/*! * \file rtklib_solver.cc * \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR * data flow and structures * \authors * * This is a derived work from RTKLIB http://www.rtklib.com/ * The original source code at https://github.com/tomojitakasu/RTKLIB is * released under the BSD 2-clause license with an additional exclusive clause * that does not apply here. This additional clause is reproduced below: * * " The software package includes some companion executive binaries or shared * libraries necessary to execute APs on Windows. These licenses succeed to the * original ones of these software. " * * Neither the executive binaries nor the shared libraries are required by, used * or included in GNSS-SDR. * * ----------------------------------------------------------------------------- * Copyright (C) 2007-2013, T. Takasu * Copyright (C) 2017-2019, Javier Arribas * Copyright (C) 2017-2019, Carles Fernandez * All rights reserved. * * SPDX-License-Identifier: BSD-2-Clause * * -----------------------------------------------------------------------*/ #include "rtklib_solver.h" #include "Beidou_DNAV.h" #include "rtklib_conversions.h" #include "rtklib_rtkpos.h" #include "rtklib_solution.h" #include #include #include #include #include #if HAS_STD_FILESYSTEM #include namespace errorlib = std; #if HAS_STD_FILESYSTEM_EXPERIMENTAL #include namespace fs = std::experimental::filesystem; #else #include namespace fs = std::filesystem; #endif #else #include // for create_directories, exists #include // for path, operator<< #include // for filesystem #include // for error_code namespace fs = boost::filesystem; namespace errorlib = boost::system; #endif Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, int nchannels, const std::string &dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat) { // init empty ephemeris for all the available GNSS channels rtk_ = rtk; d_nchannels = nchannels; d_dump_filename = dump_filename; d_flag_dump_enabled = flag_dump_to_file; d_flag_dump_mat_enabled = flag_dump_to_mat; this->set_averaging_flag(false); // ############# ENABLE DATA FILE LOG ################# if (d_flag_dump_enabled == true) { if (d_dump_file.is_open() == false) { try { d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); } catch (const std::ofstream::failure &e) { LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what(); } } } } Rtklib_Solver::~Rtklib_Solver() { DLOG(INFO) << "Rtklib_Solver destructor called."; if (d_dump_file.is_open() == true) { const auto pos = d_dump_file.tellp(); try { d_dump_file.close(); } catch (const std::exception &ex) { LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what(); } if (pos == 0) { errorlib::error_code ec; if (!fs::remove(fs::path(d_dump_filename), ec)) { std::cerr << "Problem removing temporary file " << d_dump_filename << '\n'; } d_flag_dump_mat_enabled = false; } } if (d_flag_dump_mat_enabled) { try { save_matfile(); } catch (const std::exception &ex) { LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what(); } } } bool Rtklib_Solver::save_matfile() const { // READ DUMP FILE const std::string dump_filename = d_dump_filename; const int32_t number_of_double_vars = 21; const int32_t number_of_uint32_vars = 2; const int32_t number_of_uint8_vars = 3; const int32_t number_of_float_vars = 2; const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars + sizeof(uint32_t) * number_of_uint32_vars + sizeof(uint8_t) * number_of_uint8_vars + sizeof(float) * number_of_float_vars; std::ifstream dump_file; dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); try { dump_file.open(dump_filename.c_str(), std::ios::binary | std::ios::ate); } catch (const std::ifstream::failure &e) { std::cerr << "Problem opening dump file:" << e.what() << '\n'; return false; } // count number of epochs and rewind int64_t num_epoch = 0LL; if (dump_file.is_open()) { std::cout << "Generating .mat file for " << dump_filename << '\n'; const std::ifstream::pos_type size = dump_file.tellg(); num_epoch = static_cast(size) / static_cast(epoch_size_bytes); dump_file.seekg(0, std::ios::beg); } else { return false; } auto TOW_at_current_symbol_ms = std::vector(num_epoch); auto week = std::vector(num_epoch); auto RX_time = std::vector(num_epoch); auto user_clk_offset = std::vector(num_epoch); auto pos_x = std::vector(num_epoch); auto pos_y = std::vector(num_epoch); auto pos_z = std::vector(num_epoch); auto vel_x = std::vector(num_epoch); auto vel_y = std::vector(num_epoch); auto vel_z = std::vector(num_epoch); auto cov_xx = std::vector(num_epoch); auto cov_yy = std::vector(num_epoch); auto cov_zz = std::vector(num_epoch); auto cov_xy = std::vector(num_epoch); auto cov_yz = std::vector(num_epoch); auto cov_zx = std::vector(num_epoch); auto latitude = std::vector(num_epoch); auto longitude = std::vector(num_epoch); auto height = std::vector(num_epoch); auto valid_sats = std::vector(num_epoch); auto solution_status = std::vector(num_epoch); auto solution_type = std::vector(num_epoch); auto AR_ratio_factor = std::vector(num_epoch); auto AR_ratio_threshold = std::vector(num_epoch); auto gdop = std::vector(num_epoch); auto pdop = std::vector(num_epoch); auto hdop = std::vector(num_epoch); auto vdop = std::vector(num_epoch); try { if (dump_file.is_open()) { for (int64_t i = 0; i < num_epoch; i++) { dump_file.read(reinterpret_cast(&TOW_at_current_symbol_ms[i]), sizeof(uint32_t)); dump_file.read(reinterpret_cast(&week[i]), sizeof(uint32_t)); dump_file.read(reinterpret_cast(&RX_time[i]), sizeof(double)); dump_file.read(reinterpret_cast(&user_clk_offset[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_x[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_y[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pos_z[i]), sizeof(double)); dump_file.read(reinterpret_cast(&vel_x[i]), sizeof(double)); dump_file.read(reinterpret_cast(&vel_y[i]), sizeof(double)); dump_file.read(reinterpret_cast(&vel_z[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_xx[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_yy[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_zz[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_xy[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_yz[i]), sizeof(double)); dump_file.read(reinterpret_cast(&cov_zx[i]), sizeof(double)); dump_file.read(reinterpret_cast(&latitude[i]), sizeof(double)); dump_file.read(reinterpret_cast(&longitude[i]), sizeof(double)); dump_file.read(reinterpret_cast(&height[i]), sizeof(double)); dump_file.read(reinterpret_cast(&valid_sats[i]), sizeof(uint8_t)); dump_file.read(reinterpret_cast(&solution_status[i]), sizeof(uint8_t)); dump_file.read(reinterpret_cast(&solution_type[i]), sizeof(uint8_t)); dump_file.read(reinterpret_cast(&AR_ratio_factor[i]), sizeof(float)); dump_file.read(reinterpret_cast(&AR_ratio_threshold[i]), sizeof(float)); dump_file.read(reinterpret_cast(&gdop[i]), sizeof(double)); dump_file.read(reinterpret_cast(&pdop[i]), sizeof(double)); dump_file.read(reinterpret_cast(&hdop[i]), sizeof(double)); dump_file.read(reinterpret_cast(&vdop[i]), sizeof(double)); } } dump_file.close(); } catch (const std::ifstream::failure &e) { std::cerr << "Problem reading dump file:" << e.what() << '\n'; return false; } // WRITE MAT FILE mat_t *matfp; matvar_t *matvar; std::string filename = dump_filename; filename.erase(filename.length() - 4, 4); filename.append(".mat"); matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73); if (reinterpret_cast(matfp) != nullptr) { std::array dims{1, static_cast(num_epoch)}; matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), TOW_at_current_symbol_ms.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), week.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), RX_time.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), user_clk_offset.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_y.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_z.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_x.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_y.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_z.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_xx.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_yy.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_zz.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_xy.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_yz.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_zx.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), latitude.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), longitude.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), height.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), valid_sats.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), solution_status.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), solution_type.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), AR_ratio_factor.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), AR_ratio_threshold.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), gdop.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pdop.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), hdop.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vdop.data(), 0); Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); } Mat_Close(matfp); return true; } double Rtklib_Solver::get_gdop() const { return dop_[0]; } double Rtklib_Solver::get_pdop() const { return dop_[1]; } double Rtklib_Solver::get_hdop() const { return dop_[2]; } double Rtklib_Solver::get_vdop() const { return dop_[3]; } Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const { return monitor_pvt; } bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_map, bool flag_averaging) { std::map::const_iterator gnss_observables_iter; std::map::const_iterator galileo_ephemeris_iter; std::map::const_iterator gps_ephemeris_iter; std::map::const_iterator gps_cnav_ephemeris_iter; std::map::const_iterator glonass_gnav_ephemeris_iter; std::map::const_iterator beidou_ephemeris_iter; const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model; this->set_averaging_flag(flag_averaging); // ******************************************************************************** // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************ // ******************************************************************************** int valid_obs = 0; // valid observations counter int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter obs_data.fill({}); std::vector eph_data(MAXOBS); std::vector geph_data(MAXOBS); // Workaround for NAV/CNAV clash problem bool gps_dual_band = false; bool band1 = false; bool band2 = false; for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); ++gnss_observables_iter) { switch (gnss_observables_iter->second.System) { case 'G': { const std::string sig_(gnss_observables_iter->second.Signal); if (sig_ == "1C") { band1 = true; } if (sig_ == "2S") { band2 = true; } } break; default: { } } } if (band1 == true and band2 == true) { gps_dual_band = true; } for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); ++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system { switch (gnss_observables_iter->second.System) { case 'E': { const std::string sig_(gnss_observables_iter->second.Signal); // Galileo E1 if (sig_ == "1B") { // 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.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs{}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5, 0); valid_obs++; } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; } } // Galileo E5 if (sig_ == "5X") { // 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.cend()) { bool found_E1_obs = false; for (int i = 0; i < valid_obs; i++) { if (eph_data[i].sat == (static_cast(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO))) { obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5, 2); // Band 3 (L5/E5) found_E1_obs = true; break; } } if (!found_E1_obs) { // insert Galileo E5 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(galileo_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure const auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {default_code_, default_code_, default_code_}, {}, {0.0, 0.0, 0.0}, {}}; obs_data[valid_obs + glo_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; } case 'G': { // GPS L1 // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key const std::string sig_(gnss_observables_iter->second.Signal); if (sig_ == "1C") { gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); if (gps_ephemeris_iter != gps_ephemeris_map.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, this->is_pre_2009()); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs{}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_ephemeris_iter->second.i_GPS_week, 0, this->is_pre_2009()); valid_obs++; } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; } } // GPS L2 (todo: solve NAV/CNAV clash) if ((sig_ == "2S") and (gps_dual_band == false)) { gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) { // 1. Find the same satellite in GPS L1 band gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); if (gps_ephemeris_iter != gps_ephemeris_map.cend()) { /* By the moment, GPS L2 observables are not used in pseudorange computations if GPS L1 is available // 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris // (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure for (int i = 0; i < valid_obs; i++) { if (eph_data[i].sat == static_cast(gnss_observables_iter->second.PRN)) { eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], gnss_observables_iter->second, eph_data[i].week, 1); // Band 2 (L2) break; } } */ } else { // 3. If not found, insert the GPS L2 ephemeris and the observation // convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure const auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {default_code_, default_code_, default_code_}, {}, {0.0, 0.0, 0.0}, {}}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, 1); // Band 2 (L2) valid_obs++; } } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; } } // GPS L5 if (sig_ == "L5") { gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) { // 1. Find the same satellite in GPS L1 band gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); if (gps_ephemeris_iter != gps_ephemeris_map.cend()) { // 2. If found, replace the existing GPS L1 ephemeris with the GPS L5 ephemeris // (more precise!), and attach the L5 observation to the L1 observation in RTKLIB structure for (int i = 0; i < valid_obs; i++) { if (eph_data[i].sat == static_cast(gnss_observables_iter->second.PRN)) { eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i], gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, 2); // Band 3 (L5) break; } } } else { // 3. If not found, insert the GPS L5 ephemeris and the observation // convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure const auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {default_code_, default_code_, default_code_}, {}, {0.0, 0.0, 0.0}, {}}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, gps_cnav_ephemeris_iter->second.i_GPS_week, 2); // Band 3 (L5) valid_obs++; } } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; } } break; } case 'R': // TODO This should be using rtk lib nomenclature { const std::string sig_(gnss_observables_iter->second.Signal); // GLONASS GNAV L1 if (sig_ == "1G") { // 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.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs{}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, 0); // Band 0 (L1) glo_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_ == "2G") { // 1 GLONASS - find the ephemeris for the current GLONASS 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.cend()) { bool found_L1_obs = false; for (int i = 0; i < glo_valid_obs; i++) { if (geph_data[i].sat == (static_cast(gnss_observables_iter->second.PRN + NSATGPS))) { obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs], gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, 1); // Band 1 (L2) 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 geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs{}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, glonass_gnav_ephemeris_iter->second.d_WN, 1); // Band 1 (L2) glo_valid_obs++; } } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; } } break; } case 'C': { // BEIDOU B1I // - find the ephemeris for the current BEIDOU SV observation. The SV PRN ID is the map key const std::string sig_(gnss_observables_iter->second.Signal); if (sig_ == "B1") { beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN); if (beidou_ephemeris_iter != beidou_dnav_ephemeris_map.cend()) { // convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure obsd_t newobs{}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, 0); valid_obs++; } else // the ephemeris are not available for this SV { DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; } } // BeiDou B3 if (sig_ == "B3") { beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN); if (beidou_ephemeris_iter != beidou_dnav_ephemeris_map.cend()) { bool found_B1I_obs = false; for (int i = 0; i < valid_obs; i++) { if (eph_data[i].sat == (static_cast(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS))) { obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, 2); // Band 3 (L2/G2/B3) found_B1I_obs = true; break; } } if (!found_B1I_obs) { // insert BeiDou B3I 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(beidou_ephemeris_iter->second); // convert observation from GNSS-SDR class to RTKLIB structure const auto default_code_ = static_cast(CODE_NONE); obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {default_code_, default_code_, default_code_}, {}, {0.0, 0.0, 0.0}, {}}; obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, gnss_observables_iter->second, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, 2); // Band 2 (L2/G2) 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: DLOG(INFO) << "Hybrid observables: Unknown GNSS"; break; } } // ********************************************************************** // ****** SOLVE PVT****************************************************** // ********************************************************************** this->set_valid_position(false); if ((valid_obs + glo_valid_obs) > 3) { int result = 0; nav_t nav_data{}; nav_data.eph = eph_data.data(); nav_data.geph = geph_data.data(); nav_data.n = valid_obs; nav_data.ng = glo_valid_obs; if (gps_iono.valid) { nav_data.ion_gps[0] = gps_iono.d_alpha0; nav_data.ion_gps[1] = gps_iono.d_alpha1; nav_data.ion_gps[2] = gps_iono.d_alpha2; nav_data.ion_gps[3] = gps_iono.d_alpha3; nav_data.ion_gps[4] = gps_iono.d_beta0; nav_data.ion_gps[5] = gps_iono.d_beta1; nav_data.ion_gps[6] = gps_iono.d_beta2; nav_data.ion_gps[7] = gps_iono.d_beta3; } if (!(gps_iono.valid) and gps_cnav_iono.valid) { nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0; nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1; nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2; nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3; nav_data.ion_gps[4] = gps_cnav_iono.d_beta0; nav_data.ion_gps[5] = gps_cnav_iono.d_beta1; nav_data.ion_gps[6] = gps_cnav_iono.d_beta2; nav_data.ion_gps[7] = gps_cnav_iono.d_beta3; } if (galileo_iono.ai0_5 != 0.0) { nav_data.ion_gal[0] = galileo_iono.ai0_5; nav_data.ion_gal[1] = galileo_iono.ai1_5; nav_data.ion_gal[2] = galileo_iono.ai2_5; nav_data.ion_gal[3] = 0.0; } if (beidou_dnav_iono.valid) { nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0; nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1; nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2; nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3; nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0; nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0; nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0; nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3; } if (gps_utc_model.valid) { nav_data.utc_gps[0] = gps_utc_model.d_A0; nav_data.utc_gps[1] = gps_utc_model.d_A1; nav_data.utc_gps[2] = gps_utc_model.d_t_OT; nav_data.utc_gps[3] = gps_utc_model.i_WN_T; nav_data.leaps = gps_utc_model.d_DeltaT_LS; } if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid) { nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0; nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1; nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT; nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T; nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS; } if (glonass_gnav_utc_model.valid) { nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ?? nav_data.utc_glo[1] = 0.0; // ?? nav_data.utc_glo[2] = 0.0; // ?? nav_data.utc_glo[3] = 0.0; // ?? } if (galileo_utc_model.A0_6 != 0.0) { nav_data.utc_gal[0] = galileo_utc_model.A0_6; nav_data.utc_gal[1] = galileo_utc_model.A1_6; nav_data.utc_gal[2] = galileo_utc_model.t0t_6; nav_data.utc_gal[3] = galileo_utc_model.WNot_6; nav_data.leaps = galileo_utc_model.Delta_tLS_6; } if (beidou_dnav_utc_model.valid) { nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC; nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC; nav_data.utc_cmp[2] = 0.0; // ?? nav_data.utc_cmp[3] = 0.0; // ?? nav_data.leaps = beidou_dnav_utc_model.i_DeltaT_LS; } /* update carrier wave length using native function call in RTKlib */ for (int i = 0; i < MAXSAT; i++) { for (int j = 0; j < NFREQ; j++) { nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data); } } result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data); if (result == 0) { LOG(INFO) << "RTKLIB rtkpos error: " << rtk_.errbuf; rtk_.neb = 0; // clear error buffer to avoid repeating the error message this->set_time_offset_s(0.0); // reset rx time estimation this->set_num_valid_observations(0); } else { this->set_num_valid_observations(rtk_.sol.ns); // record the number of valid satellites used by the PVT solver pvt_sol = rtk_.sol; // DOP computation unsigned int used_sats = 0; for (unsigned int i = 0; i < MAXSAT; i++) { pvt_ssat[i] = rtk_.ssat[i]; if (rtk_.ssat[i].vs == 1) { used_sats++; } } std::vector azel; azel.reserve(used_sats * 2); int index_aux = 0; for (auto &i : rtk_.ssat) { if (i.vs == 1) { azel[2 * index_aux] = i.azel[0]; azel[2 * index_aux + 1] = i.azel[1]; index_aux++; } } if (index_aux > 0) { dops(index_aux, azel.data(), 0.0, dop_.data()); } this->set_valid_position(true); std::array rx_position_and_time{}; rx_position_and_time[0] = pvt_sol.rr[0]; // [m] rx_position_and_time[1] = pvt_sol.rr[1]; // [m] rx_position_and_time[2] = pvt_sol.rr[2]; // [m] // todo: fix this ambiguity in the RTKLIB units in receiver clock offset! if (rtk_.opt.mode == PMODE_SINGLE) { // if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s] // add also the clock offset from gps to galileo (pvt_sol.dtr[2]) rx_position_and_time[3] = pvt_sol.dtr[0] + pvt_sol.dtr[2]; } else { // the receiver clock offset is expressed in [meters], so we convert it into [s] // add also the clock offset from gps to galileo (pvt_sol.dtr[2]) rx_position_and_time[3] = pvt_sol.dtr[2] + pvt_sol.dtr[0] / SPEED_OF_LIGHT_M_S; } this->set_rx_pos({rx_position_and_time[0], rx_position_and_time[1], rx_position_and_time[2]}); // save ECEF position for the next iteration // compute Ground speed and COG double ground_speed_ms = 0.0; std::array pos{}; std::array enuv{}; ecef2pos(pvt_sol.rr, pos.data()); ecef2enu(pos.data(), &pvt_sol.rr[3], enuv.data()); this->set_speed_over_ground(norm_rtk(enuv.data(), 2)); double new_cog; if (ground_speed_ms >= 1.0) { new_cog = atan2(enuv[0], enuv[1]) * R2D; if (new_cog < 0.0) { new_cog += 360.0; } this->set_course_over_ground(new_cog); } this->set_time_offset_s(rx_position_and_time[3]); DLOG(INFO) << "RTKLIB Position at RX TOW = " << gnss_observables_map.cbegin()->second.RX_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time[0] << ", " << rx_position_and_time[1] << ", " << rx_position_and_time[2] << ", " << rx_position_and_time[3]; // gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity) // Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX) const gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time[3]); // uncorrected rx time const gtime_t rtklib_utc_time = gpst2utc(rtklib_time); boost::posix_time::ptime p_time = boost::posix_time::from_time_t(rtklib_utc_time.time); p_time += boost::posix_time::microseconds(static_cast(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int) this->set_position_UTC_time(p_time); DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time) << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; // ######## PVT MONITOR ######### // TOW monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms; // WEEK monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009()); // PVT GPS time monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time; // User clock offset [s] monitor_pvt.user_clk_offset = rx_position_and_time[3]; // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double) monitor_pvt.pos_x = pvt_sol.rr[0]; monitor_pvt.pos_y = pvt_sol.rr[1]; monitor_pvt.pos_z = pvt_sol.rr[2]; monitor_pvt.vel_x = pvt_sol.rr[3]; monitor_pvt.vel_y = pvt_sol.rr[4]; monitor_pvt.vel_z = pvt_sol.rr[5]; // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double) monitor_pvt.cov_xx = pvt_sol.qr[0]; monitor_pvt.cov_yy = pvt_sol.qr[1]; monitor_pvt.cov_zz = pvt_sol.qr[2]; monitor_pvt.cov_xy = pvt_sol.qr[3]; monitor_pvt.cov_yz = pvt_sol.qr[4]; monitor_pvt.cov_zx = pvt_sol.qr[5]; // GEO user position Latitude [deg] monitor_pvt.latitude = this->get_latitude(); // GEO user position Longitude [deg] monitor_pvt.longitude = this->get_longitude(); // GEO user position Height [m] monitor_pvt.height = this->get_height(); // NUMBER OF VALID SATS monitor_pvt.valid_sats = pvt_sol.ns; // RTKLIB solution status monitor_pvt.solution_status = pvt_sol.stat; // RTKLIB solution type (0:xyz-ecef,1:enu-baseline) monitor_pvt.solution_type = pvt_sol.type; // AR ratio factor for validation monitor_pvt.AR_ratio_factor = pvt_sol.ratio; // AR ratio threshold for validation monitor_pvt.AR_ratio_threshold = pvt_sol.thres; // GDOP / PDOP/ HDOP/ VDOP monitor_pvt.gdop = dop_[0]; monitor_pvt.pdop = dop_[1]; monitor_pvt.hdop = dop_[2]; monitor_pvt.vdop = dop_[3]; this->set_rx_vel({enuv[0], enuv[1], enuv[2]}); const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6; this->set_clock_drift_ppm(clock_drift_ppm); // User clock drift [ppm] monitor_pvt.user_clk_drift_ppm = clock_drift_ppm; // ######## LOG FILE ######### if (d_flag_dump_enabled == true) { // MULTIPLEXED FILE RECORDING - Record results to file try { double tmp_double; uint32_t tmp_uint32; // TOW tmp_uint32 = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms; d_dump_file.write(reinterpret_cast(&tmp_uint32), sizeof(uint32_t)); // WEEK tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009()); d_dump_file.write(reinterpret_cast(&tmp_uint32), sizeof(uint32_t)); // PVT GPS time tmp_double = gnss_observables_map.cbegin()->second.RX_time; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // User clock offset [s] tmp_double = rx_position_and_time[3]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double) tmp_double = pvt_sol.rr[0]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.rr[1]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.rr[2]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.rr[3]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.rr[4]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.rr[5]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double) tmp_double = pvt_sol.qr[0]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.qr[1]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.qr[2]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.qr[3]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.qr[4]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); tmp_double = pvt_sol.qr[5]; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // GEO user position Latitude [deg] tmp_double = this->get_latitude(); d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // GEO user position Longitude [deg] tmp_double = this->get_longitude(); d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // GEO user position Height [m] tmp_double = this->get_height(); d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // NUMBER OF VALID SATS d_dump_file.write(reinterpret_cast(&pvt_sol.ns), sizeof(uint8_t)); // RTKLIB solution status d_dump_file.write(reinterpret_cast(&pvt_sol.stat), sizeof(uint8_t)); // RTKLIB solution type (0:xyz-ecef,1:enu-baseline) d_dump_file.write(reinterpret_cast(&pvt_sol.type), sizeof(uint8_t)); // AR ratio factor for validation d_dump_file.write(reinterpret_cast(&pvt_sol.ratio), sizeof(float)); // AR ratio threshold for validation d_dump_file.write(reinterpret_cast(&pvt_sol.thres), sizeof(float)); // GDOP / PDOP/ HDOP/ VDOP d_dump_file.write(reinterpret_cast(&dop_[0]), sizeof(double)); d_dump_file.write(reinterpret_cast(&dop_[1]), sizeof(double)); d_dump_file.write(reinterpret_cast(&dop_[2]), sizeof(double)); d_dump_file.write(reinterpret_cast(&dop_[3]), sizeof(double)); } catch (const std::ifstream::failure &e) { LOG(WARNING) << "Exception writing RTKLIB dump file " << e.what(); } } } } return this->is_valid_position(); }