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Modify CNAV GPS L5 files
This commit is contained in:
Antonio Ramos
186
src/core/system_parameters/GPS_L5.h
Normal file
186
src/core/system_parameters/GPS_L5.h
Normal file
@@ -0,0 +1,186 @@
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/*!
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* \file GPS_L5.h
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* \brief Defines system parameters for GPS L5 signal
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* \author Javier Arribas, 2017. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GPS_L5_H_
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#define GNSS_SDR_GPS_L5_H_
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#include <cstdint>
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#include <vector>
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#include <utility> // std::pair
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#include "MATH_CONSTANTS.h"
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#include "gnss_frequencies.h"
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#include "GPS_L2C.h"
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// Physical constants
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const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s]
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const double GPS_L5_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
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const double GPS_L5_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
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const double GPS_L5_TWO_PI = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
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const double GPS_L5_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
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const double GPS_L5_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
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const double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
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// carrier and code frequencies
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const double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
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const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
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const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
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const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
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const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
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const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
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const double GPS_L5q_PERIOD = 0.001; //!< GPS L5 code period [seconds]
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const int GPS_L5_HISTORY_DEEP = 5;
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const int32_t GPS_L5i_INIT_REG[210] =
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{266, 365, 804, 1138,
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1509, 1559, 1756, 2084,
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2170, 2303, 2527, 2687,
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2930, 3471, 3940, 4132,
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4332, 4924, 5343, 5443,
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5641, 5816, 5898, 5918,
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5955, 6243, 6345, 6477,
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6518, 6875, 7168, 7187,
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7329, 7577, 7720, 7777,
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8057, 5358, 3550, 3412,
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819,
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4608, 3698, 962, 3001,
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4441, 4937, 3717, 4730,
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7291, 2279, 7613, 5723,
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7030, 1475, 2593, 2904,
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2056, 2757, 3756, 6205,
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5053, 6437,
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7789, 2311, 7432, 5155,
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1593, 5841, 5014, 1545,
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3016, 4875, 2119, 229,
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7634, 1406, 4506, 1819,
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7580, 5446, 6053, 7958,
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5267, 2956, 3544, 1277,
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2996, 1758, 3360, 2718,
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3754, 7440, 2781, 6756,
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7314, 208, 5252, 696,
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527, 1399, 5879, 6868,
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217, 7681, 3788, 1337,
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2424, 4243, 5686, 1955,
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4791, 492, 1518, 6566,
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5349, 506, 113, 1953,
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2797, 934, 3023, 3632,
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1330, 4909, 4867, 1183,
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3990, 6217, 1224, 1733,
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2319, 3928, 2380, 841,
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5049, 7027, 1197, 7208,
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8000, 152, 6762, 3745,
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4723, 5502, 4796, 123,
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8142, 5091, 7875, 330,
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5272, 4912, 374, 2045,
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6616, 6321, 7605, 2570,
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2419, 1234, 1922, 4317,
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5110, 825, 958, 1089,
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7813, 6058, 7703, 6702,
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1714, 6371, 2281, 1986,
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6282, 3201, 3760, 1056,
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6233, 1150, 2823, 6250,
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645, 2401, 1639, 2946,
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7091, 923, 7045, 6493,
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1706, 5836, 926, 6086,
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950, 5905, 3240, 6675,
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3197, 1555, 3589, 4555,
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5671, 6948, 4664, 2086,
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5950, 5521, 1515};
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const int32_t GPS_L5q_INIT_REG[210] =
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{
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1701, 323, 5292, 2020,
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5429, 7136, 1041, 5947,
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4315, 148, 535, 1939,
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5206, 5910, 3595, 5135,
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6082, 6990, 3546, 1523,
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4548, 4484, 1893, 3961,
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7106, 5299, 4660, 276,
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4389, 3783, 1591, 1601,
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749, 1387, 1661, 3210,
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708,
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4226, 5604, 6375, 3056,
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1772, 3662, 4401, 5218,
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2838, 6913, 1685, 1194,
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6963, 5001, 6694, 991,
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7489, 2441, 639, 2097,
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2498, 6470, 2399, 242,
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3768, 1186,
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5246, 4259, 5907, 3870,
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3262, 7387, 3069, 2999,
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7993, 7849, 4157, 5031,
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5986, 4833, 5739, 7846,
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898, 2022, 7446, 6404,
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155, 7862, 7795, 6121,
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4840, 6585, 429, 6020,
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200, 1664, 1499, 7298,
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1305, 7323, 7544, 4438,
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2485, 3387, 7319, 1853,
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5781, 1874, 7555, 2132,
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6441, 6722, 1192, 2588,
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2188, 297, 1540, 4138,
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5231, 4789, 659, 871,
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6837, 1393, 7383, 611,
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4920, 5416, 1611, 2474,
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118, 1382, 1092, 7950,
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7223, 1769, 4721, 1252,
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5147, 2165, 7897, 4054,
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3498, 6571, 2858, 8126,
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7017, 1901, 181, 1114,
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5195, 7479, 4186, 3904,
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7128, 1396, 4513, 5967,
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2580, 2575, 7961, 2598,
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4508, 2090, 3685, 7748,
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684, 913, 5558, 2894,
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5858, 6432, 3813, 3573,
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7523, 5280, 3376, 7424,
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2918, 5793, 1747, 7079,
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2921, 2490, 4119, 3373,
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977, 681, 4273, 5419,
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5626, 1266, 5804, 2414,
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6444, 4757, 427, 5452,
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5182, 6606, 6531, 4268,
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3115, 6835, 862, 4856,
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2765, 37, 1943, 7977,
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2512, 4451, 4071};
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const int GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits]
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const int GPS_L5_SYMBOLS_PER_BIT = 2;
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const int GPS_L5_SAMPLES_PER_SYMBOL = 1;
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const int GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
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const int GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;
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#endif /* GNSS_SDR_GPS_L5_H_ */
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@@ -188,7 +188,6 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_L2_CNAV_DATA_PAGE_
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page_type = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
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//std::cout << "PRN=" << PRN << " TOW=" << d_TOW << " alert_flag=" << alert_flag << " page_type= " << page_type << std::endl;
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switch(page_type)
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{
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case 10: // Ephemeris 1/2
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@@ -39,6 +39,7 @@
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#include <vector>
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#include <utility>
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#include "GPS_L2C.h"
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#include "GPS_L5.h"
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#include "gps_cnav_ephemeris.h"
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#include "gps_cnav_iono.h"
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#include "gps_cnav_utc_model.h"
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@@ -64,7 +64,7 @@ DEFINE_string(configuration_file, "./default_configuration.conf", "Path of confi
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DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations");
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DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
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DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange");
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DEFINE_double(pr_error_std_max, 5.0, "Maximum standard deviation in pseudorange");
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DEFINE_double(pr_error_std_max, 15.0, "Maximum standard deviation in pseudorange");
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DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
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DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
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DEFINE_double(dp_error_mean_max, 75.0, "Maximum mean error in Doppler frequency");
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@@ -330,7 +330,10 @@ void ObsSystemTest::read_rinex_files(
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meas_exist = true;
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} // End of 'if( pointer == roe.obs.end() )'
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} // end for
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if (!set_pr_min)
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{
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sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
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}
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} // end while
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} // End of 'try' block
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catch(const gpstk::FFStreamError& e)
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@@ -405,10 +408,10 @@ void ObsSystemTest::time_alignment_diff_cp(
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index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
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arma::uword index_max = arma::max(index_);
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mat_aux = iter_meas->rows(index_min, index_max);
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mat_aux.col(1) -= arma::min(mat_aux.col(1));
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mat_aux.col(1) -= mat_aux.col(1)(0);
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arma::vec ref_aligned;
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arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
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ref_aligned -= arma::min(ref_aligned);
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ref_aligned -= ref_aligned(0);
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*iter_diff = ref_aligned - mat_aux.col(1);
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}
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iter_ref++;
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@@ -543,13 +546,27 @@ void ObsSystemTest::compute_pseudorange_error(
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{
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if(!iter_diff->is_empty())
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{
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while(iter_diff->has_nan())
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{
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bool nan_found = false;
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int k_aux = 0;
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while(!nan_found)
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{
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if(!iter_diff->row(k_aux).is_finite())
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{
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nan_found = true;
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iter_diff->shed_row(k_aux);
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}
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k_aux++;
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}
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}
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double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- RMS pseudorange difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << ". Std. dev.: " << d_stddev;
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std::cout << " [m]" << std::endl;
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EXPECT_LT(d_mean, error_th_mean);
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EXPECT_LT(d_stddev, error_th_std);
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@@ -581,8 +598,20 @@ void ObsSystemTest::compute_pseudorange_error(
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g1.set_ylabel("Pseudorange error [m]");
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g1.plot_xy(prns, means, "RMS error");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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size_t char_pos = signal_name.find(" ");
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while(char_pos != std::string::npos)
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{
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signal_name.replace(char_pos, 1, "_");
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char_pos = signal_name.find(" ");
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}
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char_pos = signal_name.find("/");
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while(char_pos != std::string::npos)
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{
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signal_name.replace(char_pos, 1, "_");
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char_pos = signal_name.find("/");
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}
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g1.savetops("Pseudorange_error_" + signal_name);
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g1.savetopdf("Pseudorange_error_" + signal_name, 18);
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g1.showonscreen(); // window output
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}
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catch (const GnuplotException & ge)
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@@ -608,13 +637,27 @@ void ObsSystemTest::compute_carrierphase_error(
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{
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if(!iter_diff->is_empty())
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{
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while(iter_diff->has_nan())
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{
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bool nan_found = false;
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int k_aux = 0;
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while(!nan_found)
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{
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if(!iter_diff->row(k_aux).is_finite())
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{
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nan_found = true;
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iter_diff->shed_row(k_aux);
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}
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k_aux++;
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}
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}
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double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- RMS carrier phase difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << ". Std. dev.: " << d_stddev;
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std::cout << " whole cycles" << std::endl;
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EXPECT_LT(d_mean, error_th_mean);
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EXPECT_LT(d_stddev, error_th_std);
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@@ -646,8 +689,20 @@ void ObsSystemTest::compute_carrierphase_error(
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g1.set_ylabel("Carrier phase error [whole cycles]");
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g1.plot_xy(prns, means, "RMS error");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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size_t char_pos = signal_name.find(" ");
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while(char_pos != std::string::npos)
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{
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signal_name.replace(char_pos, 1, "_");
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char_pos = signal_name.find(" ");
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}
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char_pos = signal_name.find("/");
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while(char_pos != std::string::npos)
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{
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signal_name.replace(char_pos, 1, "_");
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char_pos = signal_name.find("/");
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}
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g1.savetops("Carrier_phase_error_" + signal_name);
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g1.savetopdf("Carrier_phase_error_" + signal_name, 18);
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g1.showonscreen(); // window output
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}
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catch (const GnuplotException & ge)
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@@ -673,13 +728,27 @@ void ObsSystemTest::compute_doppler_error(
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{
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if(!iter_diff->is_empty())
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{
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while(iter_diff->has_nan())
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{
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bool nan_found = false;
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int k_aux = 0;
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while(!nan_found)
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{
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if(!iter_diff->row(k_aux).is_finite())
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{
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nan_found = true;
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iter_diff->shed_row(k_aux);
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}
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k_aux++;
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}
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}
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double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
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means.push_back(d_mean);
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double d_stddev = arma::stddev(*iter_diff);
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stddevs.push_back(d_stddev);
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prns.push_back(static_cast<double>(prn_id));
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std::cout << "-- RMS Doppler difference for sat " << prn_id << ": " << d_mean;
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std::cout << " +/- " << d_stddev;
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std::cout << ". Std. dev.: " << d_stddev;
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std::cout << " [Hz]" << std::endl;
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EXPECT_LT(d_mean, error_th_mean);
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EXPECT_LT(d_stddev, error_th_std);
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@@ -711,8 +780,20 @@ void ObsSystemTest::compute_doppler_error(
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g1.set_ylabel("Doppler error [Hz]");
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g1.plot_xy(prns, means, "RMS error");
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g1.plot_xy(prns, stddevs, "Standard deviation");
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//g1.savetops("FFT_execution_times_extended");
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//g1.savetopdf("FFT_execution_times_extended", 18);
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size_t char_pos = signal_name.find(" ");
|
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while(char_pos != std::string::npos)
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{
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signal_name.replace(char_pos, 1, "_");
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char_pos = signal_name.find(" ");
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}
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char_pos = signal_name.find("/");
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while(char_pos != std::string::npos)
|
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{
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signal_name.replace(char_pos, 1, "_");
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||||
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)
|
||||
|
||||
Reference in New Issue
Block a user