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gnss-sdr/src/algorithms/PVT/libs/rinex_printer.cc
Carles Fernandez 0d0c603420 Working towards a RINEX printer for multiconstellation data. Code 
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2014-09-05 12:44:51 +02:00

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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) 2010-2014 (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 <unistd.h>
#include <algorithm> // for min and max
#include <cmath> // for floor
#include <cstdlib> // for getenv()
#include <ostream>
#include <utility>
#include <vector>
#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 <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage;
DEFINE_string(RINEX_version, "2.11", "Specifies the RINEX version (2.11 or 3.01)");
Rinex_Printer::Rinex_Printer()
{
navfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_GPS_NAV");
obsfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_OBS");
sbsfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_SBAS");
navGalfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_GAL_NAV");
navMixfilename = Rinex_Printer::createFilename("RINEX_FILE_TYPE_MIXED_NAV");
Rinex_Printer::navFile.open(navfilename, std::ios::out | std::ios::app);
Rinex_Printer::obsFile.open(obsfilename, std::ios::out | std::ios::app);
Rinex_Printer::sbsFile.open(sbsfilename, std::ios::out | std::ios::app);
Rinex_Printer::navGalFile.open(navGalfilename, std::ios::out | std::ios::app);
Rinex_Printer::navMixFile.open(navMixfilename, std::ios::out | std::ios::app);
// RINEX v3.00 codes
satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R";
satelliteSystem["SBAS payload"] = "S";
satelliteSystem["Galileo"] = "E";
satelliteSystem["Beidou"] = "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";
// RINEX v2.10 and v2.11 codes
observationType["PSEUDORANGE_CA_v2"] = "C";
observationType["PSEUDORANGE_P_v2"] = "P";
observationType["CARRIER_PHASE_CA_v2"] = "L";
observationType["DOPPLER_v2"] = "D";
observationType["SIGNAL_STRENGTH_v2"] = "S";
observationCode["GPS_L1_CA_v2"] = "1";
if ( FLAGS_RINEX_version.compare("3.01") == 0 )
{
version = 3;
stringVersion = "3.01";
}
if ( FLAGS_RINEX_version.compare("3.02") == 0 )
{
version = 3;
stringVersion = "3.02";
}
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(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
long posn, poso, poss, posng, posmn;
posn = navFile.tellp();
poso = obsFile.tellp();
poss = sbsFile.tellp();
posng = navGalFile.tellp();
posmn = navMixFile.tellp();
Rinex_Printer::navFile.close();
Rinex_Printer::obsFile.close();
Rinex_Printer::sbsFile.close();
Rinex_Printer::navGalFile.close();
// If nothing written, erase the files.
if (posn == 0)
{
remove(navfilename.c_str());
}
if (poso == 0)
{
remove(obsfilename.c_str());
}
if (poss == 0)
{
remove(sbsfilename.c_str());
}
if (posng == 0)
{
remove(navGalfilename.c_str());
}
if (posmn == 0)
{
remove(navMixfilename.c_str());
}
}
void Rinex_Printer::lengthCheck(std::string line)
{
if (line.length() != 80)
{
LOG(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, ' ');
std::string username;
char c_username[20] = {0};
int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
}
else
{
username = "UNKNOWN USER";
}
line += Rinex_Printer::leftJustify(username, 20);
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 += boost::gregorian::to_iso_string(today);
line += std::string(1, ' ');
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, Galileo_Iono iono, Galileo_Utc_Model utc_model, Galileo_Almanac galileo_almanac)
{
std::string line;
stringVersion = "3.01";
version = 3;
// -------- Line 1
line = std::string(5, ' ');
line += stringVersion;
line += std::string(11, ' ');
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
line += std::string("E: GALILEO");
line += std::string(10, ' ');
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 COMMENT
line.clear();
line += Rinex_Printer::leftJustify("GALILEO 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();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
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();
line += std::string("GAL ");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.ai0_5, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.ai1_5, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.ai2_5, 10, 2), 12);
double zero = 0.0;
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(zero, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line system time correction
line.clear();
line += std::string("GAUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.A0_6, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.A1_6, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.t0t_6), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.WNot_6), 5);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line system time correction 2
line.clear();
line += std::string("GPGA");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_almanac.A_0G_10, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_almanac.A_1G_10, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_almanac.t_0G_10), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_almanac.WN_0G_10), 5);
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>(utc_model.Delta_tLS_6), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.Delta_tLSF_6), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.WN_LSF_6), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.DN_6), 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::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_Model utc_model)
{
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();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
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(iono.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.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(iono.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.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(iono.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.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(iono.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.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(utc_model.d_A0, 18, 2), 19);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 18, 2), 19);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_t_OT), 9);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.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(utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.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>(utc_model.d_DeltaT_LS), 6);
if (version == 2)
{
line += std::string(54, ' ');
}
if (version == 3)
{
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.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::rinex_nav_header(std::ofstream& out, Gps_Iono gps_iono, Gps_Utc_Model gps_utc_model, Galileo_Iono galileo_iono, Galileo_Utc_Model galileo_utc_model, Galileo_Almanac galileo_almanac)
{
std::string line;
stringVersion = "3.02";
version = 3;
// -------- Line 1
line = std::string(5, ' ');
line += stringVersion;
line += std::string(11, ' ');
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
line += std::string("M: MIXED");
line += std::string(12, ' ');
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 COMMENT
line.clear();
line += Rinex_Printer::leftJustify("GNSS 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();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
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();
line += std::string("GAL ");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai0_5, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai1_5, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_iono.ai2_5, 10, 2), 12);
double zero = 0.0;
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(zero, 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();
line += std::string("GPSA");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_iono.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 system time correction
line.clear();
line += std::string("GAUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A0_6, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_utc_model.A1_6, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.t0t_6), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_utc_model.WNot_6), 5);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line system time correction 2
line.clear();
line += std::string("GPGA");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_almanac.A_0G_10, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(galileo_almanac.A_1G_10, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_almanac.t_0G_10), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(galileo_almanac.WN_0G_10), 5);
line += std::string(10, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line system time correction 3
line.clear();
line += std::string("GPUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(gps_utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_T + 1024), 5); // valid until 2019
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>(gps_utc_model.d_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(gps_utc_model.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::rinex_sbs_header(std::ofstream& out)
{
std::string line;
// -------- Line 1
line.clear();
line = std::string(5, ' ');
line += std::string("2.10");
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("B SBAS DATA",20);
line += std::string(20, ' ');
line += std::string("RINEX VERSION / TYPE");
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20);
std::string username;
char c_username[20] = {0};
int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
}
else
{
username = "UNKNOWN USER";
}
line += Rinex_Printer::leftJustify(username, 20);
// Date of file creation (dd-mmm-yy hhmm)
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 strYear;
int utc_year = pt.date().year();
utc_year -= 2000; // two digits for year
strYear << utc_year;
std::stringstream strMonth;
int utc_month = pt.date().month().as_number();
if (utc_month < 10) strMonth << "0"; // two digits for months
strMonth << utc_month;
std::stringstream strmDay;
int utc_day = pt.date().day().as_number();
if (utc_day < 10) strmDay << "0"; // two digits for days
strmDay << utc_day;
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;
std::string time_str;
time_str += strmDay.str();
time_str += "-";
time_str += strMonth.str();
time_str += "-";
time_str += strYear.str();
time_str += " ";
time_str += strmHour.str();
time_str += strmMin.str();
line += Rinex_Printer::leftJustify(time_str, 20);
line += Rinex_Printer::leftJustify("PGM / RUN BY / DATE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 3
line.clear();
line += std::string(60, ' ');
line += Rinex_Printer::leftJustify("REC INDEX/TYPE/VERS", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT 1
line.clear();
line += Rinex_Printer::leftJustify("BROADCAST DATA FILE FOR GEO SV, GENERATED BY GNSS-SDR", 60);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT
line.clear();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line COMMENT 2
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;
// -------- 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_Ephemeris> eph_map)
{
std::string line;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
for(gps_ephemeris_iter = eph_map.begin();
gps_ephemeris_iter != eph_map.end();
gps_ephemeris_iter++)
{
// -------- SV / EPOCH / SV CLK
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_GPS_time(gps_ephemeris_iter->second,gps_ephemeris_iter->second.d_TOW);
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>(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_A_f1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_A_f2, 18, 2);
line += std::string(1, ' ');
}
if (version == 3)
{
line += satelliteSystem["GPS"];
if (gps_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0");
line += boost::lexical_cast<std::string>(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_A_f1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_A_f2, 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, ' ');
}
// IODE is not present in ephemeris data
// If there is a discontinued reception the ephemeris is not validated
//if (gps_ephemeris_iter->second.d_IODE_SF2 == gps_ephemeris_iter->second.d_IODE_SF3)
// {
// line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_IODE_SF2, 18, 2);
// }
//else
// {
// LOG(ERROR) << "Discontinued reception of Frame 2 and 3 " << std::endl;
// }
double d_IODE_SF2 = 0;
line += Rinex_Printer::doub2for(d_IODE_SF2, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Crs, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Delta_n, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_Cuc, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_e_eccentricity, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Cus, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_Toe, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Cic, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_OMEGA0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_i_0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Crc, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_OMEGA, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_IDOT, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(gps_ephemeris_iter->second.i_code_on_L2), 18, 2);
line += std::string(1, ' ');
double GPS_week_continuous_number = (double)(gps_ephemeris_iter->second.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);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(gps_ephemeris_iter->second.i_code_on_L2), 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)(gps_ephemeris_iter->second.i_SV_accuracy), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for((double)(gps_ephemeris_iter->second.i_SV_health), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_TGD, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.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(gps_ephemeris_iter->second.d_TOW, 18, 2);
line += std::string(1, ' ');
double curve_fit_interval = 4;
if (gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIA"))
{
// Block II/IIA (Table 20-XI IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248) ) curve_fit_interval = 8;
if ( ( (gps_ephemeris_iter->second.d_IODC > 247) && (gps_ephemeris_iter->second.d_IODC < 256) ) || (gps_ephemeris_iter->second.d_IODC == 496) ) curve_fit_interval = 14;
if ( (gps_ephemeris_iter->second.d_IODC > 496) && (gps_ephemeris_iter->second.d_IODC < 504) ) curve_fit_interval = 26;
if ( (gps_ephemeris_iter->second.d_IODC > 503) && (gps_ephemeris_iter->second.d_IODC < 511) ) curve_fit_interval = 50;
if ( ( (gps_ephemeris_iter->second.d_IODC > 751) && (gps_ephemeris_iter->second.d_IODC < 757) ) || (gps_ephemeris_iter->second.d_IODC == 511) ) curve_fit_interval = 74;
if ( gps_ephemeris_iter->second.d_IODC == 757 ) curve_fit_interval = 98;
}
if ((gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR-M") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIF") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIIA") == 0) )
{
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248)) curve_fit_interval = 8;
if ( ( (gps_ephemeris_iter->second.d_IODC > 247) && (gps_ephemeris_iter->second.d_IODC < 256)) || (gps_ephemeris_iter->second.d_IODC == 496) ) curve_fit_interval = 14;
if ( ( (gps_ephemeris_iter->second.d_IODC > 496) && (gps_ephemeris_iter->second.d_IODC < 504)) || ( (gps_ephemeris_iter->second.d_IODC > 1020) && (gps_ephemeris_iter->second.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::log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephemeris> eph_map)
{
std::string line;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
line.clear();
for(galileo_ephemeris_iter = eph_map.begin();
galileo_ephemeris_iter != eph_map.end();
galileo_ephemeris_iter++)
{
// -------- SV / EPOCH / SV CLK
boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_Galileo_time(galileo_ephemeris_iter->second, galileo_ephemeris_iter->second.TOW_5);
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);
line += satelliteSystem["Galileo"];
if (galileo_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0");
line += boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.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(galileo_ephemeris_iter->second.af0_4, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.af1_4, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.af2_4, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 1
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(static_cast<double>(galileo_ephemeris_iter->second.IOD_ephemeris), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_rs_3, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.delta_n_3, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.M0_1, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 2
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_uc_3, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.e_1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_us_3, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.A_1, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 3
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.t0e_1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_ic_4, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.OMEGA_0_2, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_is_4, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 4
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.i_0_2, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.C_rc_3, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.omega_2, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.OMEGA_dot_3, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 5
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.iDot_2, 18, 2);
line += std::string(1, ' ');
//double one = 1.0; // INAV E1-B
std::string iNAVE1B("1000000001");
int data_source_INAV = Rinex_Printer::toInt(iNAVE1B, 10);
line += Rinex_Printer::doub2for(static_cast<double>(data_source_INAV), 18, 2);
line += std::string(1, ' ');
double GST_week = (double)(galileo_ephemeris_iter->second.WN_5);
double num_GST_rollovers = floor((GST_week + 1024.0) / 4096.0 );
double Galileo_week_continuous_number = GST_week + 1024.0 + num_GST_rollovers * 4096.0;
line += Rinex_Printer::doub2for(Galileo_week_continuous_number, 18, 2);
line += std::string(1, ' ');
double zero = 0.0;
line += Rinex_Printer::doub2for(zero, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 6
line.clear();
line += std::string(5, ' ');
//line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.SISA_3, 18, 2);
line += Rinex_Printer::doub2for(zero, 18, 2); // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
line += std::string(1, ' ');
std::string E1B_HS;
std::string E5B_HS;
if(galileo_ephemeris_iter->second.E1B_HS_5 == 0) E1B_HS = "00";
if(galileo_ephemeris_iter->second.E1B_HS_5 == 1) E1B_HS = "01";
if(galileo_ephemeris_iter->second.E1B_HS_5 == 2) E1B_HS = "10";
if(galileo_ephemeris_iter->second.E1B_HS_5 == 3) E1B_HS = "11";
if(galileo_ephemeris_iter->second.E5b_HS_5 == 0) E5B_HS = "00";
if(galileo_ephemeris_iter->second.E5b_HS_5 == 1) E5B_HS = "01";
if(galileo_ephemeris_iter->second.E5b_HS_5 == 2) E5B_HS = "10";
if(galileo_ephemeris_iter->second.E5b_HS_5 == 3) E5B_HS = "11";
if(E1B_HS == "11") LOG(WARNING) << "Signal Component currently in Test";
if(E1B_HS == "10") LOG(WARNING) << "Signal will be out of service";
if(E1B_HS == "01") LOG(WARNING) << "Signal out of service";
E1B_HS = "00"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
std::string E1B_DVS = boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
if(E1B_DVS == "1") LOG(WARNING) << "Navigation data without guarantee";
E1B_DVS = "0"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
std::string SVhealth_str = E5B_HS + boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E5b_DVS_5)
+ "11" + "1" + E1B_DVS + E1B_HS
+ boost::lexical_cast<std::string>(galileo_ephemeris_iter->second.E1B_DVS_5);
SVhealth_str = "000000000"; // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
int SVhealth = Rinex_Printer::toInt(SVhealth_str, 9);
line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.BGD_E1E5a_5, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.BGD_E1E5b_5, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- BROADCAST ORBIT - 7
line.clear();
line += std::string(5, ' ');
line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.TOW_5, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(zero, 18, 2);
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
line.clear();
}
}
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation)
{
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();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
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;
char c_username[20] = {0};
int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
}
else
{
username = "UNKNOWN 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
if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
line += Rinex_Printer::leftJustify(gnss_sdr_version, 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)
// put here real data!
double antena_x = 0.0;
double antena_y = 0.0;
double antena_z = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- 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;
if (version==2)
{
// --------- WAVELENGHT FACTOR
// put here real data!
line.clear();
line +=Rinex_Printer::rightJustify("1",6);
line +=Rinex_Printer::rightJustify("1",6);
line += std::string(48, ' ');
line += Rinex_Printer::leftJustify("WAVELENGTH FACT L1/2", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version==3)
{
// -------- SYS / OBS TYPES
// one line per available system
line.clear();
line += satelliteSystem["GPS"];
line += std::string(2, ' ');
std::stringstream strm;
numberTypesObservations = 4;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation
// GPS L1 PSEUDORANGE
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GPS_L1_CA"];
// GPS L1 PHASE
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GPS_L1_CA"];
// GPS DOPPLER L1
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GPS_L1_CA"];
// GPS L1 CA SIGNAL STRENGTH
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;
}
if (version==2)
{
// -------- SYS / OBS TYPES
line.clear();
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 6);
// per type of observation
// GPS L1 PSEUDORANGE
line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 PHASE
line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS DOPPLER L1
line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 SIGNAL STRENGTH
line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version==3)
{
// -------- 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_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation);
std::string timestring=boost::posix_time::to_iso_string(p_gps_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 gps_t = d_TOW_first_observation;
double seconds = fmod(gps_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::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation)
{
std::string line;
version = 3;
// -------- Line 1
line = std::string(5, ' ');
line += "3.01";
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
line += satelliteSystem["Galileo"];
line += std::string(19, ' ');
line += std::string("RINEX VERSION / TYPE");
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
line.clear();
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("GALILEO 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();
std::string gnss_sdr_version(GNSS_SDR_VERSION);
line += "GNSS-SDR VERSION ";
line += Rinex_Printer::leftJustify(gnss_sdr_version, 43);
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;
char c_username[20] = {0};
int nGet = getlogin_r(c_username, sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
}
else
{
username = "UNKNOWN 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
if(gnss_sdr_version.length() > 20) gnss_sdr_version.resize(9, ' ');
line += Rinex_Printer::leftJustify(gnss_sdr_version, 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)
// put here real data!
double antena_x = 0.0;
double antena_y = 0.0;
double antena_z = 0.0;
line.clear();
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_x, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_y, 4), 14);
line += Rinex_Printer::rightJustify(Rinex_Printer::asString(antena_z, 4), 14);
line += std::string(18, ' ');
line += Rinex_Printer::leftJustify("APPROX POSITION XYZ", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- 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["Galileo"];
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify("4", 3);
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E1_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E1_B"];
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_galileo_time = Rinex_Printer::compute_Galileo_time(eph, d_TOW_first_observation);
std::string timestring=boost::posix_time::to_iso_string(p_galileo_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 galileo_t = d_TOW_first_observation;
double seconds = fmod(galileo_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("GAL"), 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_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
{
// RINEX observations timestamps are GPS timestamps.
std::string line;
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = obs_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);
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(gps_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,Gnss_Synchro>::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();
// GPS L1 PSEUDORANGE
line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Pseudorange_m, 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);
}
// GPS L1 CA PHASE
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
// GPS L1 CA DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
//GPS L1 SIGNAL STRENGTH
//int ssi=signalStrength(54.0); // The original RINEX 2.11 file stores the RSS in a tabulated format 1-9. However, it is also valid to store the CN0 using dB-Hz units
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
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, ' ');
double seconds=fmod(gps_t, 60);
// Add extra 0 if seconds are < 10
if (seconds < 10)
{
line +=std::string(1, '0');
}
line += Rinex_Printer::asString(seconds, 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,Gnss_Synchro>::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.Pseudorange_m, 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);
}
// GPS L1 CA PHASE
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads/GPS_TWO_PI, 3), 14);
// GPS L1 CA DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
//GPS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
{
// RINEX observations timestamps are Galileo timestamps.
// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
std::string line;
boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_galileo_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
double galileo_t = obs_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 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, ' ');
double seconds = fmod(galileo_t, 60);
// Add extra 0 if seconds are < 10
if (seconds < 10)
{
line +=std::string(1, '0');
}
line += Rinex_Printer::asString(seconds, 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,Gnss_Synchro>::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["Galileo"];
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.Pseudorange_m, 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);
}
// Galileo E1B PHASE
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads / (2 * GALILEO_PI), 3), 14);
// Galileo E1B DOPPLER
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
// Galileo E1B SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}
// represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
// -> Leap years are considered, but leap seconds not.
void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &month, int &day, int &hour, int &minute, int &second)
{
int days_per_month[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
// seconds in a not leap year
const int secs_per_day = 24*60*60;
const int secs_per_week = 7*secs_per_day;
const int secs_per_normal_year = 365*secs_per_day;
const int secs_per_leap_year = secs_per_normal_year + secs_per_day;
// the GPS epoch is 06.01.1980 00:00, i.e. midnight 5. / 6. January 1980
// -> seconds since then
int secs_since_gps_epoch = gps_week*secs_per_week + gps_tow;
// find year, consider leap years
bool is_leap_year;
int remaining_secs = secs_since_gps_epoch + 5*secs_per_day;
for (int y = 1980; true ; y++)
{
is_leap_year = y%4 == 0 && (y%100 != 0 || y%400 == 0);
int secs_in_year_y = is_leap_year ? secs_per_leap_year : secs_per_normal_year;
if (secs_in_year_y <= remaining_secs)
{
remaining_secs -= secs_in_year_y;
}
else
{
year = y;
//std::cout << "year: year=" << year << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
break;
}
//std::cout << "year: y=" << y << " secs_in_year_y="<< secs_in_year_y << " remaining_secs="<< remaining_secs << std::endl;
}
// find month
for (int m = 1; true ; m++)
{
int secs_in_month_m = days_per_month[m-1]*secs_per_day;
if (is_leap_year && m == 2 ) // consider February of leap year
{
secs_in_month_m += secs_per_day;
}
if (secs_in_month_m <= remaining_secs)
{
remaining_secs -= secs_in_month_m;
}
else
{
month = m;
//std::cout << "month: month=" << month << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
break;
}
//std::cout << "month: m=" << m << " secs_in_month_m="<< secs_in_month_m << " remaining_secs="<< remaining_secs << std::endl;
}
day = remaining_secs/secs_per_day+1;
remaining_secs = remaining_secs%secs_per_day;
hour = remaining_secs/(60*60);
remaining_secs = remaining_secs%(60*60);
minute = remaining_secs/60;
second = remaining_secs%60;
}
void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
{
// line 1: PRN / EPOCH / RCVR
std::stringstream line1;
// SBAS PRN
line1 << sbs_message.get_prn();
line1 << " ";
// gps time of reception
int gps_week;
double gps_sec;
if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
{
int year;
int month;
int day;
int hour;
int minute;
int second;
double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
int gps_tow = trunc(gps_sec_one_digit_precicion);
double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
}
else
{
line1 << std::string(19, ' ');
}
line1 << " ";
// band
line1 << "L1";
line1 << " ";
// Length of data message (bytes)
line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
line1 << " ";
// File-internal receiver index
line1 << " 0";
line1 << " ";
// Transmission System Identifier
line1 << "SBA";
line1 << std::string(35, ' ');
lengthCheck(line1.str());
out << line1.str() << std::endl;
// DATA RECORD - 1
std::stringstream line2;
line2 << " ";
// Message frame identifier
if (sbs_message.get_msg_type() < 10) line2 << " ";
line2 << sbs_message.get_msg_type();
line2 << std::string(4, ' ');
// First 18 bytes of message (hex)
std::vector<unsigned char> msg = sbs_message.get_msg();
for (size_t i = 0; i < 18 && i < msg.size(); ++i)
{
line2 << std::hex << std::setfill('0') << std::setw(2);
line2 << int(msg[i]) << " ";
}
line2 << std::string(19, ' ');
lengthCheck(line2.str());
out << line2.str() << std::endl;
// DATA RECORD - 2
std::stringstream line3;
line3 << std::string(7, ' ');
// Remaining bytes of message (hex)
for (size_t i = 18; i < 36 && i < msg.size(); ++i)
{
line3 << std::hex << std::setfill('0') << std::setw(2);
line3 << int(msg[i]) << " ";
}
line3 << std::string(31, ' ');
lengthCheck(line3.str());
out << line3.str() << 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_UTC_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.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;
}
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(Gps_Ephemeris eph, double obs_time)
{
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800*(double)(eph.i_GPS_week % 1024))*1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(Galileo_Ephemeris eph, double obs_time)
{
// The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
double galileo_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800*(double)(eph.WN_5))*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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