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Improve log of dual-band GPS observations in RINEX files

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This commit is contained in:
Carles Fernandez 2016-11-01 13:01:35 +01:00
parent 74a23c5575
commit ece71a53fb
2 changed files with 149 additions and 112 deletions
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183
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -4064,141 +4064,100 @@ void Rinex_Printer::log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph
}
}
// Get common observables
std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > > common_pseudoranges;
std::vector< std::pair< Gnss_Synchro, Gnss_Synchro > >::const_iterator common_pseudoranges_iter;
std::multimap<unsigned int, Gnss_Synchro> total_map;
std::set<unsigned int> available_prns;
std::set<unsigned int>::iterator it;
for(pseudoranges_iter = pseudorangesL1.begin();
pseudoranges_iter != pseudorangesL1.end();
pseudoranges_iter++)
{
unsigned int prn_ = pseudoranges_iter->second.PRN;
for(pseudoranges_iter2 = pseudorangesL2.begin();
pseudoranges_iter2 != pseudorangesL2.end();
pseudoranges_iter2++)
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
it = available_prns.find(prn_);
if(it == available_prns.end())
{
if(pseudoranges_iter2->second.PRN == prn_)
{
std::pair<Gnss_Synchro, Gnss_Synchro> p;
Gnss_Synchro pr1 = pseudoranges_iter->second;
Gnss_Synchro pr2 = pseudoranges_iter2->second;
p = std::make_pair(pr1, pr2);
common_pseudoranges.push_back(p);
}
available_prns.insert(prn_);
}
}
int numSatellitesObserved = common_pseudoranges.size();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
for(pseudoranges_iter = pseudorangesL2.begin();
pseudoranges_iter != pseudorangesL2.end();
pseudoranges_iter++)
{
unsigned int prn_ = pseudoranges_iter->second.PRN;
total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
it = available_prns.find(prn_);
if(it == available_prns.end())
{
available_prns.insert(prn_);
}
}
int numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
for(common_pseudoranges_iter = common_pseudoranges.begin();
common_pseudoranges_iter != common_pseudoranges.end();
common_pseudoranges_iter++)
std::string lineObs;
std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
for(it = available_prns.begin();
it != available_prns.end();
it++)
{
std::string lineObs;
lineObs.clear();
lineObs += satelliteSystem["GPS"];
if (static_cast<int>(std::get<0>(*common_pseudoranges_iter).PRN) < 10) lineObs += std::string(1, '0');
lineObs += boost::lexical_cast<std::string>(static_cast<int>(std::get<0>(*common_pseudoranges_iter).PRN));
//lineObs += std::string(2, ' ');
// GPS L1 CA PSEUDORANGE
lineObs += Rinex_Printer::rightJustify(asString(std::get<0>(*common_pseudoranges_iter).Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
int lli = 0; // Include in the observation!!
if (lli == 0)
if (static_cast<int>(*it) < 10) lineObs += std::string(1, '0');
lineObs += boost::lexical_cast<std::string>(static_cast<int>(*it));
ret = total_map.equal_range(*it);
for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
// Signal Strength Indicator (SSI)
int ssi = Rinex_Printer::signalStrength(std::get<0>(*common_pseudoranges_iter).CN0_dB_hz);
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
//Loss of lock indicator (LLI)
int lli = 0; // Include in the observation!!
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
// GPS L1 CA PHASE
lineObs += Rinex_Printer::rightJustify(asString(std::get<0>(*common_pseudoranges_iter).Carrier_phase_rads / GPS_TWO_PI, 3), 14);
if (lli == 0)
{
lineObs += std::string(1, ' ');
// Signal Strength Indicator (SSI)
int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS CARRIER PHASE
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GALILEO_TWO_PI), 3), 14);
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
// GPS L1 CA DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(std::get<0>(*common_pseudoranges_iter).Carrier_Doppler_hz, 3), 14);
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
//GPS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(std::get<0>(*common_pseudoranges_iter).CN0_dB_hz, 3), 14);
// GPS L2 PSEUDORANGE
lineObs += Rinex_Printer::rightJustify(asString(std::get<1>(*common_pseudoranges_iter).Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
int lli_2 = 0; // Include in the observation!!
if (lli_2 == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli_2), 1);
}
// Signal Strength Indicator (SSI)
int ssi_2 = Rinex_Printer::signalStrength(std::get<1>(*common_pseudoranges_iter).CN0_dB_hz);
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi_2), 1);
// GPS L2 PHASE
lineObs += Rinex_Printer::rightJustify(asString(std::get<0>(*common_pseudoranges_iter).Carrier_phase_rads / GPS_TWO_PI, 3), 14);
if (lli_2 == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli_2), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi_2), 1);
// GPS L2 DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(std::get<1>(*common_pseudoranges_iter).Carrier_Doppler_hz, 3), 14);
if (lli_2 == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli_2), 1);
}
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi_2), 1);
//GPS L2 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(std::get<1>(*common_pseudoranges_iter).CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;

78
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
View File

@ -200,6 +200,84 @@ TEST(Rinex_Printer_Test, GalileoObsLog)
if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
TEST(Rinex_Printer_Test, GpsObsLogDualBand)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
const Gps_Ephemeris eph_gps = Gps_Ephemeris();
const Gps_CNAV_Ephemeris eph_cnav = Gps_CNAV_Ephemeris();
std::shared_ptr<Rinex_Printer> rp;
rp = std::make_shared<Rinex_Printer>();
rp->rinex_obs_header(rp->obsFile, eph_gps, eph_cnav, 0.0);
std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
Gnss_Synchro gs1 = Gnss_Synchro();
Gnss_Synchro gs2 = Gnss_Synchro();
Gnss_Synchro gs3 = Gnss_Synchro();
Gnss_Synchro gs4 = Gnss_Synchro();
std::string sys = "G";
gs1.System = *sys.c_str();
gs2.System = *sys.c_str();
gs3.System = *sys.c_str();
gs4.System = *sys.c_str();
std::string sig = "1C";
std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
sig = "2S";
std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
gs1.PRN = 3;
gs2.PRN = 8;
gs3.PRN = 7;
gs4.PRN = 8;
gs2.Pseudorange_m = 22000002.1;
gs2.Carrier_phase_rads = 45.4;
gs2.Carrier_Doppler_hz = 321;
gs2.CN0_dB_hz = 39;
gs4.Pseudorange_m = 22000000;
gs4.Carrier_phase_rads = 23.4;
gs4.Carrier_Doppler_hz = 1534;
gs4.CN0_dB_hz = 42;
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
rp->log_rinex_obs(rp->obsFile, eph_gps, eph_cnav, 0.0, gnss_pseudoranges_map);
rp->obsFile.seekp(0);
while(!rp->obsFile.eof())
{
std::getline(rp->obsFile, line_str);
if(!no_more_finds)
{
if (line_str.find("G08", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("G08 22000002.100 6 7.226 6 321.000 6 39.000 22000000.000 7 3.724 7 1534.000 7 42.000");
EXPECT_EQ(0, expected_str.compare(line_aux));
if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
TEST(Rinex_Printer_Test, GalileoObsLogDualBand)
{
std::string line_aux;