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Merge branch 'glonass-id' of github.com:carlesfernandez/gnss-sdr into has-fixes

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This commit is contained in:
Carles Fernandez
2026-05-24 22:57:17 +02:00
parent efb600ff21 3575075238
commit efe56c047f
5 changed files with 104 additions and 114 deletions
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src/core/receiver/gnss_flowgraph.cc
+46 -3
View File
@@ -20,6 +20,7 @@
*/
#include "gnss_flowgraph.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
@@ -2029,15 +2030,51 @@ std::vector<std::string> GNSSFlowgraph::split_string(const std::string& s, char
}
void GNSSFlowgraph::keep_one_glonass_slot_per_frequency(std::set<unsigned int>& available_prns)
{
std::set<int32_t> selected_frequency_channels;
std::set<unsigned int> unique_frequency_prns;
for (const auto prn : available_prns)
{
if (prn == 0)
{
LOG(WARNING) << "Ignoring invalid GLONASS slot " << prn << " in Glonass.prns";
continue;
}
const auto freq_channel = GLONASS_PRN.find(prn);
if (freq_channel == GLONASS_PRN.cend())
{
LOG(WARNING) << "Ignoring GLONASS slot " << prn << " without a configured GLONASS frequency channel";
continue;
}
if (selected_frequency_channels.insert(freq_channel->second).second)
{
unique_frequency_prns.insert(prn);
}
else
{
LOG(WARNING) << "Ignoring GLONASS slot " << prn
<< " because another configured orbital slot already uses frequency channel "
<< freq_channel->second;
}
}
available_prns = std::move(unique_frequency_prns);
}
void GNSSFlowgraph::set_signals_list()
{
// Glonass removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
// GLONASS uses FDMA, so only one orbital slot per frequency channel is queued for acquisition.
std::unordered_map<std::string, std::set<unsigned int>> available_prn_map = {
{"GPS", {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}},
{"SBAS", {123, 131, 135, 136, 138}},
{"Galileo", {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36}},
{"Glonass", {1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24}},
{"Glonass", {1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 26, 27, 28}},
{"Beidou", {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37,
38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54,
@@ -2092,6 +2129,11 @@ void GNSSFlowgraph::set_signals_list()
}
}
}
if (gnss_system_str == "Glonass")
{
keep_one_glonass_slot_per_frequency(available_prns);
}
}
#if CXX_LESS_THAN_17
for (const auto& entry : signal_mapping)
@@ -2276,7 +2318,8 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_signals), std::end(available_signals),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
[&](Gnss_Signal const& sig)
{ return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_signals.end())
{
src/core/receiver/gnss_flowgraph.h
+3
View File
@@ -39,6 +39,7 @@
#include <map> // for map
#include <memory> // for for shared_ptr, dynamic_pointer_cast
#include <mutex> // for mutex
#include <set> // for set
#include <string> // for string
#include <unordered_map> // for unordered_map
#include <utility> // for pair
@@ -197,6 +198,8 @@ private:
void check_signal_conditioners();
void set_signals_list();
void keep_one_glonass_slot_per_frequency(std::set<unsigned int>& available_prns);
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
Gnss_Signal search_next_signal(const std::string& searched_signal,
src/core/system_parameters/GLONASS_L1_L2_CA.h
+20 -4
View File
@@ -141,7 +141,8 @@ constexpr double GLONASS_LEAP_SECONDS[19][7] = {
{1981, 7, 1, 0, 0, 0, -1},
{}};
//!< GLONASS SV's orbital slots PRN = (orbital_slot - 1)
// GLONASS RINEX satellite numbers are slot numbers. This table maps Rnn slot
// numbers to the corresponding FDMA frequency channel.
const std::map<uint32_t, int32_t> GLONASS_PRN = {
{
0,
@@ -225,7 +226,7 @@ const std::map<uint32_t, int32_t> GLONASS_PRN = {
}, // Plane 3
{
20,
-5,
2,
}, // Plane 3
{
21,
@@ -238,8 +239,23 @@ const std::map<uint32_t, int32_t> GLONASS_PRN = {
{
23,
3,
}, // Plane 3
{24, 2}}; // Plane 3
}, // Plane 3
{
24,
2,
}, // Plane 3
{
26,
-6,
},
{
27,
-5,
},
{
28,
7,
}};
const std::vector<int32_t> GLONASS_GNAV_CRC_I_INDEX{9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
const std::vector<int32_t> GLONASS_GNAV_CRC_J_INDEX{9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
src/core/system_parameters/gnss_satellite.cc
+14 -107
View File
@@ -15,6 +15,7 @@
*/
#include "gnss_satellite.h"
#include "GLONASS_L1_L2_CA.h"
#include <stdexcept>
#include <utility>
@@ -225,14 +226,17 @@ void Gnss_Satellite::update_PRN(uint32_t PRN_)
}
else
{
if (PRN_ < 1 or PRN_ > 24)
if (PRN_ < 1 or PRN_ > 31)
{
DLOG(INFO) << "This PRN is not defined";
// Adjusting for PRN 26, now used in
PRN = PRN_;
DLOG(INFO) << "This GLONASS slot number is not defined";
PRN = 0;
}
else
{
if (GLONASS_PRN.find(PRN_) == GLONASS_PRN.cend())
{
DLOG(INFO) << "GLONASS frequency channel for slot " << PRN_ << " is not configured";
}
PRN = PRN_;
}
}
@@ -261,9 +265,9 @@ void Gnss_Satellite::set_PRN(uint32_t PRN_)
}
else if (system == "Glonass")
{
if (PRN_ < 1 or PRN_ > 24)
if (PRN_ == 0 or GLONASS_PRN.find(PRN_) == GLONASS_PRN.cend())
{
DLOG(INFO) << "This PRN is not defined";
DLOG(INFO) << "This GLONASS slot/frequency channel is not configured";
PRN = 0;
}
else
@@ -489,108 +493,11 @@ std::string Gnss_Satellite::what_block(const std::string& system_, uint32_t PRN_
if (system_ == "Glonass")
{
// Info from http://www.sdcm.ru/smglo/grupglo?version=eng&site=extern
// See also https://www.glonass-iac.ru/en/GLONASS/
switch (PRN_)
const auto freq_channel = GLONASS_PRN.find(PRN_);
if (freq_channel != GLONASS_PRN.cend())
{
case 1:
block_ = std::string("1"); // Plane 1
rf_link = 1;
break;
case 2:
block_ = std::string("-4"); // Plane 1
rf_link = -4;
break;
case 3:
block_ = std::string("5"); // Plane 1
rf_link = 5;
break;
case 4:
block_ = std::string("6"); // Plane 1
rf_link = 6;
break;
case 5:
block_ = std::string("1"); // Plane 1
rf_link = 1;
break;
case 6:
block_ = std::string("-4"); // Plane 1
rf_link = -4;
break;
case 7:
block_ = std::string("5"); // Plane 1
rf_link = 5;
break;
case 8:
block_ = std::string("6"); // Plane 1
rf_link = 6;
break;
case 9:
block_ = std::string("-2"); // Plane 2
rf_link = -2;
break;
case 10:
block_ = std::string("-7"); // Plane 2
rf_link = -7;
break;
case 11:
block_ = std::string("0"); // Plane 2
rf_link = 0;
break;
case 12:
block_ = std::string("-1"); // Plane 2
rf_link = -1;
break;
case 13:
block_ = std::string("-2"); // Plane 2
rf_link = -2;
break;
case 14:
block_ = std::string("-7"); // Plane 2
rf_link = -7;
break;
case 15:
block_ = std::string("0"); // Plane 2
rf_link = 0;
break;
case 16:
block_ = std::string("-1"); // Plane 2
rf_link = -1;
break;
case 17:
block_ = std::string("4"); // Plane 3
rf_link = 4;
break;
case 18:
block_ = std::string("-3"); // Plane 3
rf_link = -3;
break;
case 19:
block_ = std::string("3"); // Plane 3
rf_link = 3;
break;
case 20:
block_ = std::string("2"); // Plane 3
rf_link = 2;
break;
case 21:
block_ = std::string("4"); // Plane 3
rf_link = 4;
break;
case 22:
block_ = std::string("-3"); // Plane 3
rf_link = -3;
break;
case 23:
block_ = std::string("3"); // Plane 3
rf_link = 3;
break;
case 24:
block_ = std::string("2"); // Plane 3
rf_link = 2;
break;
default:
block_ = std::string("Unknown");
rf_link = freq_channel->second;
block_ = std::to_string(freq_channel->second);
}
}
if (system_ == "SBAS")
tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
+21
View File
@@ -18,7 +18,28 @@
#include "glonass_gnav_ephemeris.h"
#include "GLONASS_L1_L2_CA.h"
#include "gnss_signal_replica.h"
#include "gnss_satellite.h"
TEST(GlonassGnavEphemerisTest, SatelliteRfLinkMatchesFrequencyChannelTable)
{
EXPECT_EQ(2, Gnss_Satellite("Glonass", 20).get_rf_link());
EXPECT_EQ(-5, Gnss_Satellite("Glonass", 27).get_rf_link());
EXPECT_EQ(7, Gnss_Satellite("Glonass", 28).get_rf_link());
for (const auto& prn_freq : GLONASS_PRN)
{
if (prn_freq.first == 0)
{
continue;
}
const Gnss_Satellite satellite("Glonass", prn_freq.first);
EXPECT_EQ(prn_freq.second, satellite.get_rf_link()) << "PRN " << prn_freq.first;
}
}
TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)