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gnss-sdr/src/algorithms/PVT/libs/rinex_printer.cc

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/*!
* \file rinex_printer.cc
* \brief Implementation of a RINEX 2.11 / 3.01 printer
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "rinex_printer.h"
#include "gps_navigation_message.h"
#include "GPS_L1_CA.h"
#include <ostream>
#include <fstream>
#include <stdlib.h> // for getenv()
#include <iostream>
#include <string>
#include <math.h> // for floor
#include <algorithm> // for min and max
#include "boost/date_time/time_zone_base.hpp"
#include "boost/date_time/gregorian/gregorian.hpp"
#include "boost/date_time/local_time/local_time.hpp"
#include "boost/date_time/posix_time/posix_time.hpp"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <gflags/gflags.h>
using google::LogMessage;
DEFINE_string(RINEX_version, "3.01", "Specifies the RINEX version (2.11 or 3.01)");
Rinex_Printer::Rinex_Printer()
{
Rinex_Printer::navFile.open(Rinex_Printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"), std::ios::out | std::ios::app);
Rinex_Printer::obsFile.open(Rinex_Printer::createFilename("RINEX_FILE_TYPE_OBS"), std::ios::out | std::ios::app);
satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R";
satelliteSystem["SBAS payload"] = "S";
satelliteSystem["Galileo"] = "E";
satelliteSystem["Compass"] = "C";
observationCode["GPS_L1_CA"] = "1C"; // "1C" GPS L1 C/A
observationCode["GPS_L1_P"] = "1P"; // "1P" GPS L1 P
observationCode["GPS_L1_Z_TRACKING"] = "1W"; // "1W" GPS L1 Z-tracking and similar (AS on)
observationCode["GPS_L1_Y"] = "1Y"; // "1Y" GPS L1 Y
observationCode["GPS_L1_M "] = "1M"; // "1M" GPS L1 M
observationCode["GPS_L1_CODELESS"] = "1N"; // "1N" GPS L1 codeless
observationCode["GPS_L2_CA"] = "2C"; // "2C" GPS L2 C/A
observationCode["L2_SEMI_CODELESS"] = "2D"; // "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
observationCode["GPS_L2_L2CM"] = "2S"; // "2S" GPS L2 L2C (M)
observationCode["GPS_L2_L2CL"] = "2L"; // "2L" GPS L2 L2C (L)
observationCode["GPS_L2_L2CML"] = "2X"; // "2X" GPS L2 L2C (M+L)
observationCode["GPS_L2_P"] = "2P"; // "2P" GPS L2 P
observationCode["GPS_L2_Z_TRACKING"] = "2W"; // "2W" GPS L2 Z-tracking and similar (AS on)
observationCode["GPS_L2_Y"] = "2Y"; // "2Y" GPS L2 Y
observationCode["GPS_L2_M"] = "2M"; // "2M" GPS GPS L2 M
observationCode["GPS_L2_codeless"] = "2N"; // "2N" GPS L2 codeless
observationCode["GPS_L5_I"] = "5I"; // "5I" GPS L5 I
observationCode["GPS_L5_Q"] = "5Q"; // "5Q" GPS L5 Q
observationCode["GPS_L5_IQ"] = "5X"; // "5X" GPS L5 I+Q
observationCode["GLONASS_G1_CA"] = "1C"; // "1C" GLONASS G1 C/A
observationCode["GLONASS_G1_P"] = "1P"; // "1P" GLONASS G1 P
observationCode["GLONASS_G2_CA"] = "2C"; // "2C" GLONASS G2 C/A (Glonass M)
observationCode["GLONASS_G2_P"] = "2P"; // "2P" GLONASS G2 P
observationCode["GALILEO_E1_A"] = "1A"; // "1A" GALILEO E1 A (PRS)
observationCode["GALILEO_E1_B"] = "1B"; // "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
observationCode["GALILEO_E1_C"] = "1C"; // "1C" GALILEO E1 C (no data)
observationCode["GALILEO_E1_BC"] = "1X"; // "1X" GALILEO E1 B+C
observationCode["GALILEO_E1_ABC"] = "1Z"; // "1Z" GALILEO E1 A+B+C
observationCode["GALILEO_E5a_I"] = "5I"; // "5I" GALILEO E5a I (F/NAV OS)
observationCode["GALILEO_E5a_Q"] = "5Q"; // "5Q" GALILEO E5a Q (no data)
observationCode["GALILEO_E5aIQ"] = "5X"; // "5X" GALILEO E5a I+Q
observationCode["GALILEO_E5b_I"] = "7I"; // "7I" GALILEO E5b I
observationCode["GALILEO_E5b_Q"] = "7Q"; // "7Q" GALILEO E5b Q
observationCode["GALILEO_E5b_IQ"] = "7X"; // "7X" GALILEO E5b I+Q
observationCode["GALILEO_E5_I"] = "8I"; // "8I" GALILEO E5 I
observationCode["GALILEO_E5_Q"] = "8Q"; // "8Q" GALILEO E5 Q
observationCode["GALILEO_E5_IQ"] = "8X"; // "8X" GALILEO E5 I+Q
observationCode["GALILEO_E56_A"] = "6A"; // "6A" GALILEO E6 A
observationCode["GALILEO_E56_B"] = "6B"; // "6B" GALILEO E6 B
observationCode["GALILEO_E56_B"] = "6C"; // "6C" GALILEO E6 C
observationCode["GALILEO_E56_BC"] = "6X"; // "6X" GALILEO E6 B+C
observationCode["GALILEO_E56_ABC"] = "6Z"; // "6Z" GALILEO E6 A+B+C
observationCode["SBAS_L1_CA"] = "1C"; // "1C" SBAS L1 C/A
observationCode["SBAS_L5_I"] = "5I"; // "5I" SBAS L5 I
observationCode["SBAS_L5_Q"] = "5Q"; // "5Q" SBAS L5 Q
observationCode["SBAS_L5_IQ"] = "5X"; // "5X" SBAS L5 I+Q
observationCode["COMPASS_E2_I"] = "2I";
observationCode["COMPASS_E2_Q"] = "2Q";
observationCode["COMPASS_E2_IQ"] = "2X";
observationCode["COMPASS_E5b_I"] = "7I";
observationCode["COMPASS_E5b_Q"] = "7Q";
observationCode["COMPASS_E5b_IQ"] = "7X";
observationCode["COMPASS_E6_I"] = "6I";
observationCode["COMPASS_E6_Q"] = "6Q";
observationCode["COMPASS_E6_IQ"] = "6X";
observationType["PSEUDORANGE"] = "C";
observationType["CARRIER_PHASE"] = "L";
observationType["DOPPLER"] = "D";
observationType["SIGNAL_STRENGTH"] = "S";
if ( FLAGS_RINEX_version.compare("3.01") == 0 )
{
version = 3;
stringVersion = "3.01";
}
else if ( FLAGS_RINEX_version.compare("2.11") == 0 )
{
version = 2;
stringVersion = "2.10";
}
else if ( FLAGS_RINEX_version.compare("2.10") == 0 )
{
version = 2;
stringVersion = "2.10";
}
else
{
LOG_AT_LEVEL(ERROR) << "Unknown RINEX version " << FLAGS_RINEX_version << " (must be 2.11 or 3.01)" << std::endl;
}
numberTypesObservations=2; // Number of available types of observable in the system
}
Rinex_Printer::~Rinex_Printer()
{
// close RINEX files
Rinex_Printer::navFile.close();
Rinex_Printer::obsFile.close();
}
void Rinex_Printer::lengthCheck(std::string line)
{
if (line.length() != 80)
{
LOG_AT_LEVEL(ERROR) << "Bad defined RINEX line: "
<< line.length() << " characters (must be 80)" << std::endl
<< line << std::endl
<< "----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|" << std::endl;
}
}
std::string Rinex_Printer::createFilename(std::string type)
{
const std::string stationName = "GSDR"; // 4-character station name designator
boost::gregorian::date today = boost::gregorian::day_clock::local_day();
const int dayOfTheYear = today.day_of_year();
std::stringstream strm0;
if (dayOfTheYear < 100) strm0 << "0"; // three digits for day of the year
if (dayOfTheYear < 10) strm0 << "0"; // three digits for day of the year
strm0 << dayOfTheYear;
std::string dayOfTheYearTag=strm0.str();
std::map<std::string, std::string> fileType;
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_OBS", "O")); // O - Observation file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GPS_NAV", "N")); // N - GPS navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MET", "M")); // M - Meteorological data file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GLO_NAV", "G")); // G - GLONASS navigation file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GAL_NAV", "L")); // L - Galileo navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MIXED_NAV", "P")); // P - Mixed GNSS navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GEO_NAV", "H")); // H - SBAS Payload navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SBAS", "B")); // B - SBAS broadcast data file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_CLK", "C")); // C - Clock file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SUMMARY", "S")); // S - Summary file (used e.g., by IGS, not a standard!).
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm pt_tm = boost::posix_time::to_tm(pt);
int local_hour = pt_tm.tm_hour;
std::stringstream strm;
strm << local_hour;
std::map<std::string, std::string> Hmap;
Hmap.insert(std::pair<std::string, std::string>("0", "a"));
Hmap.insert(std::pair<std::string, std::string>("1", "b"));
Hmap.insert(std::pair<std::string, std::string>("2", "c"));
Hmap.insert(std::pair<std::string, std::string>("3", "d"));
Hmap.insert(std::pair<std::string, std::string>("4", "e"));
Hmap.insert(std::pair<std::string, std::string>("5", "f"));
Hmap.insert(std::pair<std::string, std::string>("6", "g"));
Hmap.insert(std::pair<std::string, std::string>("7", "h"));
Hmap.insert(std::pair<std::string, std::string>("8", "i"));
Hmap.insert(std::pair<std::string, std::string>("9", "j"));
Hmap.insert(std::pair<std::string, std::string>("10", "k"));
Hmap.insert(std::pair<std::string, std::string>("11", "l"));
Hmap.insert(std::pair<std::string, std::string>("12", "m"));
Hmap.insert(std::pair<std::string, std::string>("13", "n"));
Hmap.insert(std::pair<std::string, std::string>("14", "o"));
Hmap.insert(std::pair<std::string, std::string>("15", "p"));
Hmap.insert(std::pair<std::string, std::string>("16", "q"));
Hmap.insert(std::pair<std::string, std::string>("17", "r"));
Hmap.insert(std::pair<std::string, std::string>("18", "s"));
Hmap.insert(std::pair<std::string, std::string>("19", "t"));
Hmap.insert(std::pair<std::string, std::string>("20", "u"));
Hmap.insert(std::pair<std::string, std::string>("21", "v"));
Hmap.insert(std::pair<std::string, std::string>("22", "w"));
Hmap.insert(std::pair<std::string, std::string>("23", "x"));
std::string hourTag = Hmap[strm.str()];
int local_minute = pt_tm.tm_min;
std::stringstream strm2;
if (local_minute<10) strm2 << "0"; // at least two digits for minutes
strm2 << local_minute;
std::string minTag = strm2.str();
int local_year = pt_tm.tm_year - 100; // 2012 is 112
std::stringstream strm3;
strm3 << local_year;
std::string yearTag = strm3.str();
std::string typeOfFile = fileType[type];
std::string filename(stationName + dayOfTheYearTag + hourTag + minTag + "." + yearTag + typeOfFile);
return filename;
}
std::string Rinex_Printer::getLocalTime()
{
std::string line;
line += std::string("GNSS-SDR");
line += std::string(12, ' ');
line += Rinex_Printer::leftJustify("CTTC", 20); //put a flag to let the user change this
boost::gregorian::date today = boost::gregorian::day_clock::local_day();
boost::local_time::time_zone_ptr zone(new boost::local_time::posix_time_zone("UTC"));
boost::local_time::local_date_time pt = boost::local_time::local_sec_clock::local_time(zone);
tm pt_tm = boost::local_time::to_tm(pt);
std::stringstream strmHour;
int utc_hour = pt_tm.tm_hour;
if (utc_hour < 10) strmHour << "0"; // two digits for hours
strmHour << utc_hour;
std::stringstream strmMin;
int utc_minute = pt_tm.tm_min;
if (utc_minute < 10) strmMin << "0"; // two digits for minutes
strmMin << utc_minute;
if (version == 2)
{
int day = pt_tm.tm_mday;
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(day), 2);
line += std::string("-");
std::map<int, std::string> months;
months[0] = "JAN";
months[1] = "FEB";
months[2] = "MAR";
months[3] = "APR";
months[4] = "MAY";
months[5] = "JUN";
months[6] = "JUL";
months[7] = "AUG";
months[8] = "SEP";
months[9] = "OCT";
months[10] = "NOV";
months[11] = "DEC";
line += months[pt_tm.tm_mon];
line += std::string("-");
line += boost::lexical_cast<std::string>(pt_tm.tm_year - 100);
line += std::string(1, ' ');
line += strmHour.str();
line += std::string(":");
line += strmMin.str();
line += std::string(5, ' ');
}
if (version == 3)
{
line += std::string(1, ' ');
line += boost::gregorian::to_iso_string(today);
line += strmHour.str();
line += strmMin.str();
std::stringstream strm2;
int utc_seconds = pt_tm.tm_sec;
if (utc_seconds < 10) strm2 << "0"; // two digits for seconds
strm2 << utc_seconds;
line += strm2.str();
line += std::string(1, ' ');
line += std::string("UTC");
line += std::string(1, ' ');
}
return line;
}
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Navigation_Message nav_msg)
{
std::string line;
// -------- Line 1
line = std::string(5, ' ');
line += stringVersion;
line += std::string(11, ' ');
if (version == 2)
{
line += std::string("N: GPS NAV DATA");
line += std::string(25, ' ');
}
if (version == 3 )
{
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
//! \todo Add here other systems...
line += std::string("G: GPS");
line += std::string(14, ' ');
// ...
}
line += std::string("RINEX VERSION / TYPE");
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
line.clear();
line += Rinex_Printer::getLocalTime();
line += std::string("PGM / RUN BY / DATE");
line += std::string(1, ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 3
line.clear();
line += Rinex_Printer::leftJustify("GPS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line ionospheric info 1
line.clear();
if (version == 2)
{
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha3, 10, 2), 12);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("ION ALPHA", 20);
}
if (version == 3)
{
line += std::string("GPSA");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_alpha3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line ionospheric info 2
line.clear();
if (version == 2)
{
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta3, 10, 2), 12);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("ION BETA", 20);
}
if (version == 3)
{
line += std::string("GPSB");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_beta3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 5 system time correction
line.clear();
if (version == 2)
{
line += std::string(3, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_A0, 18, 2), 19);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_A1, 18, 2), 19);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_t_OT), 9);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.i_WN_T + 1024), 9); // valid until 2019
line += std::string(1, ' ');
line += Rinex_Printer::leftJustify("DELTA-UTC: A0,A1,T,W", 20);
}
if (version == 3)
{
line += std::string("GPUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(nav_msg.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_t_OT), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.i_WN_T + 1024), 5); // valid until 2019
/* if ( SBAS )
{
line += string(1, ' ');
line += leftJustify(asString(d_t_OT_SBAS),5);
line += string(1, ' ');
line += leftJustify(asString(d_WN_T_SBAS),2);
line += string(1, ' ');
}
else
*/
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 6 leap seconds
// For leap second information, see http://www.endruntechnologies.com/leap.htm
line.clear();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_DeltaT_LS), 6);
if (version == 2)
{
line += std::string(54, ' ');
}
if (version == 3)
{
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg.i_DN), 6);
line += std::string(36, ' ');
}
line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- End of Header
line.clear();
line += std::string(60, ' ');
line += Rinex_Printer::leftJustify("END OF HEADER", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Navigation_Message> nav_msg)
{
std::string line;
for (int i=0; i < (int)nav_msg.size(); i++)
{
// -------- SV / EPOCH / SV CLK
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg[i]);
std::string timestring = boost::posix_time::to_iso_string(p_utc_time);
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
std::string seconds (timestring, 13, 2);
if (version == 2)
{
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(nav_msg[i].i_satellite_PRN), 2);
line += std::string(1, ' ');
std::string year (timestring, 2, 2);
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += seconds;
line += std::string(1, '.');
std::string decimal = std::string("0");
if (timestring.size() > 16)
{
std::string decimal (timestring, 16, 1);
}
line += decimal;
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' ');
}
if (version == 3)
{
line += satelliteSystem["GPS"];
if (nav_msg[i].i_satellite_PRN < 10) line += std::string("0");
line += boost::lexical_cast<std::string>(nav_msg[i].i_satellite_PRN);
std::string year (timestring, 0, 4);
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += seconds;
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_A_f0, 18, 2);
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 1
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
if (nav_msg[i].d_IODE_SF2 == nav_msg[i].d_IODE_SF3)
{
line += Rinex_Printer::doub2for(nav_msg[i].d_IODE_SF2, 18, 2);
}
else
{
LOG_AT_LEVEL(ERROR) << "Discontinued reception of Frame 2 and 3 " << std::endl;
}
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Crs, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Delta_n, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_M_0, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 2
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for(nav_msg[i].d_Cuc, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_e_eccentricity, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Cus, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_sqrt_A, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 3
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for(nav_msg[i].d_Toe, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Cic, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_OMEGA0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Cis, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 4
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for(nav_msg[i].d_i_0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_Crc, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_OMEGA, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_OMEGA_DOT, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 5
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for(nav_msg[i].d_IDOT, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_code_on_L2), 18, 2);
line += std::string(1, ' ');
double GPS_week_continuous_number = (double)(nav_msg[i].i_GPS_week + 1024); // valid until April 7, 2019 (check http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm)
line += Rinex_Printer::doub2for(GPS_week_continuous_number, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 6
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_SV_accuracy), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(nav_msg[i].i_SV_health), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_TGD, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(nav_msg[i].d_IODC, 18, 2);
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 7
line.clear();
if (version == 2)
{
line += std::string(4, ' ');
}
if (version == 3)
{
line += std::string(5, ' ');
}
line += Rinex_Printer::doub2for(nav_msg[i].d_TOW, 18, 2);
line += std::string(1, ' ');
double curve_fit_interval = 4;
if (nav_msg[i].satelliteBlock[nav_msg[i].i_satellite_PRN].compare("IIA"))
{
// Block II/IIA (Table 20-XI IS-GPS-200E )
if ( (nav_msg[i].d_IODC > 239) && (nav_msg[i].d_IODC < 248) ) curve_fit_interval = 8;
if ( ( (nav_msg[i].d_IODC > 247) && (nav_msg[i].d_IODC < 256) ) || (nav_msg[i].d_IODC == 496) ) curve_fit_interval = 14;
if ( (nav_msg[i].d_IODC > 496) && (nav_msg[i].d_IODC < 504) ) curve_fit_interval = 26;
if ( (nav_msg[i].d_IODC > 503) && (nav_msg[i].d_IODC < 511) ) curve_fit_interval = 50;
if ( ( (nav_msg[i].d_IODC > 751) && (nav_msg[i].d_IODC < 757) ) || (nav_msg[i].d_IODC == 511) ) curve_fit_interval = 74;
if ( (nav_msg[i].d_IODC == 757)) curve_fit_interval = 98;
}
if ((nav_msg[i].satelliteBlock[nav_msg[i].i_satellite_PRN].compare("IIR") == 0) ||
(nav_msg[i].satelliteBlock[nav_msg[i].i_satellite_PRN].compare("IIR-M") == 0) ||
(nav_msg[i].satelliteBlock[nav_msg[i].i_satellite_PRN].compare("IIF") == 0) ||
(nav_msg[i].satelliteBlock[nav_msg[i].i_satellite_PRN].compare("IIIA") == 0) )
{
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ( (nav_msg[i].d_IODC > 239) && (nav_msg[i].d_IODC < 248)) curve_fit_interval = 8;
if ( ( (nav_msg[i].d_IODC > 247) && (nav_msg[i].d_IODC < 256)) || (nav_msg[i].d_IODC == 496) ) curve_fit_interval = 14;
if ( ( (nav_msg[i].d_IODC > 496) && (nav_msg[i].d_IODC < 504)) || ( (nav_msg[i].d_IODC > 1020) && (nav_msg[i].d_IODC < 1024) ) ) curve_fit_interval = 26;
}
line += Rinex_Printer::doub2for(curve_fit_interval, 18, 2);
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
if (version == 2)
{
line += std::string(1, ' ');
}
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
line.clear();
}
}
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Navigation_Message nav_msg)
{
std::string line;
// -------- Line 1
line = std::string(5, ' ');
line += stringVersion;
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
line += satelliteSystem["GPS"];
line += std::string(19, ' ');
line += std::string("RINEX VERSION / TYPE");
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
line.clear();
if (version == 2)
{
line += Rinex_Printer::leftJustify("BLANK OR G = GPS, R = GLONASS, E = GALILEO, M = MIXED", 60);
}
if (version == 3)
{
line += Rinex_Printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED", 60);
}
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 3
line.clear();
line += Rinex_Printer::getLocalTime();
line += std::string("PGM / RUN BY / DATE");
line += std::string(1, ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("GPS OBSERVATION DATA FILE GENERATED BY GNSS-SDR", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line MARKER NAME
line.clear();
line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line += Rinex_Printer::leftJustify("MARKER NAME", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line MARKER TYPE
line.clear();
line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username=getenv("USER");
line += leftJustify(username, 20);
line += Rinex_Printer::leftJustify("CTTC", 40); // add flag and property
line += Rinex_Printer::leftJustify("OBSERVER / AGENCY", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line REC / TYPE VERS
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
line += Rinex_Printer::leftJustify("0.1", 20);
line += Rinex_Printer::leftJustify("REC # / TYPE / VERS", 20);
lengthCheck(line);
out << line << std::endl;
// -------- ANTENNA TYPE
line.clear();
line += Rinex_Printer::leftJustify("Antenna number", 20); // add flag and property
line += Rinex_Printer::leftJustify("Antenna type", 20); // add flag and property
line += std::string(20, ' ');
line += Rinex_Printer::leftJustify("ANT # / TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- APPROX POSITION (optional for moving platforms)
// -------- ANTENNA: DELTA H/E/N
// put here real data!
double antena_h = 0.0;
double antena_e = 0.0;
double antena_n = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_h, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_e, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_n, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("ANTENNA: DELTA H/E/N", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- SYS / OBS TYPES
// one line per available system
line.clear();
line += satelliteSystem["GPS"];
line += std::string(2, ' ');
//int numberTypesObservations=2; // Count the number of available types of observable in the system
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GPS_L1_CA"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GPS_L1_CA"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Signal Strength units
line.clear();
line += Rinex_Printer::leftJustify("DBHZ", 20);
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- TIME OF FIRST OBS
line.clear();
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time);
std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
double seconds = fmod(utc_t, 60);
line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6);
line += Rinex_Printer::rightJustify(day, 6);
line += Rinex_Printer::rightJustify(hour, 6);
line += Rinex_Printer::rightJustify(minutes, 6);
line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
line += std::string(9, ' ');
line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- SYS /PHASE SHIFTS
// -------- end of header
line.clear();
line += std::string(60, ' ');
line += Rinex_Printer::leftJustify("END OF HEADER", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Navigation_Message nav_msg, std::map<int,double> pseudoranges)
{
std::string line;
// Should look at the pseudoranges timestamp gnss_pseudorange.timestamp_ms!!!
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_time(nav_msg);
std::string timestring=boost::posix_time::to_iso_string(p_utc_time);
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
if (version == 2)
{
line.clear();
std::string year (timestring, 2, 2);
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
if (month.compare(0, 1 , "0") == 0)
{
line += std::string(1, ' ');
line += month.substr(1, 1);
}
else
{
line += month;
}
line += std::string(1, ' ');
if (day.compare(0, 1 , "0") == 0)
{
line += std::string(1, ' ');
line += day.substr(1, 1);
}
else
{
line += day;
}
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += Rinex_Printer::asString(fmod(utc_t, 60), 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
line += std::string(2, ' ');
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,double>::iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
numSatellitesObserved++;
}
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
line += satelliteSystem["GPS"];
if ((int)pseudoranges_iter->first < 10) line += std::string(1, '0');
line += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
}
// 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(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string lineObs;
lineObs.clear();
line.clear();
line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
//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);
}
int ssi=signalStrength(54.0); // TODO: include estimated signal strength
if (ssi == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(ssi), 1);
}
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
if (version == 3)
{
std::string year (timestring, 0, 4);
line += std::string(1, '>');
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += Rinex_Printer::asString(fmod(utc_t, 60), 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,double>::iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
numSatellitesObserved++;
}
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(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string lineObs;
lineObs.clear();
lineObs += satelliteSystem["GPS"];
if ((int)pseudoranges_iter->first < 10) lineObs += std::string(1, '0');
lineObs += boost::lexical_cast<std::string>((int)pseudoranges_iter->first);
//lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second, 3), 14);
//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);
}
int ssi=signalStrength(54.0); // TODO: include estimated signal strength
if (ssi == 0)
{
lineObs += std::string(1, ' ');
}
else
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(ssi), 1);
}
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
}
int Rinex_Printer::signalStrength(double snr)
{
int ss;
ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) );
return ss;
}
boost::posix_time::ptime Rinex_Printer::compute_time(Gps_Navigation_Message nav_msg)
{
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
boost::posix_time::time_duration t = boost::posix_time::millisec((utc_t + 604800*(double)(nav_msg.i_GPS_week))*1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
/*
enum RINEX_enumMarkerType {
GEODETIC, //!< GEODETIC Earth-fixed, high-precision monumentation
NON_GEODETIC, //!< NON_GEODETIC Earth-fixed, low-precision monumentation
SPACEBORNE, //!< SPACEBORNE Orbiting space vehicle
AIRBORNE , //!< AIRBORNE Aircraft, balloon, etc.
WATER_CRAFT, //!< WATER_CRAFT Mobile water craft
GROUND_CRAFT, //!< GROUND_CRAFT Mobile terrestrial vehicle
FIXED_BUOY, //!< FIXED_BUOY "Fixed" on water surface
FLOATING_BUOY, //!< FLOATING_BUOY Floating on water surface
FLOATING_ICE, //!< FLOATING_ICE Floating ice sheet, etc.
GLACIER, //!< GLACIER "Fixed" on a glacier
BALLISTIC, //!< BALLISTIC Rockets, shells, etc
ANIMAL, //!< ANIMAL Animal carrying a receiver
HUMAN //!< HUMAN Human being
};
*/
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