diff --git a/src/core/system_parameters/GPS_L5.h b/src/core/system_parameters/GPS_L5.h
new file mode 100644
index 000000000..f64b7f379
--- /dev/null
+++ b/src/core/system_parameters/GPS_L5.h
@@ -0,0 +1,186 @@
+/*!
+ * \file GPS_L5.h
+ * \brief Defines system parameters for GPS L5 signal
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017 (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 .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GPS_L5_H_
+#define GNSS_SDR_GPS_L5_H_
+
+#include
+#include
+#include // std::pair
+#include "MATH_CONSTANTS.h"
+#include "gnss_frequencies.h"
+#include "GPS_L2C.h"
+
+// Physical constants
+const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s]
+const double GPS_L5_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
+const double GPS_L5_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
+const double GPS_L5_TWO_PI = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
+const double GPS_L5_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
+const double GPS_L5_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
+const double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
+
+
+// carrier and code frequencies
+const double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
+
+const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
+const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
+const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
+
+const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
+const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
+const double GPS_L5q_PERIOD = 0.001; //!< GPS L5 code period [seconds]
+
+const int GPS_L5_HISTORY_DEEP = 5;
+
+const int32_t GPS_L5i_INIT_REG[210] =
+ {266, 365, 804, 1138,
+ 1509, 1559, 1756, 2084,
+ 2170, 2303, 2527, 2687,
+ 2930, 3471, 3940, 4132,
+ 4332, 4924, 5343, 5443,
+ 5641, 5816, 5898, 5918,
+ 5955, 6243, 6345, 6477,
+ 6518, 6875, 7168, 7187,
+ 7329, 7577, 7720, 7777,
+ 8057, 5358, 3550, 3412,
+ 819,
+ 4608, 3698, 962, 3001,
+ 4441, 4937, 3717, 4730,
+ 7291, 2279, 7613, 5723,
+ 7030, 1475, 2593, 2904,
+ 2056, 2757, 3756, 6205,
+ 5053, 6437,
+ 7789, 2311, 7432, 5155,
+ 1593, 5841, 5014, 1545,
+ 3016, 4875, 2119, 229,
+ 7634, 1406, 4506, 1819,
+ 7580, 5446, 6053, 7958,
+ 5267, 2956, 3544, 1277,
+ 2996, 1758, 3360, 2718,
+ 3754, 7440, 2781, 6756,
+ 7314, 208, 5252, 696,
+ 527, 1399, 5879, 6868,
+ 217, 7681, 3788, 1337,
+ 2424, 4243, 5686, 1955,
+ 4791, 492, 1518, 6566,
+ 5349, 506, 113, 1953,
+ 2797, 934, 3023, 3632,
+ 1330, 4909, 4867, 1183,
+ 3990, 6217, 1224, 1733,
+ 2319, 3928, 2380, 841,
+ 5049, 7027, 1197, 7208,
+ 8000, 152, 6762, 3745,
+ 4723, 5502, 4796, 123,
+ 8142, 5091, 7875, 330,
+ 5272, 4912, 374, 2045,
+ 6616, 6321, 7605, 2570,
+ 2419, 1234, 1922, 4317,
+ 5110, 825, 958, 1089,
+ 7813, 6058, 7703, 6702,
+ 1714, 6371, 2281, 1986,
+ 6282, 3201, 3760, 1056,
+ 6233, 1150, 2823, 6250,
+ 645, 2401, 1639, 2946,
+ 7091, 923, 7045, 6493,
+ 1706, 5836, 926, 6086,
+ 950, 5905, 3240, 6675,
+ 3197, 1555, 3589, 4555,
+ 5671, 6948, 4664, 2086,
+ 5950, 5521, 1515};
+
+
+const int32_t GPS_L5q_INIT_REG[210] =
+ {
+ 1701, 323, 5292, 2020,
+ 5429, 7136, 1041, 5947,
+ 4315, 148, 535, 1939,
+ 5206, 5910, 3595, 5135,
+ 6082, 6990, 3546, 1523,
+ 4548, 4484, 1893, 3961,
+ 7106, 5299, 4660, 276,
+ 4389, 3783, 1591, 1601,
+ 749, 1387, 1661, 3210,
+ 708,
+ 4226, 5604, 6375, 3056,
+ 1772, 3662, 4401, 5218,
+ 2838, 6913, 1685, 1194,
+ 6963, 5001, 6694, 991,
+ 7489, 2441, 639, 2097,
+ 2498, 6470, 2399, 242,
+ 3768, 1186,
+ 5246, 4259, 5907, 3870,
+ 3262, 7387, 3069, 2999,
+ 7993, 7849, 4157, 5031,
+ 5986, 4833, 5739, 7846,
+ 898, 2022, 7446, 6404,
+ 155, 7862, 7795, 6121,
+ 4840, 6585, 429, 6020,
+ 200, 1664, 1499, 7298,
+ 1305, 7323, 7544, 4438,
+ 2485, 3387, 7319, 1853,
+ 5781, 1874, 7555, 2132,
+ 6441, 6722, 1192, 2588,
+ 2188, 297, 1540, 4138,
+ 5231, 4789, 659, 871,
+ 6837, 1393, 7383, 611,
+ 4920, 5416, 1611, 2474,
+ 118, 1382, 1092, 7950,
+ 7223, 1769, 4721, 1252,
+ 5147, 2165, 7897, 4054,
+ 3498, 6571, 2858, 8126,
+ 7017, 1901, 181, 1114,
+ 5195, 7479, 4186, 3904,
+ 7128, 1396, 4513, 5967,
+ 2580, 2575, 7961, 2598,
+ 4508, 2090, 3685, 7748,
+ 684, 913, 5558, 2894,
+ 5858, 6432, 3813, 3573,
+ 7523, 5280, 3376, 7424,
+ 2918, 5793, 1747, 7079,
+ 2921, 2490, 4119, 3373,
+ 977, 681, 4273, 5419,
+ 5626, 1266, 5804, 2414,
+ 6444, 4757, 427, 5452,
+ 5182, 6606, 6531, 4268,
+ 3115, 6835, 862, 4856,
+ 2765, 37, 1943, 7977,
+ 2512, 4451, 4071};
+
+const int GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits]
+const int GPS_L5_SYMBOLS_PER_BIT = 2;
+const int GPS_L5_SAMPLES_PER_SYMBOL = 1;
+const int GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
+const int GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;
+
+
+#endif /* GNSS_SDR_GPS_L5_H_ */
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.cc b/src/core/system_parameters/gps_cnav_navigation_message.cc
index cf49bba50..a48ba348f 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.cc
+++ b/src/core/system_parameters/gps_cnav_navigation_message.cc
@@ -188,7 +188,6 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
- //std::cout << "PRN=" << PRN << " TOW=" << d_TOW << " alert_flag=" << alert_flag << " page_type= " << page_type << std::endl;
switch(page_type)
{
case 10: // Ephemeris 1/2
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.h b/src/core/system_parameters/gps_cnav_navigation_message.h
index 9ab370a1a..a3710065c 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.h
+++ b/src/core/system_parameters/gps_cnav_navigation_message.h
@@ -39,6 +39,7 @@
#include
#include
#include "GPS_L2C.h"
+#include "GPS_L5.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
diff --git a/src/tests/system-tests/obs_system_test.cc b/src/tests/system-tests/obs_system_test.cc
index ca0fdfa4c..fad78a813 100644
--- a/src/tests/system-tests/obs_system_test.cc
+++ b/src/tests/system-tests/obs_system_test.cc
@@ -64,7 +64,7 @@ DEFINE_string(configuration_file, "./default_configuration.conf", "Path of confi
DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations");
DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange");
-DEFINE_double(pr_error_std_max, 5.0, "Maximum standard deviation in pseudorange");
+DEFINE_double(pr_error_std_max, 15.0, "Maximum standard deviation in pseudorange");
DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
DEFINE_double(dp_error_mean_max, 75.0, "Maximum mean error in Doppler frequency");
@@ -330,7 +330,10 @@ void ObsSystemTest::read_rinex_files(
meas_exist = true;
} // End of 'if( pointer == roe.obs.end() )'
} // end for
- sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
+ if (!set_pr_min)
+ {
+ sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
+ }
} // end while
} // End of 'try' block
catch(const gpstk::FFStreamError& e)
@@ -405,10 +408,10 @@ void ObsSystemTest::time_alignment_diff_cp(
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
arma::uword index_max = arma::max(index_);
mat_aux = iter_meas->rows(index_min, index_max);
- mat_aux.col(1) -= arma::min(mat_aux.col(1));
+ mat_aux.col(1) -= mat_aux.col(1)(0);
arma::vec ref_aligned;
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
- ref_aligned -= arma::min(ref_aligned);
+ ref_aligned -= ref_aligned(0);
*iter_diff = ref_aligned - mat_aux.col(1);
}
iter_ref++;
@@ -543,13 +546,27 @@ void ObsSystemTest::compute_pseudorange_error(
{
if(!iter_diff->is_empty())
{
+ while(iter_diff->has_nan())
+ {
+ bool nan_found = false;
+ int k_aux = 0;
+ while(!nan_found)
+ {
+ if(!iter_diff->row(k_aux).is_finite())
+ {
+ nan_found = true;
+ iter_diff->shed_row(k_aux);
+ }
+ k_aux++;
+ }
+ }
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast(prn_id));
std::cout << "-- RMS pseudorange difference for sat " << prn_id << ": " << d_mean;
- std::cout << " +/- " << d_stddev;
+ std::cout << ". Std. dev.: " << d_stddev;
std::cout << " [m]" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
@@ -581,8 +598,20 @@ void ObsSystemTest::compute_pseudorange_error(
g1.set_ylabel("Pseudorange error [m]");
g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation");
- //g1.savetops("FFT_execution_times_extended");
- //g1.savetopdf("FFT_execution_times_extended", 18);
+ size_t char_pos = signal_name.find(" ");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find(" ");
+ }
+ char_pos = signal_name.find("/");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find("/");
+ }
+ g1.savetops("Pseudorange_error_" + signal_name);
+ g1.savetopdf("Pseudorange_error_" + signal_name, 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)
@@ -608,13 +637,27 @@ void ObsSystemTest::compute_carrierphase_error(
{
if(!iter_diff->is_empty())
{
+ while(iter_diff->has_nan())
+ {
+ bool nan_found = false;
+ int k_aux = 0;
+ while(!nan_found)
+ {
+ if(!iter_diff->row(k_aux).is_finite())
+ {
+ nan_found = true;
+ iter_diff->shed_row(k_aux);
+ }
+ k_aux++;
+ }
+ }
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast(prn_id));
std::cout << "-- RMS carrier phase difference for sat " << prn_id << ": " << d_mean;
- std::cout << " +/- " << d_stddev;
+ std::cout << ". Std. dev.: " << d_stddev;
std::cout << " whole cycles" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
@@ -646,8 +689,20 @@ void ObsSystemTest::compute_carrierphase_error(
g1.set_ylabel("Carrier phase error [whole cycles]");
g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation");
- //g1.savetops("FFT_execution_times_extended");
- //g1.savetopdf("FFT_execution_times_extended", 18);
+ size_t char_pos = signal_name.find(" ");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find(" ");
+ }
+ char_pos = signal_name.find("/");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find("/");
+ }
+ g1.savetops("Carrier_phase_error_" + signal_name);
+ g1.savetopdf("Carrier_phase_error_" + signal_name, 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)
@@ -673,13 +728,27 @@ void ObsSystemTest::compute_doppler_error(
{
if(!iter_diff->is_empty())
{
+ while(iter_diff->has_nan())
+ {
+ bool nan_found = false;
+ int k_aux = 0;
+ while(!nan_found)
+ {
+ if(!iter_diff->row(k_aux).is_finite())
+ {
+ nan_found = true;
+ iter_diff->shed_row(k_aux);
+ }
+ k_aux++;
+ }
+ }
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast(prn_id));
std::cout << "-- RMS Doppler difference for sat " << prn_id << ": " << d_mean;
- std::cout << " +/- " << d_stddev;
+ std::cout << ". Std. dev.: " << d_stddev;
std::cout << " [Hz]" << std::endl;
EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std);
@@ -711,8 +780,20 @@ void ObsSystemTest::compute_doppler_error(
g1.set_ylabel("Doppler error [Hz]");
g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation");
- //g1.savetops("FFT_execution_times_extended");
- //g1.savetopdf("FFT_execution_times_extended", 18);
+ size_t char_pos = signal_name.find(" ");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find(" ");
+ }
+ char_pos = signal_name.find("/");
+ while(char_pos != std::string::npos)
+ {
+ signal_name.replace(char_pos, 1, "_");
+ char_pos = signal_name.find("/");
+ }
+ g1.savetops("Doppler_error_" + signal_name);
+ g1.savetopdf("Doppler_error_" + signal_name, 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)