i++) lonp[i]=(int)floor(lon/90.0)*90;
}
else if (lat<-85.0) {
for (i=0;i<4;i++) lonp[i]=(int)floor((lon-50.0)/90.0)*90+40;
}
}
for (i=0;i<4;i++) if (lonp[i]==180) lonp[i]=-180;
for (i=0;i<=MAXBAND;i++) {
for (p=ion[i].igp;p<ion[i].igp+ion[i].nigp;p++) {
if (p->t0.time==0) continue;
if (p->lat==latp[0]&&p->lon==lonp[0]&&p->give>0) igp[0]=p;
else if (p->lat==latp[1]&&p->lon==lonp[1]&&p->give>0) igp[1]=p;
else if (p->lat==latp[0]&&p->lon==lonp[2]&&p->give>0) igp[2]=p;
else if (p->lat==latp[1]&&p->lon==lonp[3]&&p->give>0) igp[3]=p;
if (igp[0]&&igp[1]&&igp[2]&&igp[3]) return;
}
}
}
/* sbas ionospheric delay correction -------------------------------------------
* compute sbas ionosphric delay correction
* args : gtime_t time I time
* nav_t *nav I navigation data
* double *pos I receiver position {lat,lon,height} (rad/m)
* double *azel I satellite azimuth/elavation angle (rad)
* double *delay O slant ionospheric delay (L1) (m)
* double *var O variance of ionospheric delay (m^2)
* return : status (1:ok, 0:no correction)
* notes : before calling the function, sbas ionosphere correction parameters
* in navigation data (nav->sbsion) must be set by callig
* sbsupdatecorr()
*-----------------------------------------------------------------------------*/
int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, double *delay, double *var)
{
const double re=6378.1363,hion=350.0;
int i,err=0;
double fp,posp[2],x=0.0,y=0.0,t,w[4]={};
const sbsigp_t *igp[4]={}; /* {ws,wn,es,en} */
trace(4,"sbsioncorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D,
azel[0]*R2D,azel[1]*R2D);
*delay=*var=0.0;
if (pos[2]<-100.0||azel[1]<=0) return 1;
/* ipp (ionospheric pierce point) position */
fp=ionppp(pos,azel,re,hion,posp);
/* search igps around ipp */
searchigp(time,posp,nav->sbsion,igp,&x,&y);
/* weight of igps */
if (igp[0]&&igp[1]&&igp[2]&&igp[3]) {
w[0]=(1.0-x)*(1.0-y); w[1]=(1.0-x)*y; w[2]=x*(1.0-y); w[3]=x*y;
}
else if (igp[0]&&igp[1]&&igp[2]) {
w[1]=y; w[2]=x;
if ((w[0]=1.0-w[1]-w[2])<0.0) err=1;
}
else if (igp[0]&&igp[2]&&igp[3]) {
w[0]=1.0-x; w[3]=y;
if ((w[2]=1.0-w[0]-w[3])<0.0) err=1;
}
else if (igp[0]&&igp[1]&&igp[3]) {
w[0]=1.0-y; w[3]=x;
if ((w[1]=1.0-w[0]-w[3])<0.0) err=1;
}
else if (igp[1]&&igp[2]&&igp[3]) {
w[1]=1.0-x; w[2]=1.0-y;
if ((w[3]=1.0-w[1]-w[2])<0.0) err=1;
}
else err=1;
if (err) {
trace(2,"no sbas iono correction: lat=%3.0f lon=%4.0f\n",posp[0]*R2D,
posp[1]*R2D);
return 0;
}
for (i=0;i<4;i++) {
if (!igp[i]) continue;
t=timediff(time,igp[i]->t0);
*delay+=w[i]*igp[i]->delay;
*var+=w[i]*varicorr(igp[i]->give)*9E-8*fabs(t);
}
*delay*=fp; *var*=fp*fp;
trace(5,"sbsioncorr: dion=%7.2f sig=%7.2f\n",*delay,sqrt(*var));
return 1;
}
/* get meterological parameters ----------------------------------------------*/
void getmet(double lat, double *met)
{
static const double metprm[][10]={ /* lat=15,30,45,60,75 */
{1013.25,299.65,26.31,6.30E-3,2.77, 0.00, 0.00,0.00,0.00E-3,0.00},
{1017.25,294.15,21.79,6.05E-3,3.15, -3.75, 7.00,8.85,0.25E-3,0.33},
{1015.75,283.15,11.66,5.58E-3,2.57, -2.25,11.00,7.24,0.32E-3,0.46},
{1011.75,272.15, 6.78,5.39E-3,1.81, -1.75,15.00,5.36,0.81E-3,0.74},
{1013.00,263.65, 4.11,4.53E-3,1.55, -0.50,14.50,3.39,0.62E-3,0.30}
};
int i,j;
double a;
lat=fabs(lat);
if (lat<=15.0) for (i=0;i<10;i++) met[i]=metprm[0][i];
else if (lat>=75.0) for (i=0;i<10;i++) met[i]=metprm[4][i];
else {
j=(int)(lat/15.0); a=(lat-j*15.0)/15.0;
for (i=0;i<10;i++) met[i]=(1.0-a)*metprm[j-1][i]+a*metprm[j][i];
}
}
/* tropospheric delay correction -----------------------------------------------
* compute sbas tropospheric delay correction (mops model)
* args : gtime_t time I time
* double *pos I receiver position {lat,lon,height} (rad/m)
* double *azel I satellite azimuth/elavation (rad)
* double *var O variance of troposphric error (m^2)
* return : slant tropospheric delay (m)
*-----------------------------------------------------------------------------*/
double sbstropcorr(gtime_t time, const double *pos, const double *azel,
double *var)
{
const double k1=77.604,k2=382000.0,rd=287.054,gm=9.784,g=9.80665;
static double pos_[3]={},zh=0.0,zw=0.0;
int i;
double c,met[10],sinel=sin(azel[1]),h=pos[2],m;
trace(4,"sbstropcorr: pos=%.3f %.3f azel=%.3f %.3f\n",pos[0]*R2D,pos[1]*R2D,
azel[0]*R2D,azel[1]*R2D);
if (pos[2]<-100.0||10000.0<pos[2]||azel[1]<=0) {
*var=0.0;
return 0.0;
}
if (zh==0.0||fabs(pos[0]-pos_[0])>1E-7||fabs(pos[1]-pos_[1])>1E-7||
fabs(pos[2]-pos_[2])>1.0) {
getmet(pos[0]*R2D,met);
c=cos(2.0*PI*(time2doy(time)-(pos[0]>=0.0?28.0:211.0))/365.25);
for (i=0;i<5;i++) met[i]-=met[i+5]*c;
zh=1E-6*k1*rd*met[0]/gm;
zw=1E-6*k2*rd/(gm*(met[4]+1.0)-met[3]*rd)*met[2]/met[1];
zh*=pow(1.0-met[3]*h/met[1],g/(rd*met[3]));
zw*=pow(1.0-met[3]*h/met[1],(met[4]+1.0)*g/(rd*met[3])-1.0);
for (i=0;i<3;i++) pos_[i]=pos[i];
}
m=1.001/sqrt(0.002001+sinel*sinel);
*var=0.12*0.12*m*m;
return (zh+zw)*m;
}
/* long term correction ------------------------------------------------------*/
int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *drs, double *ddts)
{
const sbssatp_t *p;
double t;
int i;
trace(3,"sbslongcorr: sat=%2d\n",sat);
for (p=sbssat->sat;p<sbssat->sat+sbssat->nsat;p++) {
if (p->sat!=sat||p->lcorr.t0.time==0) continue;
t=timediff(time,p->lcorr.t0);
if (fabs(t)>MAXSBSAGEL) {
trace(2,"sbas long-term correction expired: %s sat=%2d t=%5.0f\n",
time_str(time,0),sat,t);
return 0;
}
for (i=0;i<3;i++) drs[i]=p->lcorr.dpos[i]+p->lcorr.dvel[i]*t;
*ddts=p->lcorr.daf0+p->lcorr.daf1*t;
trace(5,"sbslongcorr: sat=%2d drs=%7.2f%7.2f%7.2f ddts=%7.2f\n",
sat,drs[0],drs[1],drs[2],*ddts*CLIGHT);
return 1;
}
/* if sbas satellite without correction, no correction applied */
if (satsys(sat,NULL)==SYS_SBS) return 1;
trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* fast correction -----------------------------------------------------------*/
int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *prc, double *var)
{
const sbssatp_t *p;
double t;
trace(3,"sbsfastcorr: sat=%2d\n",sat);
for (p=sbssat->sat;p<sbssat->sat+sbssat->nsat;p++) {
if (p->sat!=sat) continue;
if (p->fcorr.t0.time==0) break;
t=timediff(time,p->fcorr.t0)+sbssat->tlat;
/* expire age of correction or UDRE==14 (not monitored) */
if (fabs(t)>MAXSBSAGEF||p->fcorr.udre>=15) continue;
*prc=p->fcorr.prc;
#ifdef RRCENA
if (p->fcorr.ai>0&&fabs(t)<=8.0*p->fcorr.dt) {
*prc+=p->fcorr.rrc*t;
}
#endif
*var=varfcorr(p->fcorr.udre)+degfcorr(p->fcorr.ai)*t*t/2.0;
trace(5,"sbsfastcorr: sat=%3d prc=%7.2f sig=%7.2f t=%5.0f\n",sat,
*prc,sqrt(*var),t);
return 1;
}
trace(2,"no sbas fast correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* sbas satellite ephemeris and clock correction -------------------------------
* correct satellite position and clock bias with sbas satellite corrections
* args : gtime_t time I reception time
* int sat I satellite
* nav_t *nav I navigation data
* double *rs IO sat position and corrected {x,y,z} (ecef) (m)
* double *dts IO sat clock bias and corrected (s)
* double *var O sat position and clock variance (m^2)
* return : status (1:ok,0:no correction)
* notes : before calling the function, sbas satellite correction parameters
* in navigation data (nav->sbssat) must be set by callig
* sbsupdatecorr().
* satellite clock correction include long-term correction and fast
* correction.
* sbas clock correction is usually based on L1C/A code. TGD or DCB has
* to be considered for other codes
*-----------------------------------------------------------------------------*/
int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
double *dts, double *var)
{
double drs[3]={},dclk=0.0,prc=0.0;
int i;
trace(3,"sbssatcorr : sat=%2d\n",sat);
/* sbas long term corrections */
if (!sbslongcorr(time,sat,&nav->sbssat,drs,&dclk)) {
return 0;
}
/* sbas fast corrections */
if (!sbsfastcorr(time,sat,&nav->sbssat,&prc,var)) {
return 0;
}
for (i=0;i<3;i++) rs[i]+=drs[i];
dts[0]+=dclk+prc/CLIGHT;
trace(5,"sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f\n",
sat,drs[0],drs[1],drs[2],dclk,prc/CLIGHT,*var);
return 1;
}
/* decode sbas message ---------------------------------------------------------
* decode sbas message frame words and check crc
* args : gtime_t time I reception time
* int prn I sbas satellite prn number
* unsigned int *word I message frame words (24bit x 10)
* sbsmsg_t *sbsmsg O sbas message
* return : status (1:ok,0:crc error)
*-----------------------------------------------------------------------------*/
int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
sbsmsg_t *sbsmsg)
{
int i,j;
unsigned char f[29];
double tow;
trace(5,"sbsdecodemsg: prn=%d\n",prn);
if (time.time==0) return 0;
tow=time2gpst(time,&sbsmsg->week);
sbsmsg->tow=(int)(tow+DTTOL);
sbsmsg->prn=prn;
for (i=0;i<7;i++) for (j=0;j<4;j++) {
sbsmsg->msg[i*4+j]=(unsigned char)(words[i]>>((3-j)*8));
}
sbsmsg->msg[28]=(unsigned char)(words[7]>>18)&0xC0;
for (i=28;i>0;i--) f[i]=(sbsmsg->msg[i]>>6)+(sbsmsg->msg[i-1]<<2);
f[0]=sbsmsg->msg[0]>>6;
return rtk_crc24q(f,29)==(words[7]&0xFFFFFF); /* check crc */
}

187
src/algorithms/libs/rtklib/rtklib_sbas.h Normal file
View File

@ -0,0 +1,187 @@
/*!
* \file rtklib_sbas.h
* \brief sbas functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* option : -DRRCENA enable rrc correction
*
* references :
* [1] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
* July 31, 2009
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2007/10/14 1.0 new
* 2009/01/24 1.1 modify sbspntpos() api
* improve fast/ion correction update
* 2009/04/08 1.2 move function crc24q() to rcvlog.c
* support glonass, galileo and qzss
* 2009/06/08 1.3 modify sbsupdatestat()
* delete sbssatpos()
* 2009/12/12 1.4 support glonass
* 2010/01/22 1.5 support ems (egnos message service) format
* 2010/06/10 1.6 added api:
* sbssatcorr(),sbstropcorr(),sbsioncorr(),
* sbsupdatecorr()
* changed api:
* sbsreadmsgt(),sbsreadmsg()
* deleted api:
* sbspntpos(),sbsupdatestat()
* 2010/08/16 1.7 not reject udre==14 or give==15 correction message
* (2.4.0_p4)
* 2011/01/15 1.8 use api ionppp()
* add prn mask of qzss for qzss L1SAIF
* 2016/07/29 1.9 crc24q() -> rtk_crc24q()
*-----------------------------------------------------------------------------*/
#ifndef RTKLIB_SBAS_H_
#define RTKLIB_SBAS_H_
#include "rtklib.h"
#include "rtklib_rtkcmn.h"
/* constants -----------------------------------------------------------------*/
#define WEEKOFFSET 1024 /* gps week offset for NovAtel OEM-3 */
/* sbas igp definition -------------------------------------------------------*/
static const short
x1[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
x2[]={-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5, 0, 5, 10, 15, 20, 25, 30,
35, 40, 45, 50, 55},
x3[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75},
x4[]={-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15,
20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
x5[]={-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
-110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45,
- 40,- 35,- 30,- 25,- 20,- 15,- 10,- 5, 0, 5, 10, 15, 20, 25,
30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
170, 175},
x6[]={-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
- 40,- 30,- 20,- 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
100, 110, 120, 130, 140, 150, 160, 170},
x7[]={-180,-150,-120,- 90,- 60,- 30, 0, 30, 60, 90, 120, 150},
x8[]={-170,-140,-110,- 80,- 50,- 20, 10, 40, 70, 100, 130, 160};
const sbsigpband_t igpband1[9][8]={ /* band 0-8 */
{{-180,x1, 1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101},
{-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}},
{{-140,x4, 1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101},
{-120,x3,102,128},{-115,x2,129,151},{-110,x3,152,178},{-105,x2,179,201}},
{{-100,x3, 1, 27},{- 95,x2, 28, 50},{- 90,x1, 51, 78},{- 85,x2, 79,101},
{- 80,x3,102,128},{- 75,x2,129,151},{- 70,x3,152,178},{- 65,x2,179,201}},
{{- 60,x3, 1, 27},{- 55,x2, 28, 50},{- 50,x4, 51, 78},{- 45,x2, 79,101},
{- 40,x3,102,128},{- 35,x2,129,151},{- 30,x3,152,178},{- 25,x2,179,201}},
{{- 20,x3, 1, 27},{- 15,x2, 28, 50},{- 10,x3, 51, 77},{- 5,x2, 78,100},
{ 0,x1,101,128},{ 5,x2,129,151},{ 10,x3,152,178},{ 15,x2,179,201}},
{{ 20,x3, 1, 27},{ 25,x2, 28, 50},{ 30,x3, 51, 77},{ 35,x2, 78,100},
{ 40,x4,101,128},{ 45,x2,129,151},{ 50,x3,152,178},{ 55,x2,179,201}},
{{ 60,x3, 1, 27},{ 65,x2, 28, 50},{ 70,x3, 51, 77},{ 75,x2, 78,100},
{ 80,x3,101,127},{ 85,x2,128,150},{ 90,x1,151,178},{ 95,x2,179,201}},
{{ 100,x3, 1, 27},{ 105,x2, 28, 50},{ 110,x3, 51, 77},{ 115,x2, 78,100},
{ 120,x3,101,127},{ 125,x2,128,150},{ 130,x4,151,178},{ 135,x2,179,201}},
{{ 140,x3, 1, 27},{ 145,x2, 28, 50},{ 150,x3, 51, 77},{ 155,x2, 78,100},
{ 160,x3,101,127},{ 165,x2,128,150},{ 170,x3,151,177},{ 175,x2,178,200}}
};
const sbsigpband_t igpband2[2][5]={ /* band 9-10 */
{{ 60,x5, 1, 72},{ 65,x6, 73,108},{ 70,x6,109,144},{ 75,x6,145,180},
{ 85,x7,181,192}},
{{- 60,x5, 1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180},
{- 85,x8,181,192}}
};
char *getfield(char *p, int pos);
double varfcorr(int udre);
double varicorr(int give);
double degfcorr(int ai);
int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav);
int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion);
int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,sbs_t *sbs);
int cmpmsgs(const void *p1, const void *p2);
int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
sbs_t *sbs);
int sbsreadmsg(const char *file, int sel, sbs_t *sbs);
void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg);
void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
const sbsigp_t **igp, double *x, double *y);
int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, double *delay, double *var);
void getmet(double lat, double *met);
double sbstropcorr(gtime_t time, const double *pos, const double *azel,
double *var);
int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *drs, double *ddts);
int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *prc, double *var);
int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
double *dts, double *var);
int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
sbsmsg_t *sbsmsg);
#endif /* RTKLIB_SBAS_H_ */

3
src/algorithms/telemetry_decoder/adapters/sbas_l1_telemetry_decoder.cc
View File

@ -34,9 +34,6 @@
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "concurrent_queue.h"
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
#include "sbas_satellite_correction.h"
#include "sbas_ephemeris.h"
#include "configuration_interface.h"
#include "sbas_l1_telemetry_decoder_cc.h"

16
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
View File

@ -140,7 +140,7 @@ int sbas_l1_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
// compute message sample stamp
// and fill messages in SBAS raw message objects
std::vector<Sbas_Raw_Msg> sbas_raw_msgs;
//std::vector<Sbas_Raw_Msg> sbas_raw_msgs;
for(std::vector<msg_candiate_char_t>::const_iterator it = valid_msgs.begin();
it != valid_msgs.end(); ++it)
{
@ -156,17 +156,17 @@ int sbas_l1_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
<< " relative_preamble_start=" << it->first
<< " message_sample_offset=" << message_sample_offset
<< ")";
Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second);
sbas_raw_msgs.push_back(sbas_raw_msg);
//Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second);
//sbas_raw_msgs.push_back(sbas_raw_msg);
}
// parse messages
// and send them to the SBAS raw message queue
for(std::vector<Sbas_Raw_Msg>::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++)
{
std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl;
sbas_telemetry_data.update(*it);
}
//for(std::vector<Sbas_Raw_Msg>::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++)
// {
//std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl;
//sbas_telemetry_data.update(*it);
// }
// clear all processed samples in the input buffer
d_sample_buf.clear();

3
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h
View File

@ -41,7 +41,6 @@
#include <gnuradio/block.h>
#include "gnss_satellite.h"
#include "viterbi_decoder.h"
#include "sbas_telemetry_data.h"
class sbas_l1_telemetry_decoder_cc;
@ -159,8 +158,6 @@ private:
void zerropad_back_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes);
} d_crc_verifier;
Sbas_Telemetry_Data sbas_telemetry_data;
};
#endif

1
src/core/receiver/CMakeLists.txt
View File

@ -71,6 +71,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

7
src/core/receiver/gnss_block_factory.cc
View File

@ -92,6 +92,7 @@
#include "sbas_l1_telemetry_decoder.h"
#include "hybrid_observables.h"
#include "hybrid_pvt.h"
#include "rtklib_pvt.h"
#if OPENCL_BLOCKS
#include "gps_l1_ca_pcps_opencl_acquisition.h"
@ -1072,6 +1073,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams));
block = std::move(block_);
}
else if (implementation.compare("RTKLIB_PVT") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new RtklibPvt(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.

9
src/core/system_parameters/CMakeLists.txt
View File

@ -33,9 +33,6 @@ set(SYSTEM_PARAMETERS_SOURCES
galileo_iono.cc
galileo_navigation_message.cc
sbas_ephemeris.cc
sbas_ionospheric_correction.cc
sbas_satellite_correction.cc
sbas_telemetry_data.cc
galileo_fnav_message.cc
gps_cnav_ephemeris.cc
gps_cnav_navigation_message.cc
@ -48,6 +45,8 @@ set(SYSTEM_PARAMETERS_SOURCES
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${GLOG_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
@ -58,6 +57,6 @@ file(GLOB SYSTEM_PARAMETERS_HEADERS "*.h")
list(SORT SYSTEM_PARAMETERS_HEADERS)
add_library(gnss_system_parameters ${SYSTEM_PARAMETERS_SOURCES} ${SYSTEM_PARAMETERS_HEADERS})
source_group(Headers FILES ${SYSTEM_PARAMETERS_HEADERS})
add_dependencies(gnss_system_parameters glog-${glog_RELEASE})
target_link_libraries(gnss_system_parameters ${Boost_LIBRARIES})
add_dependencies(gnss_system_parameters rtklib_lib glog-${glog_RELEASE})
target_link_libraries(gnss_system_parameters rtklib_lib ${Boost_LIBRARIES})

1
src/core/system_parameters/gps_cnav_ephemeris.h
View File

@ -32,6 +32,7 @@
#ifndef GNSS_SDR_GPS_CNAV_EPHEMERIS_H_
#define GNSS_SDR_GPS_CNAV_EPHEMERIS_H_
#include "GPS_L2C.h"
#include "boost/assign.hpp"
#include <boost/serialization/nvp.hpp>

467
src/core/system_parameters/sbas_ionospheric_correction.cc
View File

@ -1,467 +0,0 @@
/*!
* \file sbas_ionospheric_correction.cc
* \brief Implementation of the SBAS ionosphere correction set based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#include "sbas_ionospheric_correction.h"
#include <cmath>
#include <iostream>
#include <glog/logging.h>
enum V_Log_Level {EVENT = 2, // logs important events which don't occur every update() call
FLOW = 3, // logs the function calls of block processing functions
MORE = 4}; // very detailed stuff
void Sbas_Ionosphere_Correction::print(std::ostream &out)
{
for(std::vector<Igp_Band>::const_iterator it_band = d_bands.begin(); it_band != d_bands.end(); ++it_band)
{
int band = it_band - d_bands.begin();
out << "<<I>> Band" << band << ":" << std::endl;
for(std::vector<Igp>::const_iterator it_igp = it_band->d_igps.begin(); it_igp != it_band->d_igps.end(); ++it_igp)
{
int igp = it_igp-it_band->d_igps.begin();
out << "<<I>> -IGP" << igp << ":";
//std::cout << " valid=" << it_igp->d_valid;
out << " t0=" << it_igp->t0;
out << " lat=" << it_igp->d_latitude;
out << " lon=" << it_igp->d_longitude;
out << " give=" << it_igp->d_give;
out << " delay=" << it_igp->d_delay;
out << std::endl;
}
}
}
/* Applies SBAS ionosphric delay correction
* \param[out] delay Slant ionospheric delay (L1) (m)
* \param[out] var Variance of ionospheric delay (m^2)
* \param[in] sample_stamp Sample stamp of observable on which the correction will be applied
* \param[in] longitude_d Receiver's longitude in terms of WGS84 (degree)
* \param[in] latitude_d Receiver's latitude in terms of WGS84 (degree)
* \param[in] azimuth_d Satellite azimuth/elavation angle (rad). Azimuth is the angle of
* the satellite from the user<EFBFBD>s location measured clockwise from north
* \param[in] elevation_d Elevation is the angle of the satellite from the user's location measured
* with respect to the local-tangent-plane
*/
bool Sbas_Ionosphere_Correction::apply(double sample_stamp,
double latitude_d,
double longitude_d,
double azimut_d,
double elevation_d,
double &delay,
double &var)
{
const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
int result;
double pos[3];
double azel[2];
// convert receiver position from degrees to rad
pos[0] = latitude_d * GPS_PI / 180.0;
pos[1] = longitude_d * GPS_PI / 180.0;
pos[2] = 0; // is not used by sbsioncorr, for ionocorrection is a fixed earth radius assumed
// convert satellite azimut and elevation from degrees to rad , use topocent to obtain it in pvt block
azel[0] = azimut_d * GPS_PI / 180.0;
azel[1] = elevation_d * GPS_PI / 180.0;
result = sbsioncorr(sample_stamp, pos, azel, &delay, &var);
return (bool)result;
}
/* geometric distance ----------------------------------------------------------
* compute geometric distance and receiver-to-satellite unit vector
* args : double *rs I satellilte position (ecef at transmission) (m)
* double *rr I receiver position (ecef at reception) (m)
* double *e O line-of-sight vector (ecef)
* return : geometric distance (m) (0>:error/no satellite position)
* notes : distance includes sagnac effect correction
*-----------------------------------------------------------------------------*/
//extern double geodist(const double *rs, const double *rr, double *e)
//{
// double r;
// int i;
//
// if (norm(rs,3)<RE_WGS84) return -1.0;
// for (i=0;i<3;i++) e[i]=rs[i]-rr[i];
// r=norm(e,3);
// for (i=0;i<3;i++) e[i]/=r;
// return r+OMGE*(rs[0]*rr[1]-rs[1]*rr[0])/CLIGHT;
//}
/* inner product ---------------------------------------------------------------
* inner product of vectors
* args : double *a,*b I vector a,b (n x 1)
* int n I size of vector a,b
* return : a'*b
*-----------------------------------------------------------------------------*/
double Sbas_Ionosphere_Correction::dot(const double *a, const double *b, int n)
{
double c = 0.0;
while (--n >= 0) c += a[n]*b[n];
return c;
}
/* multiply matrix -----------------------------------------------------------*/
void Sbas_Ionosphere_Correction::matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C)
{
double d;
int i, j, x, f = tr[0] == 'N' ? (tr[1] == 'N' ? 1 : 2) : (tr[1] == 'N' ? 3 : 4);
for (i = 0; i < n; i++) for (j = 0; j < k; j++)
{
d = 0.0;
switch (f)
{
case 1: for (x = 0; x < m; x++) d += A[i + x*n]*B[x + j*m]; break;
case 2: for (x = 0; x < m; x++) d += A[i + x*n]*B[j + x*k]; break;
case 3: for (x = 0; x < m; x++) d += A[x + i*m]*B[x + j*m]; break;
case 4: for (x = 0; x < m; x++) d += A[x + i*m]*B[j + x*k]; break;
}
if (beta == 0.0)
{
C[i + j*n] = alpha*d;
}
else
{
C[i + j*n] = alpha*d + beta*C[i + j*n];
}
}
}
/* ecef to local coordinate transfromation matrix ------------------------------
* compute ecef to local coordinate transfromation matrix
* args : double *pos I geodetic position {lat,lon} (rad)
* double *E O ecef to local coord transformation matrix (3x3)
* return : none
* notes : matrix stored by column-major order (fortran convention)
*-----------------------------------------------------------------------------*/
void Sbas_Ionosphere_Correction::xyz2enu(const double *pos, double *E)
{
double sinp = sin(pos[0]), cosp = cos(pos[0]), sinl = sin(pos[1]), cosl = cos(pos[1]);
E[0] = -sinl; E[3] = cosl; E[6] = 0.0;
E[1] = -sinp*cosl; E[4] = -sinp*sinl; E[7] = cosp;
E[2] = cosp*cosl; E[5] = cosp*sinl; E[8] = sinp;
}
/* transform ecef vector to local tangential coordinate -------------------------
* transform ecef vector to local tangential coordinate
* args : double *pos I geodetic position {lat,lon} (rad)
* double *r I vector in ecef coordinate {x,y,z}
* double *e O vector in local tangental coordinate {e,n,u}
* return : none
*-----------------------------------------------------------------------------*/
void Sbas_Ionosphere_Correction::ecef2enu(const double *pos, const double *r, double *e)
{
double E[9];
xyz2enu(pos, E);
matmul("NN", 3, 1, 3, 1.0, E, r, 0.0, e);
}
const double PI = 3.1415926535897932; /* pi */
/* satellite azimuth/elevation angle -------------------------------------------
* compute satellite azimuth/elevation angle
* args : double *pos I geodetic position {lat,lon,h} (rad,m)
* double *e I receiver-to-satellilte unit vevtor (ecef)
* double *azel IO azimuth/elevation {az,el} (rad) (NULL: no output)
* (0.0<=azel[0]<2*pi,-pi/2<=azel[1]<=pi/2)
* return : elevation angle (rad)
*-----------------------------------------------------------------------------*/
double Sbas_Ionosphere_Correction::satazel(const double *pos, const double *e, double *azel)
{
const double RE_WGS84 = 6378137.0; /* earth semimajor axis (WGS84) (m) */
double az = 0.0, el = PI/2.0, enu[3];
if (pos[2] > -RE_WGS84)
{
ecef2enu(pos, e, enu);
az = dot(enu, enu, 2) < 1E-12 ? 0.0 : atan2(enu[0], enu[1]);
if (az < 0.0) az += 2*PI;
el = asin(enu[2]);
}
if (azel)
{
azel[0] = az;
azel[1] = el;
}
return el;
}
/* debug trace function -----------------------------------------------------*/
void Sbas_Ionosphere_Correction::trace(int level, const char *format, ...)
{
va_list ap;
char str[1000];
va_start(ap,format); vsprintf(str,format,ap); va_end(ap);
VLOG(FLOW) << "<<I>> " << std::string(str);
}
/* ionospheric pierce point position -------------------------------------------
* compute ionospheric pierce point (ipp) position and slant factor
* args : double *pos I receiver position {lat,lon,h} (rad,m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* double re I earth radius (km)
* double hion I altitude of ionosphere (km)
* double *posp O pierce point position {lat,lon,h} (rad,m)
* return : slant factor
* notes : see ref [2], only valid on the earth surface
* fixing bug on ref [2] A.4.4.10.1 A-22,23
*-----------------------------------------------------------------------------*/
double Sbas_Ionosphere_Correction::ionppp(const double *pos, const double *azel,
double re, double hion, double *posp)
{
double cosaz, rp, ap, sinap, tanap;
const double D2R = (PI/180.0); /* deg to rad */
rp = re/(re + hion)*cos(azel[1]);
ap = PI/2.0 - azel[1] - asin(rp);
sinap = sin(ap);
tanap = tan(ap);
cosaz = cos(azel[0]);
posp[0] = asin(sin(pos[0])*cos(ap) + cos(pos[0])*sinap*cosaz);
if ((pos[0] > 70.0*D2R && tanap*cosaz > tan(PI/2.0 - pos[0])) ||
(pos[0] < -70.0*D2R && - tanap*cosaz > tan(PI/2.0 + pos[0])))
{
posp[1] = pos[1] + PI - asin(sinap*sin(azel[0])/cos(posp[0]));
}
else
{
posp[1] = pos[1] + asin(sinap*sin(azel[0])/cos(posp[0]));
}
return 1.0 / sqrt(1.0 - rp*rp);
}
/* variance of ionosphere correction (give=GIVEI) --------------------------*/
double Sbas_Ionosphere_Correction::varicorr(int give)
{
const double var[15]={
0.0084, 0.0333, 0.0749, 0.1331, 0.2079, 0.2994, 0.4075, 0.5322, 0.6735, 0.8315,
1.1974, 1.8709, 3.326, 20.787, 187.0826
};
return 0 <= give && give < 15 ? var[give]:0.0;
}
/* search igps ---------------------------------------------------------------*/
void Sbas_Ionosphere_Correction::searchigp(const double *pos, const Igp **igp, double *x, double *y)
{
int i;
int latp[2];
int lonp[4];
const double R2D = (180.0/PI); /* rad to deg */
double lat = pos[0]*R2D;
double lon = pos[1]*R2D;
trace(4,"searchigp: pos=%.3f %.3f",pos[0]*R2D, pos[1]*R2D);
// round the pierce point position to the next IGP grid point
if (lon >= 180.0) lon -= 360.0;
if (-55.0 <= lat && lat < 55.0)
{
latp[0] = (int)floor(lat/5.0)*5;
latp[1] = latp[0] + 5;
lonp[0] = lonp[1] = (int)floor(lon/5.0)*5;
lonp[2] = lonp[3] = lonp[0] + 5;
*x = (lon - lonp[0])/5.0;
*y = (lat - latp[0])/5.0;
}
else
{
latp[0] = (int)floor((lat-5.0)/10.0)*10+5;
latp[1] = latp[0] + 10;
lonp[0] = lonp[1] = (int)floor(lon/10.0)*10;
lonp[2] = lonp[3] = lonp[0] + 10;
*x = (lon - lonp[0])/10.0;
*y = (lat - latp[0])/10.0;
if (75.0 <= lat && lat < 85.0)
{
lonp[1] = (int)floor(lon/90.0)*90;
lonp[3] = lonp[1] + 90;
}
else if (-85.0 <= lat && lat < -75.0)
{
lonp[0] = (int)floor((lon - 50.0)/90.0)*90 + 40;
lonp[2] = lonp[0] + 90;
}
else if (lat >= 85.0)
{
for (i = 0; i < 4; i++) lonp[i] = (int)floor(lon/90.0)*90;
}
else if (lat <- 85.0)
{
for (i = 0; i < 4; i++) lonp[i] = (int)floor((lon - 50.0)/90.0)*90 + 40;
}
}
for (i = 0; i < 4; i++) if (lonp[i] == 180) lonp[i] = -180;
// find the correction data for the grid points in latp[] and lonp[]
// iterate over bands
for (std::vector<Igp_Band>::const_iterator band_it = this->d_bands.begin(); band_it != d_bands.end(); ++band_it)
{
//VLOG(MORE) << "band=" << band_it-d_bands.begin() << std::endl;
// iterate over IGPs in band_it
for (std::vector<Igp>::const_iterator igp_it = band_it->d_igps.begin(); igp_it != band_it->d_igps.end(); ++igp_it)
{
std::stringstream ss;
int give = igp_it->d_give;
ss << "IGP: give=" << give;
if(give < 15) // test if valid correction data is sent for current IGP
{
int lat = igp_it->d_latitude;
int lon = igp_it->d_longitude;
ss << " lat=" << lat << " lon=" << lon;
if (lat == latp[0] && lon == lonp[0]) igp[0] = igp_it.base();
else if (lat == latp[1] && lon == lonp[1]) igp[1] = igp_it.base();
else if (lat == latp[0] && lon == lonp[2]) igp[2] = igp_it.base();
else if (lat == latp[1] && lon == lonp[3]) igp[3] = igp_it.base();
}
//VLOG(MORE) << ss.str();
}
}
//VLOG(MORE) << "igp[0:3]={" << igp[0] << "," << igp[1] << "," << igp[2] << "," << igp[3] << "}";
}
/* sbas ionospheric delay correction -------------------------------------------
* compute sbas ionosphric delay correction
* args : long sample_stamp I sample stamp of observable on which the correction will be applied
* sbsion_t *ion I ionospheric correction data (implicit)
* double *pos I receiver position {lat,lon,height} (rad/m)
* double *azel I satellite azimuth/elavation angle (rad)
* double *delay O slant ionospheric delay (L1) (m)
* double *var O variance of ionospheric delay (m^2)
* return : status (1:ok, 0:no correction)
* notes : before calling the function, sbas ionosphere correction parameters
* in navigation data (nav->sbsion) must be set by calling
* sbsupdatecorr()
*-----------------------------------------------------------------------------*/
int Sbas_Ionosphere_Correction::sbsioncorr(const double sample_stamp, const double *pos,
const double *azel, double *delay, double *var)
{
const double re = 6378.1363;
const double hion = 350.0;
int err = 0;
double fp;
double posp[2];
double x = 0.0;
double y = 0.0;
double t;
double w[4] = {0};
const Igp *igp[4] = {0}; /* {ws,wn,es,en} */
const double R2D = (180.0/PI); /* rad to deg */
trace(4, "sbsioncorr: pos=%.3f %.3f azel=%.3f %.3f", pos[0]*R2D, pos[1]*R2D, azel[0]*R2D, azel[1]*R2D);
*delay = *var = 0.0;
if (pos[2] < -100.0 || azel[1] <= 0) return 1;
/* ipp (ionospheric pierce point) position */
fp = ionppp(pos, azel, re, hion, posp);
/* search igps around ipp */
searchigp(posp, igp, &x, &y);
VLOG(FLOW) << "<<I>> SBAS iono correction:" << " igp[0]=" << igp[0] << " igp[1]=" << igp[1]
<< " igp[2]=" << igp[2] << " igp[3]=" << igp[3] << " x=" << x << " y=" << y;
/* weight of igps */
if (igp[0] && igp[1] && igp[2] && igp[3])
{
w[0] = (1.0 - x)*(1.0 - y);
w[1] = (1.0 - x)*y;
w[2] = x*(1.0 - y);
w[3] = x*y;
}
else if (igp[0] && igp[1] && igp[2])
{
w[1] = y;
w[2] = x;
if ((w[0] = 1.0 - w[1] - w[2]) < 0.0) err = 1;
}
else if (igp[0] && igp[2] && igp[3])
{
w[0] = 1.0 - x;
w[3] = y;
if ((w[2] = 1.0 - w[0] -w[3]) < 0.0) err = 1;
}
else if (igp[0] && igp[1] && igp[3])
{
w[0] = 1.0 - y;
w[3] = x;
if ((w[1] = 1.0 - w[0] - w[3]) < 0.0) err = 1;
}
else if (igp[1]&&igp[2]&&igp[3])
{
w[1] = 1.0 - x;
w[2] = 1.0 - y;
if ((w[3] = 1.0 - w[1] - w[2]) < 0.0) err = 1;
}
else err = 1;
if (err)
{
trace(2, "no sbas iono correction: lat=%3.0f lon=%4.0f", posp[0]*R2D, posp[1]*R2D);
return 0;
}
for (int i = 0; i <4 ; i++)
{
if (!igp[i]) continue;
t = (sample_stamp - igp[i]->t0); // time diff between now and reception of the igp data in seconds
*delay += w[i]*igp[i]->d_delay;
*var += w[i] * varicorr(igp[i]->d_give) * 9E-8 * fabs(t);
}
*delay *= fp;
*var *= fp*fp;
trace(5, "sbsioncorr: dion=%7.2f sig=%7.2f", *delay, sqrt(*var));
return 1;
}

203
src/core/system_parameters/sbas_ionospheric_correction.h
View File

@ -1,203 +0,0 @@
/*!
* \file sbas_ionospheric_correction.h
* \brief Interface of the SBAS ionosphere correction set based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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 SBAS_IONOSPHERIC_CORRECTION_H_
#define SBAS_IONOSPHERIC_CORRECTION_H_
#include <fstream>
#include <iostream>
#include <string>
#include <vector>
#include <boost/serialization/serialization.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/serialization/vector.hpp>
/*!
* \brief Struct that represents a Ionospheric Grid Point (IGP)
*/
struct Igp
{
public:
//bool d_valid; // valid==true indicates that the IGP can be used for corrections. it is set to false when a new IGP mask (MT18) has been received but no corresponding delays (MT26)
double t0; // time of reception, time of correction
int d_latitude;
int d_longitude;
int d_give;
double d_delay;
private:
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version)
{
ar & t0;
ar & d_latitude;
ar & d_longitude;
ar & d_give;
ar & d_delay;
}
};
/*!
* \brief Struct that represents the band of a Ionospheric Grid Point (IGP)
*/
struct Igp_Band
{
//int d_iodi;
//int d_nigp; // number if IGPs in this band (defined by IGP mask from MT18)
std::vector<Igp> d_igps;
private:
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version)
{
ar & d_igps;
}
};
/*!
* \brief Class that handles valid SBAS ionospheric correction for GPS
*/
class Sbas_Ionosphere_Correction
{
private:
/* Inner product of vectors
* params : double *a,*b I vector a,b (n x 1)
* int n I size of vector a,b
* return : a'*b
*/
double dot(const double *a, const double *b, int n);
/* Multiply matrix */
void matmul(const char *tr, int n, int k, int m, double alpha,
const double *A, const double *B, double beta, double *C);
/* EFEC to local coordinate transfomartion matrix
* Compute ecef to local coordinate transfomartion matrix
* params : double *pos I geodetic position {lat,lon} (rad)
* double *E O ecef to local coord transformation matrix (3x3)
* return : none
* notes : matrix stored by column-major order (fortran convention)
*/
void xyz2enu(const double *pos, double *E);
/* Transforms ECEF vector into local tangential coordinates
* params : double *pos I geodetic position {lat,lon} (rad)
* double *r I vector in ecef coordinate {x,y,z}
* double *e O vector in local tangental coordinate {e,n,u}
* return : none
*/
void ecef2enu(const double *pos, const double *r, double *e);
/* Compute satellite azimuth/elevation angle
* params : double *pos I geodetic position {lat,lon,h} (rad,m)
* double *e I receiver-to-satellilte unit vevtor (ecef)
* double *azel IO azimuth/elevation {az,el} (rad) (NULL: no output)
* (0.0 <= azel[0] < 2*pi, -pi/2 <= azel[1] <= pi/2)
* return : elevation angle (rad)
*/
double satazel(const double *pos, const double *e, double *azel);
/* Debug trace functions */
void trace(int level, const char *format, ...);
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
//double timediff(gtime_t t1, gtime_t t2);
/* Compute Ionospheric Pierce Point (IPP) position and slant factor
* params : double *pos I receiver position {lat,lon,h} (rad,m)
* double *azel I azimuth/elevation angle {az,el} (rad)
* double re I earth radius (km)
* double hion I altitude of ionosphere (km)
* double *posp O pierce point position {lat,lon,h} (rad,m)
* return : slant factor
* notes : see ref [2], only valid on the earth surface
* fixing bug on ref [2] A.4.4.10.1 A-22,23
*-----------------------------------------------------------------------------*/
double ionppp(const double *pos, const double *azel, double re,
double hion, double *posp);
/* Variance of ionosphere correction (give = GIVEI + 1) */
double varicorr(int give);
/* Search igps */
void searchigp(const double *pos, const Igp **igp, double *x, double *y);
/* Compute sbas ionospheric delay correction
* params : long sample_stamp I sample stamp of observable on which the correction will be applied
* sbsion_t *ion I ionospheric correction data (implicit)
* double *pos I receiver position {lat,lon,height} (rad/m)
* double *azel I satellite azimuth/elavation angle (rad)
* double *delay O slant ionospheric delay (L1) (m)
* double *var O variance of ionospheric delay (m^2)
* return : status (1:ok, 0:no correction)
* notes : before calling the function, sbas ionosphere correction parameters
* in navigation data (nav->sbsion) must be set by callig
* sbsupdatecorr()
*/
int sbsioncorr(const double sample_stamp, const double *pos,
const double *azel, double *delay, double *var);
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version){ar & d_bands;}
public:
std::vector<Igp_Band> d_bands;
void print(std::ostream &out);
/*!
* \brief Computes SBAS ionospheric delay correction.
*
* \param[out] delay Slant ionospheric delay (L1) (m)
* \param[out] var Variance of ionospheric delay (m^2)
* \param[in] sample_stamp Sample stamp of observable on which the correction will be applied
* \param[in] longitude_d Receiver's longitude in terms of WGS84 (degree)
* \param[in] latitude_d Receiver's latitude in terms of WGS84 (degree)
* \param[in] azimuth_d Satellite azimuth/elavation angle (rad). Azimuth is the angle of
* the satellite from the user's location measured clockwise from north
* \param[in] elevation_d Elevation is the angle of the satellite from the user's location measured
* with respect to the local-tangent-plane
*/
bool apply(double sample_stamp, double latitude_d, double longitude_d,
double azimut_d, double evaluation_d, double &delay, double &var);
};
#endif /* SBAS_IONOSPHERIC_CORRECTION_H_ */

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/*!
* \file sbas_satellite_correction.cc
* \brief Implementation of the SBAS satellite correction set based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#include "sbas_satellite_correction.h"
#include <stdarg.h>
#include <stdio.h>
#include <iostream>
#include <string>
#include <glog/logging.h>
#define EVENT 2 // logs important events which don't occur every update() call
#define FLOW 3 // logs the function calls of block processing functions
#define CLIGHT 299792458.0 /* speed of light (m/s) */
#define MAXSBSAGEF 30.0 /* max age of SBAS fast correction (s) */
#define MAXSBSAGEL 1800.0 /* max age of SBAS long term corr (s) */
void Sbas_Satellite_Correction::print(std::ostream &out)
{
out << "<<S>> Sbas satellite corrections for PRN" << d_prn << ":" << std::endl;
print_fast_correction(out);
print_long_term_correction(out);
}
void Sbas_Satellite_Correction::print_fast_correction(std::ostream &out)
{
Fast_Correction fcorr = d_fast_correction;
out << "<<S>> Fast PRN" << d_prn << ":";
if(fcorr.d_tof.is_related())
{
int gps_week;
double gps_sec;
fcorr.d_tof.get_gps_time(gps_week, gps_sec);
out << " d_t0=(week=" << gps_week << ",sec=" << gps_sec << ")";
}
else
{
out << " d_t0=" << fcorr.d_tof.get_time_stamp();
}
out << " d_prc=" << fcorr.d_prc;
out << " d_rrc=" << fcorr.d_rrc;
out << " d_dt=" << fcorr.d_dt;
out << " d_udre=" << fcorr.d_udre;
out << " d_ai=" << fcorr.d_ai;
out << " d_tlat=" << fcorr.d_tlat;
}
void Sbas_Satellite_Correction::print_long_term_correction(std::ostream &out)
{
Long_Term_Correction lcorr = d_long_term_correction;
out << "<<S>> Long PRN" << d_prn << ":";
out << " d_trx=" << lcorr.d_trx;
out << " i_tapp=" << lcorr.i_tapp;
out << " i_vel=" << lcorr.i_vel;
double *p = lcorr.d_dpos;
out << " d_dpos=(x=" << p[0] << ", y=" << p[1] << ", z=" << p[2] << ")" ;
double *v = lcorr.d_dvel;
out << " d_dvel=(x=" << v[0] << ", y=" << v[1] << ", z=" << v[2] << ")" ;
out << " d_daf0=" << lcorr.d_daf0;
out << " d_daf1=" << lcorr.d_daf1;
}
int Sbas_Satellite_Correction::apply_fast(double sample_stamp, double &pr, double &var)
{
int result;
double prc = 0; // pseudo range correction
result = sbsfastcorr(sample_stamp, &prc, &var);
pr += prc;
VLOG(FLOW) << "<<S>> fast correction applied: sample_stamp=" << sample_stamp << " prc=" << prc << " corr. pr=" << pr;
return result;
}
int Sbas_Satellite_Correction::apply_long_term_sv_pos(double sample_stamp, double sv_pos[], double &var)
{
int result;
double drs[3] = {0};
double ddts = 0;
result = sbslongcorr(sample_stamp, drs, &ddts);
for (int i = 0; i < 3; i++) sv_pos[i] += drs[i];
VLOG(FLOW) << "<<S>> long term sv pos correction applied: sample_stamp=" << sample_stamp << " drs=(x=" << drs[0] << " y=" << drs[1] << " z=" << drs[2] << ")";
return result;
}
int Sbas_Satellite_Correction::apply_long_term_sv_clk(double sample_stamp, double &dts, double &var)
{
int result;
double drs[3] = {0};
double ddts = 0;
result = sbslongcorr(sample_stamp, drs, &ddts);
dts += ddts;
VLOG(FLOW) << "<<S>> long term sv clock correction correction applied: sample_stamp=" << sample_stamp << " ddts=" << ddts;
return result;
}
bool Sbas_Satellite_Correction::alarm()
{
return this->d_fast_correction.d_udre == 16;
}
/* debug trace function -----------------------------------------------------*/
void Sbas_Satellite_Correction::trace(int level, const char *format, ...)
{
va_list ap;
char str[1000];
va_start(ap,format);
vsprintf(str,format,ap);
va_end(ap);
VLOG(FLOW) << "<<S>> " << std::string(str);
}
/* variance of fast correction (udre=UDRE+1) ---------------------------------*/
double Sbas_Satellite_Correction::varfcorr(int udre)
{
const double var[14] = {
0.052, 0.0924, 0.1444, 0.283, 0.4678, 0.8315, 1.2992, 1.8709, 2.5465, 3.326,
5.1968, 20.7870, 230.9661, 2078.695
};
return 0 < udre && udre <= 14 ? var[udre - 1] : 0.0;
}
/* fast correction degradation -----------------------------------------------*/
double Sbas_Satellite_Correction::degfcorr(int ai)
{
const double degf[16] = {
0.00000, 0.00005, 0.00009, 0.00012, 0.00015, 0.00020, 0.00030, 0.00045,
0.00060, 0.00090, 0.00150, 0.00210, 0.00270, 0.00330, 0.00460, 0.00580
};
return 0 < ai && ai <= 15 ? degf[ai] : 0.0058;
}
/* long term correction ------------------------------------------------------*/
int Sbas_Satellite_Correction::sbslongcorr(double time_stamp, double *drs, double *ddts)
{
double t = 0.0;
int i;
Long_Term_Correction lcorr = d_long_term_correction;
trace(3, "sbslongcorr: prn=%2d", this->d_prn);
// if (p->sat!=sat||p->lcorr.t0.time==0) continue;
// compute time of applicability
if(d_long_term_correction.i_vel == 1)
{
// time of applicability is the one sent, i.e., tapp
// TODO: adapt for vel==1 case
// t = tow-d_long_term_correction.i_tapp;
// vel=1 -> time of applicability is sent in message, needs to be corrected for rollover which can not be done here, since the absolute gps time is unknown. see IS-GPS-200G pdf page 116 for correction
/* t = (int)getbitu(msg->msg, p + 90, 13)*16 - (int)msg->tow%86400;
if (t <= -43200) t += 86400;
else if (t > 43200) t -= 86400;
sbssat->sat[n-1].lcorr.t0 = gpst2time(msg->week, msg->tow + t);*/
}
else
{
// time of applicability is time of reception
t = time_stamp - lcorr.d_trx; // should not have any impact if vel==0 since d_dvel and d_daf1 are zero, is only used to check outdating
}
//t=time_stamp-lcorr.d_t0;
if (fabs(t) > MAXSBSAGEL)
{
trace(2,"sbas long-term correction expired: sat=%2d time_stamp=%5.0f", d_prn, time_stamp);
return 0;
}
// sv position correction
for (i=0; i<3; i++) drs[i] = lcorr.d_dpos[i] + lcorr.d_dvel[i]*t;
// sv clock correction correction
*ddts = lcorr.d_daf0 + lcorr.d_daf1*t;
trace(5, "sbslongcorr: sat=%2d drs=%7.2f%7.2f%7.2f ddts=%7.2f", d_prn, drs[0], drs[1], drs[2], *ddts * CLIGHT);
return 1;
/* if sbas satellite without correction, no correction applied */
//if (satsys(sat,NULL)==SYS_SBS) return 1;
//trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat);
//return 0;
}
/* fast correction -----------------------------------------------------------*/
int Sbas_Satellite_Correction::sbsfastcorr(double time_stamp, double *prc, double *var)
#define RRCENA
{
double t;
Fast_Correction fcorr = d_fast_correction;
trace(3, "sbsfastcorr: sat=%2d", this->d_prn);
//if (p->fcorr.t0.time==0) break; // time==0is only true if t0 hasn't been initialised -> it checks if the correction is valid
t = (time_stamp - fcorr.d_tof.get_time_stamp()) + fcorr.d_tlat; // delta t between now and tof
/* expire age of correction? */
if (fabs(t) > MAXSBSAGEF)
{
trace(2, "no sbas fast correction (expired): time_stamp=%f prn=%2d", time_stamp, d_prn);
return 0;
}
/* UDRE==14 (not monitored)? */
else if(fcorr.d_udre == 15)
{
trace(2,"no sbas fast correction (not monitored): time_stamp=%f prn=%2d", time_stamp, d_prn);
return 0;
}
else if(fcorr.d_udre == 16)
{
trace(2,"SV is marked as unhealthy: time_stamp=%f prn=%2d", time_stamp, d_prn);
return 0;
}
*prc = fcorr.d_prc;
#ifdef RRCENA
if (fcorr.d_ai > 0 && fabs(t) <= 8.0*fcorr.d_dt)
{
*prc += fcorr.d_rrc*t;
}
#endif
*var = varfcorr(fcorr.d_udre) + degfcorr(fcorr.d_ai) * t * t / 2.0;
trace(5, "sbsfastcorr: sat=%3d prc=%7.2f sig=%7.2f t=%5.0f", d_prn, *prc, sqrt(*var), t);
return 1;
}
/* sbas satellite ephemeris and clock correction -------------------------------
* correct satellite position and clock bias with sbas satellite corrections
* args : long time_stamp I reception time stamp
* double *rs IO sat position and corrected {x,y,z} (ecef) (m)
* double *dts IO sat clock bias and corrected (s)
* double *var O sat position and clock variance (m^2)
* return : status (1:ok,0:no correction)
* notes : before calling the function, sbas satellite correction parameters
* in navigation data (nav->sbssat) must be set by callig
* sbsupdatecorr().
* satellite clock correction include long-term correction and fast
* correction.
* sbas clock correction is usually based on L1C/A code. TGD or DCB has
* to be considered for other codes
*-----------------------------------------------------------------------------*/
int Sbas_Satellite_Correction::sbssatcorr(double time_stamp, double *rs, double *dts, double *var)
{
double drs[3] = {0}, dclk = 0.0, prc = 0.0;
int i;
trace(3,"sbssatcorr : sat=%2d",d_prn);
/* sbas long term corrections */
if (!sbslongcorr(time_stamp, drs, &dclk))
{
return 0;
}
/* sbas fast corrections */
if (!sbsfastcorr(time_stamp, &prc, var))
{
return 0;
}
for (i = 0; i < 3; i++) rs[i] += drs[i];
dts[0] += dclk + prc/CLIGHT;
trace(5, "sbssatcorr: sat=%2d drs=%6.3f %6.3f %6.3f dclk=%.3f %.3f var=%.3f",
d_prn, drs[0], drs[1], drs[2], dclk,prc/CLIGHT, *var);
return 1;
}

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/*!
* \file sbas_satellite_correction.h
* \brief Interface of the SBAS satellite correction set based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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_SBAS_SATELLITE_CORRECTION_H_
#define GNSS_SDR_SBAS_SATELLITE_CORRECTION_H_
#include "sbas_time.h"
struct Fast_Correction
{
Sbas_Time d_tof; // for fast corrections the time of applicability (tof) is defined as the time when the corresponding message was send
double d_prc;
double d_rrc;
double d_dt;
int d_udre; // UDRE
int d_ai;
int d_tlat;
};
struct Long_Term_Correction
{
double d_trx; //!< Time when message was received
int i_tapp; //!< Time of applicability (only valid if vel=1, equals the sent t0)
int i_vel; //!< Use velocity corrections if vel=1
int d_iode;
double d_dpos[3]; //!< position correction
double d_dvel[3]; //!< velocity correction
double d_daf0; //!< clock offset correction
double d_daf1; //!< clock drift correction
};
/*!
* \brief Valid long and fast term SBAS corrections for one SV
*/
class Sbas_Satellite_Correction
{
public:
int d_prn;
Fast_Correction d_fast_correction;
Long_Term_Correction d_long_term_correction;
void print(std::ostream &out);
void print_fast_correction(std::ostream &out);
void print_long_term_correction(std::ostream &out);
int apply_fast(double sample_stamp, double &pr, double &var);
int apply_long_term_sv_pos(double sample_stamp, double sv_pos[], double &var);
int apply_long_term_sv_clk(double sample_stamp, double &dts, double &var);
bool alarm();
private:
/* debug trace functions -----------------------------------------------------*/
void trace(int level, const char *format, ...);
/* variance of fast correction (udre=UDRE+1) ---------------------------------*/
double varfcorr(int udre);
/* fast correction degradation -----------------------------------------------*/
double degfcorr(int ai);
/* long term correction ------------------------------------------------------*/
int sbslongcorr(double time_stamp, double *drs, double *ddts);
/* fast correction -----------------------------------------------------------*/
int sbsfastcorr(double time_stamp, double *prc, double *var);
/* sbas satellite ephemeris and clock correction -------------------------------
* correct satellite position and clock bias with sbas satellite corrections
* args : long time_stamp I reception time stamp
* double *rs IO sat position and corrected {x,y,z} (ecef) (m)
* double *dts IO sat clock bias and corrected (s)
* double *var O sat position and clock variance (m^2)
* return : status (1:ok,0:no correction)
* notes : before calling the function, sbas satellite correction parameters
* in navigation data (nav->sbssat) must be set by callig
* sbsupdatecorr().
* satellite clock correction include long-term correction and fast
* correction.
* sbas clock correction is usually based on L1C/A code. TGD or DCB has
* to be considered for other codes
*-----------------------------------------------------------------------------*/
int sbssatcorr(double time_stamp, double *rs, double *dts, double *var);
};
#endif /* GNSS_SDR_SBAS_SATELLITE_CORRECTION_H_ */

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src/core/system_parameters/sbas_telemetry_data.cc
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/*!
* \file sbas_telemetry_data.cc
* \brief Implementation of the SBAS telemetry parser based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#include <cmath>
#include <cstring>
#include <iostream>
#include <stdarg.h>
#include <stdio.h>
#include <glog/logging.h>
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
#include "sbas_satellite_correction.h"
#include "sbas_ephemeris.h"
// logging levels
#define EVENT 2 // logs important events which don't occur every update() call
#define FLOW 3 // logs the function calls of block processing functions
#define DETAIL 4
Sbas_Telemetry_Data::Sbas_Telemetry_Data()
{
fp_trace = nullptr; // file pointer of trace
level_trace = 0; // level of trace
tick_trace = 0; // tick time at traceopen (ms)
d_nav.sbssat.iodp = -1; // make sure that in any case iodp is not equal to the received one
prn_mask_changed(); // invalidate all satellite corrections
for(size_t band = 0; band < sizeof(d_nav.sbsion)/sizeof(sbsion_t); band++)
{
d_nav.sbsion[band].iodi = -1; // make sure that in any case iodi is not equal to the received one
igp_mask_changed(band);
}
}
Sbas_Telemetry_Data::~Sbas_Telemetry_Data()
{
}
int Sbas_Telemetry_Data::update(Sbas_Raw_Msg sbas_raw_msg)
{
VLOG(FLOW) << "<<T>> Sbas_Telemetry_Data.update():";
int parsing_result;
// if GPS time from MT12 is known (automatically handled by relate()):
// express the rx time in terms of GPS time
sbas_raw_msg.relate(mt12_time_ref);
int mt = sbas_raw_msg.get_msg_type();
// update internal state
if(mt == 12) parsing_result = decode_mt12(sbas_raw_msg);
//else if(mt == 9) parsing_result = parse_mt9(sbas_raw_msg);
else
{
// use RTKLIB to parse the message -> updates d_nav structure
sbsmsg_t sbas_raw_msg_rtklib;
std::vector<unsigned char> msg_bytes = sbas_raw_msg.get_msg();
// cast raw message to RTKLIB raw message struct
sbas_raw_msg_rtklib.prn = sbas_raw_msg.get_prn();
//sbas_raw_msg_rtklib.tow = sbas_raw_msg.get_tow();
//sbas_raw_msg_rtklib.week = sbas_raw_msg.get_week();
sbas_raw_msg_rtklib.sample_stamp = sbas_raw_msg.get_sample_stamp();
for (std::vector<unsigned char>::const_iterator it = msg_bytes.begin(); it != msg_bytes.end() - 3; ++it)
{
int i = it - msg_bytes.begin();
sbas_raw_msg_rtklib.msg[i] = *it;
}
parsing_result = sbsupdatecorr(&sbas_raw_msg_rtklib, &d_nav);
VLOG(FLOW) << "<<T>> RTKLIB parsing result: " << parsing_result;
}
// update gnss-sdr correction data sets from RTKLIB d_nav structure, emit SBAS data into queues
switch (parsing_result)
{
case -1: VLOG(FLOW) << "message parsing problem for MT" << sbas_raw_msg.get_msg_type(); break;
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 24:
case 25: updated_satellite_corrections(); break;
case 18: break; // new iono band mask received -> dont update iono corrections because delays are not
case 26: received_iono_correction(); break;
case 9: /*updated_sbas_ephemeris(sbas_raw_msg);*/ break;
default: break;
}
// send it to raw message queue
//TODO: update to new GNURadio msg queue
//if(raw_msg_queue != nullptr) raw_msg_queue->push(sbas_raw_msg);
return parsing_result;
}
unsigned int getbitu(const unsigned char *buff, int pos, int len);
int getbits(const unsigned char *buff, int pos, int len);
int Sbas_Telemetry_Data::decode_mt12(Sbas_Raw_Msg sbas_raw_msg)
{
const double rx_delay = 38000.0/300000.0; // estimated sbas signal geosat to ground signal travel time
unsigned char * msg = sbas_raw_msg.get_msg().data();
uint32_t gps_tow = getbitu(msg, 121, 20);
uint32_t gps_week = getbitu(msg, 141, 10) + 1024; // consider last gps time week overflow
double gps_tow_rx = double(gps_tow) + rx_delay;
mt12_time_ref = Sbas_Time_Relation(sbas_raw_msg.get_sample_stamp(), gps_week, gps_tow_rx);
VLOG(FLOW) << "<<T>> extracted GPS time from MT12: gps_tow=" << gps_tow << " gps_week=" << gps_week;
return 12;
}
void Sbas_Telemetry_Data::updated_sbas_ephemeris(Sbas_Raw_Msg msg)
{
VLOG(FLOW) << "<<T>> updated_sbas_ephemeris():" << std::endl;
Sbas_Ephemeris seph;
int satidx = msg.get_prn() - MINPRNSBS;
seph_t seph_rtklib = d_nav.seph[satidx];
// copy data
seph.i_prn = msg.get_prn();
seph.i_t0 = seph_rtklib.t0;
seph.d_tof = seph_rtklib.tof;
seph.i_sv_ura = seph_rtklib.sva;
seph.b_sv_do_not_use = seph_rtklib.svh;
memcpy(seph.d_pos, seph_rtklib.pos, sizeof(seph.d_pos));
memcpy(seph.d_vel, seph_rtklib.vel, sizeof(seph.d_vel));
memcpy(seph.d_acc, seph_rtklib.acc, sizeof(seph.d_acc));
seph.d_af0 = seph_rtklib.af0;
seph.d_af1 = seph_rtklib.af1;
// print ephemeris for debugging purposes
std::stringstream ss;
seph.print(ss);
VLOG(FLOW) << ss.str();
//todo_Update to new GNURadio msg queue
//if(ephemeris_queue != nullptr) ephemeris_queue->push(seph);
}
void Sbas_Telemetry_Data::received_iono_correction()
{
VLOG(FLOW) << "<<T>> received_iono_correction():";
std::stringstream ss;
Sbas_Ionosphere_Correction iono_corr;
for (size_t i_band = 0; i_band < sizeof(d_nav.sbsion)/sizeof(sbsion_t); i_band++)
{
ss << "<<T>> band=" << i_band
<< " nigp=" << d_nav.sbsion[i_band].nigp << std::endl;
ss << "<<T>> -> valid igps:";
Igp_Band igp_band;
for (int i_igp = 0; i_igp < d_nav.sbsion[i_band].nigp; i_igp++)
{
if(d_nav.sbsion[i_band].igp[i_igp].valid)
{
// consider only valid IGPs, i.e, such ones which got updated at least once since instantiating sbas_telemtry_data
ss << " " << i_igp;
Igp igp;
igp.t0 = d_nav.sbsion[i_band].igp[i_igp].t0;
igp.d_latitude = d_nav.sbsion[i_band].igp[i_igp].lat;
igp.d_longitude = d_nav.sbsion[i_band].igp[i_igp].lon;
igp.d_give = d_nav.sbsion[i_band].igp[i_igp].give;
igp.d_delay = d_nav.sbsion[i_band].igp[i_igp].delay;
igp_band.d_igps.push_back(igp);
}
}
ss << std::endl;
iono_corr.d_bands.push_back(igp_band);
}
VLOG(DETAIL) << ss.str();
ss.str("");
iono_corr.print(ss);
VLOG(EVENT) << ss.str();
// send to SBAS ionospheric correction queue
//todo_Update to new GNURadio msg queue
//if(iono_queue != nullptr) iono_queue->push(iono_corr);
}
// helper for comparing two POD structures with undefined padding between members
// not guaranteed to work always properly -> don't use it for critical tasks
template <class Struct>
inline bool are_equal(const Struct &s1, const Struct &s2)
{
const size_t struct_size = sizeof(Struct);
bool is_equal = true;
bool is_equal_manual = true;
std::stringstream ss;
Struct *s1_;
Struct *s2_;
// reserve zero initialised memory
s1_ = (Struct*) calloc (1, struct_size);
s2_ = (Struct*) calloc (1, struct_size);
// use assignment constructor which doesn't copy paddings
*s1_ = s1;
*s2_ = s2;
// compare struct memory byte-wise
is_equal_manual = true;
ss.str();
ss << "\n<<cmp>> compare objects of size=" << sizeof(Struct) << " (memcmp says is_equal=" << is_equal << ") :" << std::endl;
for (size_t i = 0; i < sizeof(Struct); ++i)
{
char byte1 = ((char *)s1_)[i];
char byte2 = ((char *)s2_)[i];
if(byte1 != byte2) is_equal_manual = false;
ss << "<<cmp>> s1=" << std::hex << std::setw(4) << std::setfill('0');
ss << (short)byte1;
ss << " s2=" << std::hex << std::setw(4) << std::setfill('0');
ss << (short)byte2;
ss << " equal=" << is_equal_manual;
ss << std::endl;
}
free(s1_);
free(s2_);
return is_equal_manual;
}
void Sbas_Telemetry_Data::updated_satellite_corrections()
{
VLOG(FLOW) << "<<T>> updated_satellite_corrections():";
// for each satellite in the RTKLIB structure
for (int i_sat = 0; i_sat < d_nav.sbssat.nsat; i_sat++)
{
std::stringstream ss;
ss << "<<T>> sat=" << d_nav.sbssat.sat[i_sat].sat
<< " fastcorr.valid=" << d_nav.sbssat.sat[i_sat].fcorr.valid
<< " lcorr.valid=" << d_nav.sbssat.sat[i_sat].lcorr.valid;
if(is_rtklib_sat_correction_valid(i_sat)) // check if ever updated by a received message
{
int prn = d_nav.sbssat.sat[i_sat].sat;
// get fast correction from RTKLIB structure
sbsfcorr_t fcorr_rtklib = d_nav.sbssat.sat[i_sat].fcorr;
Fast_Correction fcorr;
fcorr.d_tof = Sbas_Time(fcorr_rtklib.t0, mt12_time_ref);
fcorr.d_prc = fcorr_rtklib.prc;
fcorr.d_rrc = fcorr_rtklib.rrc;
fcorr.d_dt = fcorr_rtklib.dt;
fcorr.d_udre = fcorr_rtklib.udre; // UDRE
fcorr.d_ai = fcorr_rtklib.ai;
fcorr.d_tlat = d_nav.sbssat.tlat;
// get long term correction from RTKLIB structure
sbslcorr_t lcorr_rtklib = d_nav.sbssat.sat[i_sat].lcorr;
Long_Term_Correction lcorr;
lcorr.d_trx = lcorr_rtklib.trx;
lcorr.i_tapp = lcorr_rtklib.tapp;
lcorr.i_vel = lcorr_rtklib.vel;
lcorr.d_iode = lcorr_rtklib.iode;
memcpy(lcorr.d_dpos, lcorr_rtklib.dpos, sizeof(lcorr.d_dpos));
memcpy(lcorr.d_dvel, lcorr_rtklib.dvel, sizeof(lcorr.d_dvel));
lcorr.d_daf0 = lcorr_rtklib.daf0;
lcorr.d_daf1= lcorr_rtklib.daf1;
bool fast_correction_updated = false;
bool long_term_correction_updated = false;
// check if fast corrections got updated
std::map<int, Fast_Correction>::iterator it_old_fcorr = emitted_fast_corrections.find(prn);
if(it_old_fcorr == emitted_fast_corrections.end() || !are_equal < Fast_Correction>(fcorr, it_old_fcorr->second ))
{
// got updated
ss << " fast_correction_updated=" << true;
//ss << " not_found=" << (it_old_fcorr == emitted_fast_corrections.end());
//ss << " not_equal=" << (!are_equal<Fast_Correction>(fcorr, it_old_fcorr->second ));
fast_correction_updated = true;
emitted_fast_corrections[prn] = fcorr;
}
// check if long term corrections got updated
std::map<int, Long_Term_Correction>::iterator it_old_lcorr = emitted_long_term_corrections.find(prn);
if(it_old_lcorr == emitted_long_term_corrections.end() || !are_equal < Long_Term_Correction>(lcorr, it_old_lcorr->second ))
{
// got updated
ss << " long_term_correction_updated=" << true;
//ss << " not_found=" << (it_old_lcorr == emitted_long_term_corrections.end());
//ss << " not_equal=" << (!are_equal<Long_Term_Correction>(lcorr, it_old_lcorr->second ));
long_term_correction_updated = true;
emitted_long_term_corrections[prn] = lcorr;
}
Sbas_Satellite_Correction sbas_satelite_correction;
sbas_satelite_correction.d_prn = prn;
sbas_satelite_correction.d_fast_correction = fcorr;
sbas_satelite_correction.d_long_term_correction = lcorr;
if(fast_correction_updated)
{
ss << std::endl;
sbas_satelite_correction.print_fast_correction(ss << " ");
}
if(long_term_correction_updated)
{
ss << std::endl;
sbas_satelite_correction.print_long_term_correction(ss << " ");
}
if(fast_correction_updated || long_term_correction_updated)
{
//todo_Update to new GNURadio msg queue
//if(sat_corr_queue != nullptr) sat_corr_queue->push(sbas_satelite_correction);
}
}
VLOG(FLOW) << ss.str(); ss.str("");
}
}
const double Sbas_Telemetry_Data::gpst0[] = {1980, 1, 6, 0, 0, 0}; /* gps time reference */
/* debug trace function -----------------------------------------------------*/
void Sbas_Telemetry_Data::trace(int level, const char *format, ...)
{
va_list ap;
char str[1000];
va_start(ap, format);
vsprintf(str, format, ap);
va_end(ap);
VLOG(FLOW) << "<<T>> " << std::string(str);
}
/* satellite system+prn/slot number to satellite number ------------------------
* convert satellite system+prn/slot number to satellite number
* args : int sys I satellite system (SYS_GPS,SYS_GLO,...)
* int prn I satellite prn/slot number
* return : satellite number (0:error)
*-----------------------------------------------------------------------------*/
int Sbas_Telemetry_Data::satno(int sys, int prn)
{
if (prn <= 0) return 0;
switch (sys)
{
case SYS_GPS:
if (prn < MINPRNGPS || MAXPRNGPS < prn) return 0;
return prn - MINPRNGPS + 1;
case SYS_GLO:
if (prn < MINPRNGLO || MAXPRNGLO < prn) return 0;
return NSATGPS + prn - MINPRNGLO + 1;
case SYS_GAL:
if (prn < MINPRNGAL || MAXPRNGAL < prn) return 0;
return NSATGPS + NSATGLO + prn - MINPRNGAL + 1;
case SYS_QZS:
if (prn < MINPRNQZS || MAXPRNQZS < prn) return 0;
return NSATGPS + NSATGLO + NSATGAL + prn - MINPRNQZS + 1;
case SYS_CMP:
if (prn < MINPRNCMP || MAXPRNCMP < prn) return 0;
return NSATGPS + NSATGLO + NSATGAL + NSATQZS + prn - MINPRNCMP + 1;
case SYS_SBS:
if (prn < MINPRNSBS || MAXPRNSBS < prn) return 0;
return NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATCMP + prn - MINPRNSBS + 1;
}
return 0;
}
/*!
* \brief Extracts unsigned/signed bits from byte data
* params : unsigned char *buff I byte data
* int pos I bit position from start of data (bits)
* int len I bit length (bits) (len<=32)
* return : extracted unsigned/signed bits
*/
unsigned int Sbas_Telemetry_Data::getbitu(const unsigned char *buff, int pos, int len)
{
unsigned int bits = 0;
int i;
for (i = pos; i < pos + len; i++) bits = (bits << 1) + ((buff[i/8] >> (7 - i % 8)) & 1u);
return bits;
}
int Sbas_Telemetry_Data::getbits(const unsigned char *buff, int pos, int len)
{
unsigned int bits = getbitu(buff,pos,len);
if (len <= 0 || 32 <= len || !(bits & (1u << (len - 1)))) return (int)bits;
return (int)(bits|(~0u << len)); /* extend sign */
}
/* convert calendar day/time to time -------------------------------------------
* convert calendar day/time to gtime_t struct
* args : double *ep I day/time {year,month,day,hour,min,sec}
* return : gtime_t struct
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
Sbas_Telemetry_Data::gtime_t Sbas_Telemetry_Data::epoch2time(const double *ep)
{
const int doy[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335};
gtime_t time = gtime_t();
int days, sec, year = (int)ep[0], mon = (int)ep[1], day = (int)ep[2];
if (year < 1970 || 2099 < year || mon < 1 || 12 < mon) return time;
/* leap year if year%4==0 in 1901-2099 */
days = (year - 1970)*365 + (year - 1969)/4 + doy[mon - 1] + day - 2 + (year % 4 == 0 && mon >= 3 ? 1 : 0);
sec = (int)floor(ep[5]);
time.time = (time_t)days*86400 + (int)ep[3]*3600 + (int)ep[4]*60 + sec;
time.sec = ep[5] - sec;
return time;
}
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
double Sbas_Telemetry_Data::timediff(gtime_t t1, gtime_t t2)
{
return difftime(t1.time, t2.time) + t1.sec - t2.sec;
}
/* gps time to time ------------------------------------------------------------
* convert week and tow in gps time to gtime_t struct
* args : int week I week number in gps time
* double sec I time of week in gps time (s)
* return : gtime_t struct
*-----------------------------------------------------------------------------*/
Sbas_Telemetry_Data::gtime_t Sbas_Telemetry_Data::gpst2time(int week, double sec)
{
gtime_t t = epoch2time(gpst0);
if (sec < -1E9 || 1E9 < sec) sec = 0.0;
t.time += 86400*7*week + (int)sec;
t.sec = sec - (int)sec;
return t;
}
/* sbas igp definition -------------------------------------------------------*/
const short
Sbas_Telemetry_Data::x1[] = {-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
Sbas_Telemetry_Data::x2[] = {-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5, 0, 5, 10, 15, 20, 25, 30,
35, 40, 45, 50, 55},
Sbas_Telemetry_Data::x3[] = {-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75},
Sbas_Telemetry_Data::x4[] = {-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15,
20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
Sbas_Telemetry_Data::x5[] = {-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
-110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45,
- 40,- 35,- 30,- 25,- 20,- 15,- 10,- 5, 0, 5, 10, 15, 20, 25,
30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
170, 175},
Sbas_Telemetry_Data::x6[] = {-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
-40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
100, 110, 120, 130, 140, 150, 160, 170},
Sbas_Telemetry_Data::x7[] = {-180,-150,-120,- 90,- 60,- 30, 0, 30, 60, 90, 120, 150},
Sbas_Telemetry_Data::x8[] = {-170,-140,-110,- 80,- 50,- 20, 10, 40, 70, 100, 130, 160};
const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband1[9][8] = { /* band 0-8 */
{{-180,x1, 1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101},
{-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}},
{{-140,x4, 1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101},
{-120,x3,102,128},{-115,x2,129,151},{-110,x3,152,178},{-105,x2,179,201}},
{{-100,x3, 1, 27},{- 95,x2, 28, 50},{- 90,x1, 51, 78},{- 85,x2, 79,101},
{- 80,x3,102,128},{- 75,x2,129,151},{- 70,x3,152,178},{- 65,x2,179,201}},
{{- 60,x3, 1, 27},{- 55,x2, 28, 50},{- 50,x4, 51, 78},{- 45,x2, 79,101},
{- 40,x3,102,128},{- 35,x2,129,151},{- 30,x3,152,178},{- 25,x2,179,201}},
{{- 20,x3, 1, 27},{- 15,x2, 28, 50},{- 10,x3, 51, 77},{- 5,x2, 78,100},
{ 0,x1,101,128},{ 5,x2,129,151},{ 10,x3,152,178},{ 15,x2,179,201}},
{{ 20,x3, 1, 27},{ 25,x2, 28, 50},{ 30,x3, 51, 77},{ 35,x2, 78,100},
{ 40,x4,101,128},{ 45,x2,129,151},{ 50,x3,152,178},{ 55,x2,179,201}},
{{ 60,x3, 1, 27},{ 65,x2, 28, 50},{ 70,x3, 51, 77},{ 75,x2, 78,100},
{ 80,x3,101,127},{ 85,x2,128,150},{ 90,x1,151,178},{ 95,x2,179,201}},
{{ 100,x3, 1, 27},{ 105,x2, 28, 50},{ 110,x3, 51, 77},{ 115,x2, 78,100},
{ 120,x3,101,127},{ 125,x2,128,150},{ 130,x4,151,178},{ 135,x2,179,201}},
{{ 140,x3, 1, 27},{ 145,x2, 28, 50},{ 150,x3, 51, 77},{ 155,x2, 78,100},
{ 160,x3,101,127},{ 165,x2,128,150},{ 170,x3,151,177},{ 175,x2,178,200}}
};
const Sbas_Telemetry_Data::sbsigpband_t Sbas_Telemetry_Data::igpband2[2][5] = { /* band 9-10 */
{{ 60,x5, 1, 72},{ 65,x6, 73,108},{ 70,x6,109,144},{ 75,x6,145,180},
{ 85,x7,181,192}},
{{- 60,x5, 1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180},
{- 85,x8,181,192}}
};
/* decode type 1: prn masks --------------------------------------------------*/
int Sbas_Telemetry_Data::decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i, n, sat;
// see figure A-6: i corresponds to bit number (and for the GPS satellites is identically to the PRN), n to the PRN mask number
trace(4, "decode_sbstype1:");
for (i = 1, n = 0; i <= 210 && n < MAXSAT; i++)
{
if (getbitu(msg->msg, 13 + i, 1))
{
if (i <= 37) sat = satno(SYS_GPS, i); /* 0 - 37: gps */
else if (i <= 61) sat = satno(SYS_GLO, i - 37); /* 38 - 61: glonass */
else if (i <= 119) sat = 0; /* 62 - 119: future gnss */
else if (i <= 138) sat = satno(SYS_SBS, i); /* 120 - 138: geo/waas */
else if (i <= 182) sat = 0; /* 139 - 182: reserved */
else if (i <= 192) sat = satno(SYS_SBS, i + 10); /* 183 - 192: qzss ref [2] */
else if (i <= 202) sat = satno(SYS_QZS, i); /* 193 - 202: qzss ref [2] */
else sat = 0; /* 203 - : reserved */
sbssat->sat[n++].sat = sat;
}
}
// TODO consider the use of the old prn mask in the transition phase such that old data sets still can be used
int new_iodp = getbitu(msg->msg, 224, 2);
if (sbssat->iodp != new_iodp) prn_mask_changed(); // invalidate all satellite corrections
sbssat->iodp = new_iodp;
sbssat->nsat = n;
trace(5, "decode_sbstype1: nprn=%d iodp=%d", n, sbssat->iodp);
return 1;
}
/* decode type 2-5,0: fast corrections ---------------------------------------*/
int Sbas_Telemetry_Data::decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i, j, iodf, type, udrei;
double prc, dt;
double t0_past;
trace(4,"decode_sbstype2:");
if (sbssat->iodp != (int)getbitu(msg->msg, 16, 2)) return 0;
type = getbitu(msg->msg, 8, 6);
iodf = getbitu(msg->msg, 14, 2);
for (i=0; i<13; i++)
{
if ((j = 13*((type == 0 ? 2 : type) - 2) + i) >= sbssat->nsat) break;
udrei = getbitu(msg->msg, 174 + 4*i, 4);
t0_past = sbssat->sat[j].fcorr.t0;
prc = sbssat->sat[j].fcorr.prc;
sbssat->sat[j].fcorr.t0 = msg->sample_stamp;
sbssat->sat[j].fcorr.prc = getbits(msg->msg, 18 + i*12, 12)*0.125f;
sbssat->sat[j].fcorr.udre = udrei + 1;
dt = sbssat->sat[j].fcorr.t0 - t0_past;
if (!sbssat->sat[j].fcorr.valid || dt <= 0.0 || 18.0 < dt || sbssat->sat[j].fcorr.ai == 0)
{
sbssat->sat[j].fcorr.rrc = 0.0;
sbssat->sat[j].fcorr.dt = 0.0;
}
else
{
sbssat->sat[j].fcorr.rrc = (sbssat->sat[j].fcorr.prc - prc)/dt;
sbssat->sat[j].fcorr.dt = dt;
}
sbssat->sat[j].fcorr.valid = true;
sbssat->sat[j].fcorr.iodf = iodf;
}
trace(5, "decode_sbstype2: type=%d iodf=%d", type, iodf);
return 1;
}
/* decode type 6: integrity info ---------------------------------------------*/
int Sbas_Telemetry_Data::decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i, iodf[4], udrei;
trace(4, "decode_sbstype6:");
if(sbssat->iodp < 0) return 0;
for (i=0; i<4; i++)
{
iodf[i] = getbitu(msg->msg, 14 + i*2, 2);
}
for (i=0; i < sbssat->nsat && i < MAXSAT; i++)
{
if (!sbssat->sat[i].fcorr.valid || sbssat->sat[i].fcorr.iodf != iodf[i/13]) continue;
udrei = getbitu(msg->msg, 22 + i*4, 4);
sbssat->sat[i].fcorr.udre = udrei + 1;
}
trace(5, "decode_sbstype6: iodf=%d %d %d %d", iodf[0], iodf[1], iodf[2], iodf[3]);
return 1;
}
/* decode type 7: fast correction degradation factor -------------------------*/
int Sbas_Telemetry_Data::decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i;
trace(4,"decode_sbstype7");
if (sbssat->iodp != (int)getbitu(msg->msg, 18, 2)) return 0;
sbssat->tlat = getbitu(msg->msg, 14, 4);
for (i=0; i < sbssat->nsat && i < MAXSAT; i++)
{
sbssat->sat[i].fcorr.ai = getbitu(msg->msg, 22 + i*4, 4);
}
return 1;
}
/* decode type 9: geo navigation message -------------------------------------*/
int Sbas_Telemetry_Data::decode_sbstype9(const sbsmsg_t *msg, nav_t *nav)
{
seph_t seph;
int i;
int sat;
trace(4,"decode_sbstype9:");
if (!(sat = satno(SYS_SBS, msg->prn)))
{
trace(2, "invalid prn in sbas type 9: prn=%3d", msg->prn);
return 0;
}
/*t=(int)getbitu(msg->msg,22,13)*16-(int)msg->tow%86400;
if (t<=-43200) t+=86400;
else if (t> 43200) t-=86400;*/
//seph.t0 =gpst2time(msg->week,msg->tow+t);
seph.sat = sat;
seph.t0 = getbitu(msg->msg, 22, 13)*16;
seph.tof = msg->sample_stamp;
seph.sva = getbitu(msg->msg, 35, 4);
seph.svh = seph.sva == 15 ? 1 : 0; /* unhealthy if ura==15 */
seph.pos[0] = getbits(msg->msg, 39, 30)*0.08;
seph.pos[1] = getbits(msg->msg, 69, 30)*0.08;
seph.pos[2] = getbits(msg->msg, 99, 25)*0.4;
seph.vel[0] = getbits(msg->msg, 124, 17)*0.000625;
seph.vel[1] = getbits(msg->msg, 141, 17)*0.000625;
seph.vel[2] = getbits(msg->msg, 158, 18)*0.004;
seph.acc[0] = getbits(msg->msg, 176, 10)*0.0000125;
seph.acc[1] = getbits(msg->msg, 186, 10)*0.0000125;
seph.acc[2] = getbits(msg->msg, 196, 10)*0.0000625;
seph.af0 = getbits(msg->msg, 206, 12)*P2_31;
seph.af1 = getbits(msg->msg, 218, 8)*P2_39/2.0;
i = msg->prn-MINPRNSBS;
if (std::abs(nav->seph[i].t0 - seph.t0) < 1E-3)
{ /* not change */
VLOG(FLOW) << "<<T>> no change in ephemeris -> won't parse";
return 0;
}
nav->seph[NSATSBS + i] = nav->seph[i]; /* previous */
nav->seph[i] = seph; /* current */
trace(5, "decode_sbstype9: prn=%d", msg->prn);
return 1;
}
/* decode type 18: ionospheric grid point masks ------------------------------*/
int Sbas_Telemetry_Data::decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion)
{
const sbsigpband_t *p;
int i, j, n, m, band = getbitu(msg->msg, 18, 4);
trace(4, "decode_sbstype18:");
if (0 <= band && band <= 8) {p = igpband1[band]; m = 8;}
else if (9 <= band && band <= 10) {p = igpband2[band - 9]; m = 5;}
else return 0;
short iodi_new = (short)getbitu(msg->msg, 22, 2);
if(sbsion[band].iodi != iodi_new)
{
// IGP mask changed -> invalidate all IGPs in this band
igp_mask_changed(band);
}
sbsion[band].iodi = iodi_new;
for (i=1, n=0; i <= 201; i++)
{
if (!getbitu(msg->msg, 23 + i, 1)) continue;
for (j = 0; j < m; j++)
{
if (i < p[j].bits || p[j].bite < i) continue;
sbsion[band].igp[n].lat = band <= 8 ? p[j].y[i - p[j].bits] : p[j].x;
sbsion[band].igp[n++].lon = band <= 8 ? p[j].x : p[j].y[i - p[j].bits];
break;
}
}
sbsion[band].nigp = n;
trace(5, "decode_sbstype18: band=%d nigp=%d", band, n);
return 1;
}
/* decode half long term correction (vel code=0) -----------------------------*/
int Sbas_Telemetry_Data::decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
int i, n = getbitu(msg->msg, p, 6);
trace(4, "decode_longcorr0:");
if (n == 0 || n > MAXSAT) return 0;
sbssat->sat[n - 1].lcorr.iode = getbitu(msg->msg, p + 6, 8);
for (i = 0; i < 3; i++)
{
sbssat->sat[n - 1].lcorr.dpos[i] = getbits(msg->msg, p + 14 + 9*i, 9)*0.125;
sbssat->sat[n - 1].lcorr.dvel[i] = 0.0;
}
sbssat->sat[n - 1].lcorr.daf0 = getbits(msg->msg, p + 41, 10)*P2_31;
sbssat->sat[n - 1].lcorr.daf1 = 0.0;
//sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow);
sbssat->sat[n - 1].lcorr.trx = msg->sample_stamp; // vel=0 -> time of applicability is reception time
sbssat->sat[n - 1].lcorr.tapp = 0;
sbssat->sat[n - 1].lcorr.valid = true;
trace(5, "decode_longcorr0:sat=%2d", sbssat->sat[n - 1].sat);
return 1;
}
/* decode half long term correction (vel code=1) -----------------------------*/
int Sbas_Telemetry_Data::decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
int i;
int n = getbitu(msg->msg, p, 6);
trace(4,"decode_longcorr1:");
if (n == 0 || n > MAXSAT) return 0;
sbssat->sat[n - 1].lcorr.iode = getbitu(msg->msg, p + 6, 8);
for (i=0; i<3; i++)
{
sbssat->sat[n - 1].lcorr.dpos[i] = getbits(msg->msg, p + 14 + i*11, 11)*0.125;
sbssat->sat[n - 1].lcorr.dvel[i] = getbits(msg->msg, p + 58 + i*8, 8)*P2_11;
}
sbssat->sat[n - 1].lcorr.daf0 = getbits(msg->msg, p + 47, 11)*P2_31;
sbssat->sat[n - 1].lcorr.daf1 = getbits(msg->msg, p + 82, 8)*P2_39;
// vel=1 -> time of applicability is sent in message, needs to be corrected for rollover which can not be done here, since the absolute gps time is unknown. see IS-GPS-200G pdf page 116 for correction
/*t=(int)getbitu(msg->msg,p+90,13)*16-(int)msg->tow%86400;
if (t<=-43200) t+=86400;
else if (t> 43200) t-=86400;
sbssat->sat[n-1].lcorr.t0=gpst2time(msg->week,msg->tow+t);*/
sbssat->sat[n - 1].lcorr.trx = msg->sample_stamp;
sbssat->sat[n - 1].lcorr.tapp = (int)getbitu(msg->msg, p + 90, 13)*16;
sbssat->sat[n - 1].lcorr.vel = 1;
sbssat->sat[n - 1].lcorr.valid = true;
trace(5, "decode_longcorr1: sat=%2d", sbssat->sat[n - 1].sat);
return 1;
}
/* decode half long term correction ------------------------------------------*/
int Sbas_Telemetry_Data::decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
{
trace(4,"decode_longcorrh:");
if (getbitu(msg->msg, p, 1) == 0 )
{
/* vel code=0 */
if (sbssat->iodp == (int)getbitu(msg->msg, p + 103, 2))
{
return decode_longcorr0(msg, p + 1, sbssat) && decode_longcorr0(msg, p + 52, sbssat);
}
}
else if (sbssat->iodp == (int)getbitu(msg->msg, p + 104, 2))
{
return decode_longcorr1(msg, p + 1, sbssat);
}
return 0;
}
/* decode type 24: mixed fast/long term correction ---------------------------*/
int Sbas_Telemetry_Data::decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat)
{
int i, j, iodf, blk, udre;
trace(4, "decode_sbstype24:");
if (sbssat->iodp != (int)getbitu(msg->msg, 110, 2)) return 0; /* check IODP */
blk = getbitu(msg->msg, 112, 2);
iodf =getbitu(msg->msg, 114, 2);
for (i=0; i<6; i++)
{
if ((j = 13*blk+i) >= sbssat->nsat) break;
udre = getbitu(msg->msg, 86 + 4*i, 4);
//sbssat->sat[j].fcorr.t0 =gpst2time(msg->week,msg->tow);
sbssat->sat[j].fcorr.t0 = msg->sample_stamp;
sbssat->sat[j].fcorr.prc = getbits(msg->msg, 14 + i*12, 12)*0.125f;
sbssat->sat[j].fcorr.udre = udre + 1;
sbssat->sat[j].fcorr.iodf = iodf;
}
return decode_longcorrh(msg, 120, sbssat);
}
/* decode type 25: long term satellite error correction ----------------------*/
int Sbas_Telemetry_Data::decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat)
{
trace(4,"decode_sbstype25:");
return decode_longcorrh(msg, 14, sbssat) && decode_longcorrh(msg, 120, sbssat);
}
/* decode type 26: ionospheric delay corrections -----------------------------*/
int Sbas_Telemetry_Data::decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
{
int i, j, block, delay, give, band = getbitu(msg->msg, 14, 4);
trace(4, "decode_sbstype26:");
if (band > MAXBAND || sbsion[band].iodi != (int)getbitu(msg->msg, 217, 2)) return 0;
block = getbitu(msg->msg, 18, 4);
for (i = 0; i < 15; i++)
{
if ((j = block*15 + i) >= sbsion[band].nigp) continue;
give = getbitu(msg->msg, 2 + i*13 + 9, 4);
delay = getbitu(msg->msg, 22 + i*13, 9);
//sbsion[band].igp[j].t0=gpst2time(msg->week,msg->tow);
sbsion[band].igp[j].t0 = msg->sample_stamp;
sbsion[band].igp[j].valid = true;
sbsion[band].igp[j].delay = delay == 0x1FF ? 0.0f : delay*0.125f;
sbsion[band].igp[j].give = give;
if(sbsion[band].igp[j].give > 15) sbsion[band].igp[j].give = 15; // give is not higher than 15, but to be sure
}
trace(5, "decode_sbstype26: band=%d block=%d", band, block);
return 1;
}
/* update sbas corrections -----------------------------------------------------
* update sbas correction parameters in navigation data with a sbas message
* args : sbsmg_t *msg I sbas message
* nav_t *nav IO navigation data
* return : message type (-1: error or not supported type)
* notes : nav->seph must point to seph[NSATSBS*2] (array of seph_t)
* seph[prn-MINPRNSBS+1] : sat prn current epehmeris
* seph[prn-MINPRNSBS+1+MAXPRNSBS]: sat prn previous epehmeris
*-----------------------------------------------------------------------------*/
int Sbas_Telemetry_Data::sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav)
{
int type = getbitu(msg->msg, 8, 6), stat = -1;
trace(3,"sbsupdatecorr: type=%d",type);
//if (msg->week==0) return -1;
switch (type)
{
case 0: stat = decode_sbstype2(msg, &nav->sbssat); break;
case 1: stat = decode_sbstype1(msg, &nav->sbssat); break;
case 2:
case 3:
case 4:
case 5: stat = decode_sbstype2(msg, &nav->sbssat); break;
case 6: stat = decode_sbstype6(msg, &nav->sbssat); break;
case 7: stat = decode_sbstype7(msg, &nav->sbssat); break;
case 9: stat = decode_sbstype9(msg, nav); break;
case 10: trace(2, "unsupported sbas message: type=%d", type); break;
case 12: trace(2, "unsupported sbas message: type=%d", type); break;
case 17: trace(2, "unsupported sbas message: type=%d", type); break;
case 18: stat = decode_sbstype18(msg, nav ->sbsion); break;
case 24: stat = decode_sbstype24(msg, &nav->sbssat); break;
case 25: stat = decode_sbstype25(msg, &nav->sbssat); break;
case 26: stat = decode_sbstype26(msg, nav ->sbsion); break;
case 63: break; /* null message */
default: trace(2, "Unsupported SBAS message: type=%d", type); break;
}
return stat ? type : -1;
}
void Sbas_Telemetry_Data::prn_mask_changed()
{
d_nav.sbssat.tlat = -1;
// for each satellite in the RTKLIB structure
for (int i_sat = 0; i_sat < d_nav.sbssat.nsat; i_sat++)
{
d_nav.sbssat.sat[i_sat].fcorr.valid = false;
d_nav.sbssat.sat[i_sat].lcorr.valid = false;
}
}
bool Sbas_Telemetry_Data::is_rtklib_sat_correction_valid(int sat)
{
return d_nav.sbssat.tlat > -1
&& d_nav.sbssat.sat[sat].fcorr.valid
&& d_nav.sbssat.sat[sat].lcorr.valid;
}
void Sbas_Telemetry_Data::igp_mask_changed(int band)
{
for(int i_igp = 0; i_igp < d_nav.sbsion[band].nigp; i_igp++)
d_nav.sbsion[band].igp[i_igp].valid = false;
}

492
src/core/system_parameters/sbas_telemetry_data.h
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@ -1,492 +0,0 @@
/*!
* \file sbas_telemetry_data.h
* \brief Interface of the SBAS telemetry parser based on SBAS RTKLIB functions
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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_SBAS_TELEMETRY_DATA_H_
#define GNSS_SDR_SBAS_TELEMETRY_DATA_H_
#include <algorithm>
#include <bitset>
#include <cmath>
#include <iostream>
#include <map>
#include <string>
#include <vector>
#include "boost/assign.hpp"
#include "concurrent_queue.h"
#include "sbas_time.h"
class Sbas_Ionosphere_Correction;
class Sbas_Satellite_Correction;
struct Fast_Correction;
struct Long_Term_Correction;
class Sbas_Ephemeris;
/*!
* \brief Represents a raw SBAS message of 250cbits + 6 bits padding
* (8b preamble + 6b message type + 212b data + 24b CRC + 6b zero padding)
*/
class Sbas_Raw_Msg
{
public:
Sbas_Raw_Msg(){ rx_time = Sbas_Time(0); i_prn = -1; };
Sbas_Raw_Msg(double sample_stamp, int prn, const std::vector<unsigned char> msg) : rx_time(sample_stamp), i_prn(prn), d_msg(msg) {}
double get_sample_stamp() { return rx_time.get_time_stamp(); } //!< Time of reception sample stamp (first sample of preample)
void relate(Sbas_Time_Relation time_relation)
{
rx_time.relate(time_relation);
}
Sbas_Time get_rx_time_obj() const { return rx_time; }
int get_prn() const { return i_prn; }
std::vector<unsigned char> get_msg() const { return d_msg; }
int get_preamble()
{
return d_msg[0];
}
int get_msg_type() const
{
return d_msg[1] >> 2;
}
int get_crc()
{
unsigned char crc_last_byte = (d_msg[30] << 2) && (d_msg[31] >> 6);
unsigned char crc_middle_byte = (d_msg[29] << 2) && (d_msg[30] >> 6);
unsigned char crc_first_byte = (d_msg[28] << 2) && (d_msg[29] >> 6);
return ((unsigned int)(crc_first_byte) << 16) && ((unsigned int)(crc_middle_byte) << 8) && crc_last_byte;
}
private:
Sbas_Time rx_time;
int i_prn; /* SBAS satellite PRN number */
std::vector<unsigned char> d_msg; /* SBAS message (226 bit) padded by 0 */
};
/*
* \brief Holds an updated set of the telemetry data received from SBAS
*/
class Sbas_Telemetry_Data
{
public:
int update(Sbas_Raw_Msg sbas_raw_msg);
/*!
* Default constructor
*/
Sbas_Telemetry_Data();
/*!
* Default deconstructor
*/
~Sbas_Telemetry_Data();
private:
std::map<int, Fast_Correction> emitted_fast_corrections;
std::map<int, Long_Term_Correction> emitted_long_term_corrections;
Sbas_Time_Relation mt12_time_ref;
int decode_mt12(Sbas_Raw_Msg sbas_raw_msg);
void updated_sbas_ephemeris(Sbas_Raw_Msg msg);
void received_iono_correction();
void updated_satellite_corrections();
/////// rtklib.h
#define SYS_NONE 0x00 /* navigation system: none */
#define SYS_GPS 0x01 /* navigation system: GPS */
#define SYS_SBS 0x02 /* navigation system: SBAS */
#define SYS_GLO 0x04 /* navigation system: GLONASS */
#define SYS_GAL 0x08 /* navigation system: Galileo */
#define SYS_QZS 0x10 /* navigation system: QZSS */
#define SYS_CMP 0x20 /* navigation system: BeiDou */
#define SYS_ALL 0xFF /* navigation system: all */
#define TSYS_GPS 0 /* time system: GPS time */
#define TSYS_UTC 1 /* time system: UTC */
#define TSYS_GLO 2 /* time system: GLONASS time */
#define TSYS_GAL 3 /* time system: Galileo time */
#define TSYS_QZS 4 /* time system: QZSS time */
#define TSYS_CMP 5 /* time system: BeiDou time */
#ifndef NFREQ
#define NFREQ 3 /* number of carrier frequencies */
#endif
#define NFREQGLO 2 /* number of carrier frequencies of GLONASS */
#ifndef NEXOBS
#define NEXOBS 0 /* number of extended obs codes */
#endif
#define MINPRNGPS 1 /* min satellite PRN number of GPS */
#define MAXPRNGPS 32 /* max satellite PRN number of GPS */
#define NSATGPS (MAXPRNGPS-MINPRNGPS+1) /* number of GPS satellites */
#define NSYSGPS 1
#ifdef ENAGLO
#define MINPRNGLO 1 /* min satellite slot number of GLONASS */
#define MAXPRNGLO 24 /* max satellite slot number of GLONASS */
#define NSATGLO (MAXPRNGLO-MINPRNGLO+1) /* number of GLONASS satellites */
#define NSYSGLO 1
#else
#define MINPRNGLO 0
#define MAXPRNGLO 0
#define NSATGLO 0
#define NSYSGLO 0
#endif
#ifdef ENAGAL
#define MINPRNGAL 1 /* min satellite PRN number of Galileo */
#define MAXPRNGAL 27 /* max satellite PRN number of Galileo */
#define NSATGAL (MAXPRNGAL-MINPRNGAL+1) /* number of Galileo satellites */
#define NSYSGAL 1
#else
#define MINPRNGAL 0
#define MAXPRNGAL 0
#define NSATGAL 0
#define NSYSGAL 0
#endif
#ifdef ENAQZS
#define MINPRNQZS 193 /* min satellite PRN number of QZSS */
#define MAXPRNQZS 195 /* max satellite PRN number of QZSS */
#define MINPRNQZS_S 183 /* min satellite PRN number of QZSS SAIF */
#define MAXPRNQZS_S 185 /* max satellite PRN number of QZSS SAIF */
#define NSATQZS (MAXPRNQZS-MINPRNQZS+1) /* number of QZSS satellites */
#define NSYSQZS 1
#else
#define MINPRNQZS 0
#define MAXPRNQZS 0
#define NSATQZS 0
#define NSYSQZS 0
#endif
#ifdef ENACMP
#define MINPRNCMP 1 /* min satellite sat number of BeiDou */
#define MAXPRNCMP 35 /* max satellite sat number of BeiDou */
#define NSATCMP (MAXPRNCMP-MINPRNCMP+1) /* number of BeiDou satellites */
#define NSYSCMP 1
#else
#define MINPRNCMP 0
#define MAXPRNCMP 0
#define NSATCMP 0
#define NSYSCMP 0
#endif
#define NSYS (NSYSGPS+NSYSGLO+NSYSGAL+NSYSQZS+NSYSCMP) /* number of systems */
#define MINPRNSBS 120 /* min satellite PRN number of SBAS */
#define MAXPRNSBS 142 /* max satellite PRN number of SBAS */
#define NSATSBS (MAXPRNSBS-MINPRNSBS+1) /* number of SBAS satellites */
#define MAXSAT (NSATGPS+NSATGLO+NSATGAL+NSATQZS+NSATCMP+NSATSBS)
/* max satellite number (1 to MAXSAT) */
#ifndef MAXOBS
#define MAXOBS 64 /* max number of obs in an epoch */
#endif
#define MAXRCV 64 /* max receiver number (1 to MAXRCV) */
#define MAXOBSTYPE 64 /* max number of obs type in RINEX */
#define DTTOL 0.005 /* tolerance of time difference (s) */
#if 0
#define MAXDTOE 10800.0 /* max time difference to ephem Toe (s) for GPS */
#else
#define MAXDTOE 7200.0 /* max time difference to ephem Toe (s) for GPS */
#endif
#define MAXDTOE_GLO 1800.0 /* max time difference to GLONASS Toe (s) */
#define MAXDTOE_SBS 360.0 /* max time difference to SBAS Toe (s) */
#define MAXDTOE_S 86400.0 /* max time difference to ephem toe (s) for other */
#define MAXGDOP 300.0 /* max GDOP */
//#define MAXSBSAGEF 30.0 /* max age of SBAS fast correction (s) */
//#define MAXSBSAGEL 1800.0 /* max age of SBAS long term corr (s) */
//#define MAXSBSURA 8 /* max URA of SBAS satellite */
#define MAXBAND 10 /* max SBAS band of IGP */
#define MAXNIGP 201 /* max number of IGP in SBAS band */
//#define MAXNGEO 4 /* max number of GEO satellites */
#define P2_11 4.882812500000000E-04 /* 2^-11 */
#define P2_31 4.656612873077393E-10 /* 2^-31 */
#define P2_39 1.818989403545856E-12 /* 2^-39 */
/* type definitions ----------------------------------------------------------*/
typedef struct { /* time struct */
time_t time; /* time (s) expressed by standard time_t */
double sec; /* fraction of second under 1 s */
} gtime_t;
typedef struct { /* SBAS message type */
//int week,tow; /* receiption time */
double sample_stamp;
int prn; /* SBAS satellite PRN number */
unsigned char msg[29]; /* SBAS message (226bit) padded by 0 */
} sbsmsg_t;
typedef struct { /* SBAS messages type */
int n,nmax; /* number of SBAS messages/allocated */
sbsmsg_t *msgs; /* SBAS messages */
} sbs_t;
typedef struct { /* SBAS fast correction type */
//gtime_t t0; /* time of applicability (TOF) */
double t0;
bool valid;
double prc; /* pseudorange correction (PRC) (m) */
double rrc; /* range-rate correction (RRC) (m/s) */
double dt; /* range-rate correction delta-time (s) */
int iodf; /* IODF (issue of date fast corr) */
short udre; /* UDRE+1 */
short ai; /* degradation factor indicator */
} sbsfcorr_t;
typedef struct { /* SBAS long term satellite error correction type */
//gtime_t t0; /* correction time */
double trx; /* time when message was received */
int tapp; /* time of applicability (when vel=1 sent as t0) */
int vel; /* use velocity if vel=1 */
bool valid;
int iode; /* IODE (issue of date ephemeris) */
double dpos[3]; /* delta position (m) (ecef) */
double dvel[3]; /* delta velocity (m/s) (ecef) */
double daf0,daf1; /* delta clock-offset/drift (s,s/s) */
} sbslcorr_t;
typedef struct { /* SBAS satellite correction type */
int sat; /* satellite number */
sbsfcorr_t fcorr; /* fast correction */
sbslcorr_t lcorr; /* long term correction */
} sbssatp_t;
typedef struct { /* SBAS satellite corrections type */
int iodp; /* IODP (issue of date mask) */
int nsat; /* number of satellites */
int tlat; /* system latency (s) */
sbssatp_t sat[MAXSAT]; /* satellite correction */
} sbssat_t;
typedef struct { /* SBAS ionospheric correction type */
//gtime_t t0; /* correction time */
double t0;
bool valid;
short lat,lon; /* latitude/longitude (deg) */
short give; /* GIVI+1 */
float delay; /* vertical delay estimate (m) */
} sbsigp_t;
typedef struct { /* IGP band type */
short x; /* longitude/latitude (deg) */
const short *y; /* latitudes/longitudes (deg) */
unsigned char bits; /* IGP mask start bit */
unsigned char bite; /* IGP mask end bit */
} sbsigpband_t;
typedef struct { /* SBAS ionospheric corrections type */
int iodi; /* IODI (issue of date ionos corr) */
int nigp; /* number of igps */
sbsigp_t igp[MAXNIGP]; /* ionospheric correction */
} sbsion_t;
/*
* indicators
*/
typedef struct { /* SBAS ephemeris type */
int sat = 0; /* satellite number */
//gtime_t t0; /* reference epoch time (GPST) */
int t0 = 0;
//gtime_t tof; /* time of message frame (GPST) */
double tof = 0;
int sva = 0; /* SV accuracy (URA index) */
int svh = 0; /* SV health (0:ok) */
double pos[3] = {0, 0, 0}; /* satellite position (m) (ecef) */
double vel[3] = {0, 0, 0}; /* satellite velocity (m/s) (ecef) */
double acc[3] = {0, 0, 0}; /* satellite acceleration (m/s^2) (ecef) */
double af0 = 0;
double af1 = 0; /* satellite clock-offset/drift (s,s/s) */
} seph_t;
typedef struct { /* navigation data type */
//int n,nmax; /* number of broadcast ephemeris */
//int ng,ngmax; /* number of glonass ephemeris */
//int ns,nsmax; /* number of sbas ephemeris */
//int ne,nemax; /* number of precise ephemeris */
//int nc,ncmax; /* number of precise clock */
//int na,namax; /* number of almanac data */
//int nt,ntmax; /* number of tec grid data */
//int nn,nnmax; /* number of stec grid data */
//eph_t *eph; /* GPS/QZS/GAL ephemeris */
//geph_t *geph; /* GLONASS ephemeris */
seph_t seph[2*NSATSBS]; /* SBAS ephemeris */
// peph_t *peph; /* precise ephemeris */
// pclk_t *pclk; /* precise clock */
// alm_t *alm; /* almanac data */
// tec_t *tec; /* tec grid data */
// stec_t *stec; /* stec grid data */
// erp_t erp; /* earth rotation parameters */
//double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */
//double utc_glo[4]; /* GLONASS UTC GPS time parameters */
//double utc_gal[4]; /* Galileo UTC GPS time parameters */
//double utc_qzs[4]; /* QZS UTC GPS time parameters */
//double utc_cmp[4]; /* BeiDou UTC parameters */
//double utc_sbs[4]; /* SBAS UTC parameters */
//double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
//double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */
//double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
//double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
//int leaps; /* leap seconds (s) */
//double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
//double cbias[MAXSAT][3]; /* code bias (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
//double wlbias[MAXSAT]; /* wide-lane bias (cycle) */
//double glo_cpbias[4]; /* glonass code-phase bias {1C,1P,2C,2P} (m) */
//char glo_fcn[MAXPRNGLO+1]; /* glonass frequency channel number + 8 */
// pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */
sbssat_t sbssat; /* SBAS satellite corrections */
sbsion_t sbsion[MAXBAND+1]; /* SBAS ionosphere corrections */
// dgps_t dgps[MAXSAT]; /* DGPS corrections */
// ssr_t ssr[MAXSAT]; /* SSR corrections */
// lexeph_t lexeph[MAXSAT]; /* LEX ephemeris */
// lexion_t lexion; /* LEX ionosphere correction */
} nav_t;
//// common
static const double gpst0[]; /* gps time reference */
/* debug trace functions -----------------------------------------------------*/
FILE *fp_trace; /* file pointer of trace */
int level_trace; /* level of trace */
unsigned int tick_trace; /* tick time at traceopen (ms) */
void trace(int level, const char *format, ...);
/* satellite system+prn/slot number to satellite number ------------------------
* convert satellite system+prn/slot number to satellite number
* args : int sys I satellite system (SYS_GPS,SYS_GLO,...)
* int prn I satellite prn/slot number
* return : satellite number (0:error)
*-----------------------------------------------------------------------------*/
int satno(int sys, int prn);
/* extract unsigned/signed bits ------------------------------------------------
* extract unsigned/signed bits from byte data
* args : unsigned char *buff I byte data
* int pos I bit position from start of data (bits)
* int len I bit length (bits) (len<=32)
* return : extracted unsigned/signed bits
*-----------------------------------------------------------------------------*/
unsigned int getbitu(const unsigned char *buff, int pos, int len);
int getbits(const unsigned char *buff, int pos, int len);
/* convert calendar day/time to time -------------------------------------------
* convert calendar day/time to gtime_t struct
* args : double *ep I day/time {year,month,day,hour,min,sec}
* return : gtime_t struct
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
gtime_t epoch2time(const double *ep);
/* time difference -------------------------------------------------------------
* difference between gtime_t structs
* args : gtime_t t1,t2 I gtime_t structs
* return : time difference (t1-t2) (s)
*-----------------------------------------------------------------------------*/
double timediff(gtime_t t1, gtime_t t2);
/* gps time to time ------------------------------------------------------------
* convert week and tow in gps time to gtime_t struct
* args : int week I week number in gps time
* double sec I time of week in gps time (s)
* return : gtime_t struct
*-----------------------------------------------------------------------------*/
gtime_t gpst2time(int week, double sec);
////// sbas.c
/* sbas igp definition -------------------------------------------------------*/
static const short
x1[],
x2[],
x3[],
x4[],
x5[],
x6[],
x7[],
x8[];
static const sbsigpband_t igpband1[9][8]; /* band 0-8 */
static const sbsigpband_t igpband2[2][5]; /* band 9-10 */
/* decode type 1: prn masks --------------------------------------------------*/
int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 2-5,0: fast corrections ---------------------------------------*/
int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 6: integrity info ---------------------------------------------*/
int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 7: fast correction degradation factor -------------------------*/
int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 9: geo navigation message -------------------------------------*/
int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav);
/* decode type 18: ionospheric grid point masks ------------------------------*/
int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion);
/* decode half long term correction (vel code=0) -----------------------------*/
int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
/* decode half long term correction (vel code=1) -----------------------------*/
int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
/* decode half long term correction ------------------------------------------*/
int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
/* decode type 24: mixed fast/long term correction ---------------------------*/
int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 25: long term satellite error correction ----------------------*/
int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
/* decode type 26: ionospheric deley corrections -----------------------------*/
int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
/* update sbas corrections -----------------------------------------------------
* update sbas correction parameters in navigation data with a sbas message
* args : sbsmg_t *msg I sbas message
* nav_t *nav IO navigation data
* return : message type (-1: error or not supported type)
* notes : nav->seph must point to seph[NSATSBS*2] (array of seph_t)
* seph[prn-MINPRNSBS+1] : sat prn current epehmeris
* seph[prn-MINPRNSBS+1+MAXPRNSBS]: sat prn previous epehmeris
*-----------------------------------------------------------------------------*/
int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
void prn_mask_changed();
bool is_rtklib_sat_correction_valid(int sat);
void igp_mask_changed(int band);
// RTKLIB SBAS telemetry data representation
nav_t d_nav;
};
#endif

193
src/core/system_parameters/sbas_time.h
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@ -1,193 +0,0 @@
/*!
* \file sbas_time.h
* \brief Interface and implementation of classes to handle and relate sample stamp and GPS time based time scales
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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_SBAS_TIME_H_
#define GNSS_SDR_SBAS_TIME_H_
#include <cmath>
#include <iostream>
#include <glog/logging.h>
#define EVENT 2 // logs important events which don't occur every update() call
#define FLOW 3 // logs the function calls of block processing functions
class Sbas_Time_Relation
{
public:
Sbas_Time_Relation()
{
i_gps_week = 0;
d_delta_sec = 0;
b_valid = false;
VLOG(FLOW) << "<<R>> new invalid time relation: i_gps_week=" << i_gps_week << " d_delta_sec=" << d_delta_sec;
}
Sbas_Time_Relation(double time_stamp_sec, int gps_week, double gps_sec)
{
i_gps_week = gps_week;
d_delta_sec = gps_sec - time_stamp_sec;
b_valid = true;
VLOG(FLOW) << "<<R>> new time relation: i_gps_week=" << i_gps_week << " d_delta_sec=" << d_delta_sec;
}
bool to_gps_time(double time_stamp_sec, int &gps_week, double &gps_sec)
{
int delta_weeks = int(trunc(time_stamp_sec + d_delta_sec))/604800;
gps_sec = time_stamp_sec + d_delta_sec - delta_weeks*604800;
gps_week = i_gps_week + delta_weeks;
VLOG(FLOW) << "<<R>> to gps time: time_stamp_sec=" << time_stamp_sec << " gps_week=" << gps_week << " gps_sec=" << gps_sec;
return b_valid;
}
bool to_sample_stamp(int gps_week, double gps_sec, double &time_stamp_sec)
{
time_stamp_sec = (gps_sec - d_delta_sec) + (gps_week - i_gps_week)*604800;
VLOG(FLOW) << "<<R>> to gps time: gps_week=" << gps_week << " gps_sec=" << gps_sec << " time_stamp_sec=" << time_stamp_sec;
return b_valid;
}
bool is_valid()
{
return b_valid;
}
private:
int i_gps_week;
double d_delta_sec;
bool b_valid;
};
/*!
* \brief Sbas_Time relates the relative sample stamp time scale with the absolute GPS time scale.
* There are three different states for a Sbas_Time object:
* - only relative time (sample stamp) is known
* - only absolute time (gps time) is known
* - absolute and relative time and their relation is known
*/
class Sbas_Time
{
public:
enum Sbas_Time_State {RELATIVE, /*ABSOLUTE,*/ RELATED, UNDEFINED};
Sbas_Time()
{
e_state = UNDEFINED;
i_gps_week = 0;
d_gps_sec = 0;
d_time_stamp_sec = 0;
}
Sbas_Time(double time_stamp_sec)
{
d_time_stamp_sec = time_stamp_sec;
i_gps_week = 0;
d_gps_sec = 0;
e_state = RELATIVE;
}
/*
Sbas_Time(int gps_week, double gps_sec)
{
i_gps_week = gps_week;
d_gps_sec = gps_sec;
d_time_stamp_sec = 0;
e_state = ABSOLUTE;
}*/
Sbas_Time(double time_stamp_sec, Sbas_Time_Relation relation)
{
if(relation.is_valid())
{ // construct a RELATED object
d_time_stamp_sec = time_stamp_sec;
relation.to_gps_time(d_time_stamp_sec, i_gps_week, d_gps_sec);
e_state = RELATED;
}
else
{ // construct a RELATIVE object
*this = Sbas_Time(time_stamp_sec);
VLOG(FLOW) << "<<R>> create RELATIVE time (invalid relation): time_stamp_sec=" << time_stamp_sec;
}
}
/*Sbas_Time(int gps_week, double gps_sec, Sbas_Time_Relation relation)
{
i_gps_week = gps_week;
d_gps_sec = gps_sec;
relation.to_sample_stamp(gps_week, gps_sec, d_time_stamp_sec);
e_state = RELATED;
}*/
void relate(Sbas_Time_Relation sbas_time_realtion)
{
switch (e_state)
{
case RELATIVE: *this = Sbas_Time(d_time_stamp_sec, sbas_time_realtion);
break;
//case ABSOLUTE: return Sbas_Time(i_gps_week, d_gps_sec, sbas_time_realtion);
break;
case RELATED: LOG(INFO) << "Relating an already related Sbas_Time object is not possible";
break;
case UNDEFINED: std::cerr << "Sbas_Time object state undefined" << std::endl;
break;
default: std::cerr << "Sbas_Time object state not known" << std::endl;
break;
}
return;
}
double get_time_stamp()
{
return d_time_stamp_sec;
//return (e_state == RELATIVE || e_state == RELATED);
}
bool get_gps_time(int &gps_week, double &gps_sec)
{
gps_week = i_gps_week;
gps_sec = d_gps_sec;
return (/*e_state == ABSOLUTE ||*/ e_state == RELATED);
}
bool is_only_relativ() { return e_state == RELATIVE; }
//bool is_only_absolute() {return e_state == ABSOLUTE;}
bool is_related() { return e_state == RELATED; }
Sbas_Time_State get_state() { return e_state; }
private:
Sbas_Time_State e_state;
double d_time_stamp_sec;
int i_gps_week;
double d_gps_sec;
};
#endif /* GNSS_SDR_SBAS_TIME_H_ */

6
src/tests/test_main.cc
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@ -58,12 +58,6 @@
#include "galileo_utc_model.h"
#include "sbas_ephemeris.h"
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
#include "sbas_satellite_correction.h"
#include "sbas_time.h"
using google::LogMessage;

5
src/utils/front-end-cal/main.cc
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@ -51,6 +51,7 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/file_sink.h>
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "file_configuration.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "gnss_signal.h"
@ -67,11 +68,7 @@
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
#include "sbas_satellite_correction.h"
#include "sbas_ephemeris.h"
#include "sbas_time.h"
#include "gnss_sdr_supl_client.h"