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Generate RINEX and HAS outputs for GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B receiver

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This commit is contained in:
Carles Fernandez 2023-11-08 16:33:26 +01:00
parent fe3d704c9d
commit f0c6a7184a
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GPG Key ID: 4C583C52B0C3877D
5 changed files with 67 additions and 2 deletions
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4
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -412,6 +412,10 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
{ {
pvt_output_parameters.type_of_receiver = 107; // GPS L1 C/A + Galileo E6B pvt_output_parameters.type_of_receiver = 107; // GPS L1 C/A + Galileo E6B
} }
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 108; // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
}
// BeiDou B1I Receiver // BeiDou B1I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{ {

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -434,7 +434,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
} }
// Initialize HAS simple printer // Initialize HAS simple printer
d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 107)) && (conf_.output_enabled)); d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 109)) && (conf_.output_enabled));
if (d_enable_has_messages) if (d_enable_has_messages)
{ {
d_has_simple_printer = std::make_unique<Has_Simple_Printer>(); d_has_simple_printer = std::make_unique<Has_Simple_Printer>();

58
src/algorithms/PVT/libs/rinex_printer.cc
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@ -724,6 +724,20 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
d_rinex_header_written = true; // do not write header anymore d_rinex_header_written = true; // do not write header anymore
} }
break; break;
case 108: // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
if ((galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend()) and
(gps_ephemeris_iter != pvt_solver->gps_ephemeris_map.cend()) and
(gps_cnav_ephemeris_iter != pvt_solver->gps_cnav_ephemeris_map.cend()))
{
const std::string gal_signal("1B 5X E6");
const std::string gps_signal("1C L5");
rinex_obs_header(obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gps_signal, gal_signal);
rinex_nav_header(navMixFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navMixfilename);
log_rinex_nav(navMixFile, pvt_solver->gps_ephemeris_map, pvt_solver->galileo_ephemeris_map);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 500: // BDS B1I only case 500: // BDS B1I only
if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend()) if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend())
{ {
@ -1237,7 +1251,33 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
} }
} }
} }
break;
case 108: // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
if (gps_ephemeris_iter != pvt_solver->gps_ephemeris_map.cend())
{
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
// we have Galileo ephemeris, maybe from assistance
log_rinex_obs(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gnss_observables_map);
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
{
update_obs_header(obsFile, pvt_solver->gps_utc_model);
update_nav_header(navMixFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
d_rinex_header_updated = true;
}
}
else
{
// we do not have galileo ephemeris, print only GPS data
log_rinex_obs(obsFile, gps_ephemeris_iter->second, rx_time, gnss_observables_map);
if (!d_rinex_header_updated && (pvt_solver->gps_utc_model.A0 != 0))
{
update_obs_header(obsFile, pvt_solver->gps_utc_model);
update_nav_header(navFile, pvt_solver->gps_utc_model, pvt_solver->gps_iono, gps_ephemeris_iter->second);
d_rinex_header_updated = true;
}
}
}
break; break;
case 500: // BDS B1I only case 500: // BDS B1I only
if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend()) if (beidou_dnav_ephemeris_iter != pvt_solver->beidou_dnav_ephemeris_map.cend())
@ -1374,6 +1414,16 @@ void Rinex_Printer::log_rinex_nav_gps_nav(int type_of_rx, const std::map<int32_t
log_rinex_nav(navFile, new_eph); log_rinex_nav(navFile, new_eph);
} }
break; break;
case 108: // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
if (navMixFile.tellp() != 0)
{
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
}
else
{
log_rinex_nav(navFile, new_eph);
}
break;
case 1000: // L1+L2+L5 case 1000: // L1+L2+L5
log_rinex_nav(navFile, new_eph); log_rinex_nav(navFile, new_eph);
break; break;
@ -1437,6 +1487,12 @@ void Rinex_Printer::log_rinex_nav_gal_nav(int type_of_rx, const std::map<int32_t
log_rinex_nav(navMixFile, new_eph, new_gal_eph); log_rinex_nav(navMixFile, new_eph, new_gal_eph);
} }
break; break;
case 108: // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
if (navMixFile.tellp() != 0)
{
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
}
break;
case 1001: // L1+E1+L2+L5+E5a case 1001: // L1+E1+L2+L5+E5a
log_rinex_nav(navMixFile, new_eph, new_gal_eph); log_rinex_nav(navMixFile, new_eph, new_gal_eph);
break; break;

1
src/algorithms/PVT/libs/rinex_printer.h
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@ -144,6 +144,7 @@ public:
* 105 | Galileo E1B + Galileo E5b + Galileo E6B * 105 | Galileo E1B + Galileo E5b + Galileo E6B
* 106 | GPS L1 C/A + Galileo E1B + Galileo E6B * 106 | GPS L1 C/A + Galileo E1B + Galileo E6B
* 107 | GPS L1 C/A + Galileo E6B * 107 | GPS L1 C/A + Galileo E6B
* 108 | GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
* 500 | BeiDou B1I * 500 | BeiDou B1I
* 501 | BeiDou B1I + GPS L1 C/A * 501 | BeiDou B1I + GPS L1 C/A
* 502 | BeiDou B1I + Galileo E1B * 502 | BeiDou B1I + Galileo E1B

4
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -128,6 +128,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
break; break;
case 108: // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
d_rtklib_band_index["E6"] = 2;
d_rtklib_freq_index[2] = 3;
break;
} }
// auto empty_map = std::map < int, HAS_obs_corrections >> (); // auto empty_map = std::map < int, HAS_obs_corrections >> ();
// d_has_obs_corr_map["L1 C/A"] = empty_map; // d_has_obs_corr_map["L1 C/A"] = empty_map;