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Adding code for pvt computation

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Damian Miralles 2017-07-17 20:09:10 -07:00 committed by Damian Miralles
parent 8a0689fbb1
commit fbd6b211eb
6 changed files with 386 additions and 16 deletions
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291
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -180,7 +180,37 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
d_ls_pvt->galileo_almanac = *galileo_almanac; d_ls_pvt->galileo_almanac = *galileo_almanac;
DLOG(INFO) << "New Galileo Almanac has arrived "; DLOG(INFO) << "New Galileo Almanac has arrived ";
} }
//**************** GLONASS GNAV Telemetry **************************
else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>) )
{
// ### GLONASS GNAV EPHEMERIS ###
std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->TOW_5
<< ", GLONASS GNAV Week Number =" << glonass_gnav_eph->WN_5
<< " and Ephemeris IOD = " << glonass_gnav_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>) )
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>) )
{
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived ";
}
else else
{ {
LOG(WARNING) << "msg_handler_telemetry unknown object type!"; LOG(WARNING) << "msg_handler_telemetry unknown object type!";
@ -403,6 +433,28 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty"; LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
} }
//save GLONASS GNAV ephemeris to XML file
file_name = "eph_GLONASS_GNAV.xml";
if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
{
try
{
std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
ofs.close();
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
}
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
try try
@ -455,6 +507,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
bool flag_write_RINEX_nav_output = false; bool flag_write_RINEX_nav_output = false;
unsigned int gps_channel = 0; unsigned int gps_channel = 0;
unsigned int gal_channel = 0; unsigned int gal_channel = 0;
unsigned int glo_channel = 0;
gnss_observables_map.clear(); gnss_observables_map.clear();
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
@ -467,10 +520,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN); std::map<int,Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN); std::map<int,Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN); std::map<int,Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0))
|| ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("5X") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0))
|| ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2C") == 0)))
{ {
// store valid observables in a map. // store valid observables in a map.
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch])); gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][epoch]));
@ -497,6 +553,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
} }
} }
if(d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
{
if(tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
} }
} }
@ -613,6 +677,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
* 20 | GPS L5 + Galileo E5b * 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C * 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5 * 22 | GPS L1 C/A + Galileo E1B + GPS L5
* 23 | GLONASS L1 C/A
* 24 | GLONASS L2 C/A
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GLONASS L1 C/A + GPS L1 C/A
* 27 | GLONASS L1 C/A + GPS L2C
* 28 | GLONASS L1 C/A + GPS L5
* 29 | GLONASS L1 C/A + Galileo E1B
* 30 | GLONASS L1 C/A + Galileo E5a
* 31 | GLONASS L1 C/A + Galileo E5b
*/ */
// ####################### RINEX FILES ################# // ####################### RINEX FILES #################
@ -620,6 +693,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int, Glonass_Gnav_Ephemeris>::iterator glonass_gnav_ephemeris_iter;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
if (!b_rinex_header_written) // & we have utc data in nav message! if (!b_rinex_header_written) // & we have utc data in nav message!
@ -627,6 +701,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
if(type_of_rx == 1) // GPS L1 C/A only if(type_of_rx == 1) // GPS L1 C/A only
{ {
@ -736,6 +811,87 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
b_rinex_header_written = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }
if(type_of_rx == 23) // GLONASS L1 C/A only
{
std::string signal("1C");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 24) // GLONASS L2 C/A only
{
std::string signal("2C");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
{
std::string signal("1C 2C");
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{
std::string gps_signal("1C 1C");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 27) // GLONASS L1 C/A + GPS L2C
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) )
{
std::string gps_signal("1C 1C");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 1B");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 30) // GLONASS L1 C/A + Galileo E5a
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 5X");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(type_of_rx == 31) // GLONASS L1 C/A + Galileo E5b
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) )
{
std::string gal_signal("1C 7X");
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
} }
if(b_rinex_header_written) // The header is already written, we can now log the navigation message data if(b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
@ -765,10 +921,27 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
{ {
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
} }
if((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS L1 C/A, GLONASS L2 C/A
{
rp->log_rinex_nav(rp->navGloFile, d_ls_pvt->glonass_gnav_ephemeris_map);
}
if((type_of_rx == 26)) // GLONASS L1 C/A + GPS L1 C/A
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_ephemeris_map);
}
if((type_of_rx == 27)) // GLONASS L1 C/A + GPS L2C
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->gps_cnav_ephemeris_map);
}
if((type_of_rx == 29) || (type_of_rx == 30) || (type_of_rx == 31)) // GLONASS L1 C/A + Galileo
{
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->glonass_gnav_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
}
} }
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
// Log observables into the RINEX file // Log observables into the RINEX file
if(flag_write_RINEX_obs_output) if(flag_write_RINEX_obs_output)
@ -890,6 +1063,120 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite
b_rinex_header_updated = true; b_rinex_header_updated = true;
} }
} }
if(type_of_rx == 23) // GLONASS L1 C/A only
{
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 24) // GLONASS L2 C/A only
{
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navGloFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 25) // GLONASS L1 C/A + GLONASS L2 C/A
{
if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
b_rinex_header_updated = true;
}
}
if(type_of_rx == 26) // GLONASS L1 C/A + GPS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
std::string gps_signal("1C 1C");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_ephemeris_iter->second, d_rx_time, gps_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 27) // GLONASS L1 C/A + GPS L1 C/A
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
{
std::string gps_signal("1C 2S");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gps_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 29) // GLONASS L1 C/A + Galileo E1B
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 1B");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 30) // GLONASS L1 C/A + Galileo E5a
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 5X");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
if(type_of_rx == 31) // GLONASS L1 C/A + Galileo E5b
{
if ((glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) && (gal_ephemeris_iter != d_ls_pvt->gal_ephemeris_map.end()) )
{
std::string gal_signal("1C 7X");
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
}
if (!b_rinex_header_updated && (d_ls_pvt->glonass_gnav_utc_model.d_tau_c != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->glonass_gnav_utc_model);
rp->update_nav_header(rp->navMixFile, d_ls_pvt->glonass_gnav_utc_model, d_ls_pvt->glonass_gnav_almanac, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_updated = true; // do not write header anymore
}
}
} }
} }

3
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -727,6 +727,3 @@ std::string Nmea_Printer::get_GPGGA()
return sentence_str.str(); return sentence_str.str();
//$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A //$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
} }

77
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -56,6 +56,7 @@
#include "rtklib_conversions.h" #include "rtklib_conversions.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "GLONASS_L1_CA.h"
using google::LogMessage; using google::LogMessage;
@ -114,6 +115,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -131,7 +133,9 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
switch(gnss_observables_iter->second.System) switch(gnss_observables_iter->second.System)
{ {
case 'E': // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1 // Galileo E1
@ -270,6 +274,76 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
break; break;
} }
case 'R': //TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if(sig_.compare("1C") == 0)
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.WN_5,
0);//TODO are THESE VALUES OK
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// GLONASS GNAV L2
if(sig_.compare("2C") == 0)
{
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.end())
{
bool found_L1_obs=false;
for (int i = 0; i < valid_obs; i++)
{
// TODO what is this?
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.WN_5,
2);//Band 3 (L5/E5)
found_L1_obs=true;
break;
}
}
if (!found_L1_obs)
{
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
default : default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
@ -366,5 +440,6 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
} }
}
return this->is_valid_position(); return this->is_valid_position();
} }

13
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -62,6 +62,7 @@
#include "galileo_navigation_message.h" #include "galileo_navigation_message.h"
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h" #include "gps_cnav_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pvt_solution.h" #include "pvt_solution.h"
@ -86,6 +87,7 @@ public:
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;
@ -97,7 +99,18 @@ public:
Gps_CNAV_Iono gps_cnav_iono; Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model; Gps_CNAV_Utc_Model gps_cnav_utc_model;
Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< GLONASS GNAV UTC Model
Glonass_Gnav_Almanac glonass_gnav_almanac; //!< GLONASS GNAV Almanac Model
int count_valid_position; int count_valid_position;
bool d_flag_dump_enabled;
sol_t pvt_sol;
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
}; };
#endif #endif

11
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -449,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_7 = true; flag_almanac_str_7 = true;
} }
@ -482,7 +482,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_9 = true; flag_almanac_str_9 = true;
} }
@ -512,7 +512,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_11 = true; flag_almanac_str_11 = true;
} }
@ -543,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_13 = true; flag_almanac_str_13 = true;
} }
@ -582,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_15 = true; flag_almanac_str_15 = true;
} }
@ -631,6 +631,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
//if all ephemeris pages have the same IOD, then they belong to the same block //if all ephemeris pages have the same IOD, then they belong to the same block
if ((gnav_ephemeris.d_t_b == 0) ) if ((gnav_ephemeris.d_t_b == 0) )
{ {
std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
flag_ephemeris_str_1 = false;// clear the flag flag_ephemeris_str_1 = false;// clear the flag
flag_ephemeris_str_2 = false;// clear the flag flag_ephemeris_str_2 = false;// clear the flag
flag_ephemeris_str_3 = false;// clear the flag flag_ephemeris_str_3 = false;// clear the flag

7
src/core/system_parameters/gnss_satellite.cc
View File

@ -157,7 +157,7 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
PRN = PRN_; PRN = PRN_;
} }
} }
else if (system.compare("Glonass") == 0) else if (system.compare("GLONASS") == 0)
{ {
if (PRN_ < 1 or PRN_ > 24) if (PRN_ < 1 or PRN_ > 24)
{ {
@ -356,7 +356,7 @@ std::string Gnss_Satellite::what_block(const std::string& system_, unsigned int
} }
if (system_.compare("Glonass") == 0) if (system_.compare("GLONASS") == 0)
{ {
switch ( PRN_ ) switch ( PRN_ )
{ {
@ -557,6 +557,3 @@ void Gnss_Satellite::set_block(const std::string& system_, unsigned int PRN_)
{ {
block = what_block(system_, PRN_); block = what_block(system_, PRN_);
} }