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gnss-sdr/src/algorithms/observables/libs/rinex_2_1_printer.cc

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#include "rinex_2_1_printer.h"
void rinex_printer::set_headers(std::string file_name)
{
correccio_primera_obs=1;
fp_rin = fopen((file_name+".09o").c_str(),"wt");
fp_rin_end = ftell(fp_rin);
fp_rin2 = fopen((file_name+".09n").c_str(),"wt");
fp_rin_end2 = ftell(fp_rin2);
// write RINEX headers
Rinex2ObsHeader();
Rinex2NavHeader();
}
rinex_printer::rinex_printer ()
{
}
rinex_printer::~rinex_printer ()
{
fclose(fp_rin);
fclose(fp_rin2);
}
void rinex_printer::Rinex2NavHeader()
{
if(fp_rin2 != NULL)
{
//calculate UTC_TIME
time_t tiempo;
char cad[80];
struct tm *tmPtr;
tiempo = time(NULL);
tmPtr = gmtime(&tiempo);
strftime( cad, 20, "%d-%b-%y %H:%M", tmPtr );
fseek(fp_rin2, fp_rin_end2, SEEK_SET);
//fprintf(fp_rin2,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n");
fprintf(fp_rin2," 2.10 NAVIGATION DATA RINEX VERSION / TYPE\n");
fprintf(fp_rin2,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad);
//fprintf(fp_rin2,"CTTC MARKER NAME\n");
//fprintf(fp_rin2,"0000 MARKERNUMBER\n");
fp_rin_end2 = ftell(fp_rin2);
correccio_primera_obs=1;
}
}
void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
if(fp_rin2 != NULL)
{
//double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec;
//double day,hour,minutes,seconds,enterseconds,a;
double gpstime;
struct tm *tmPtr;
time_t temps;
//1-Calcul data i hora gps
//Calculo el any,mes i dia a partir de l'hora UTC
//calculate UTC_TIME
char cad1[80];
char cad2[80];
//calculate date of gps time:
double setmanes=nav_msg.d_GPS_week+1024;
//Days & weeks between 00h 1 Jan 1970 and 00h 6 Jan 1980
//520 weeks and 12 days.
gpstime=nav_msg.d_master_clock;
temps=(520+setmanes)*7*24*3600+gpstime+17*24*3600;
tmPtr = gmtime(&temps);
strftime( cad1, 20, "%y %m %d", tmPtr );
//std::cout<<"gps_time="<<cad1<<std::endl;
sprintf(cad2,"%2.0f %2.0f %3.1f",(double)tmPtr->tm_hour,(double)tmPtr->tm_min,(double)tmPtr->tm_sec);
if(correccio_primera_obs==1){
//Escriure CORRECCIO DE TEMPS GPS a0 i a1;
fseek(fp_rin2, fp_rin_end2, SEEK_SET);
char correction[256],correction2[256];
double A0,A1;
/* 8.3819D-09 -7.4506D-09 -5.9605D-08 5.9605D-08 ION ALPHA
8.8 064D+04 -3.2768D+04 -1.9661D+05 1.9661D+05 ION BETA
5. 587935447693D-09 8.881784197001D-15 233472 1518 DELTA-UTC: A0,A1,T,W*/
A0=587.935447693E-09;
A1=8.881784197001E-15;
sprintf(correction,"%19.12E",A0);
sprintf(correction2,"%19.12E",A1);
double alpha0,alpha1,alpha2,alpha3,beta0,beta1,beta2,beta3;
alpha0=8.3819E-09;
alpha1=-7.4506E-09;
alpha2=-5.9605E-08;
alpha3=5.9605E-08;
beta0=064E+04;
beta1=-3.2768E+04;
beta2=-1.9661E+05;
beta3= 1.9661E+05;
//Format(&correction[0],1);
//Format(&correction2[0],1);
//fp_rin_correction_time = ftell(fp_rin2);
// fprintf(fp_rin2," %12.4E%12.4E%12.4E%12.4E ION ALPHA\n",alpha0,alpha1,alpha2,alpha3);
// fprintf(fp_rin2," %12.4E%12.4E%12.4E%12.4E ION BETA\n",beta0,beta1,beta2,beta3);
fprintf(fp_rin2," %s%s%9.0f%9d DELTA-UTC: A0,A1,T,W\n",correction,correction2,gpstime,(int)nav_msg.d_GPS_week+1024);
fprintf(fp_rin2," 15 LEAP SECONDS\n");
fprintf(fp_rin2," END OF HEADER\n");
fp_rin_end2 = ftell(fp_rin2);
correccio_primera_obs=0;
}
//preparacio lines de efemerides per imprimir!!!
char linia0[256],linia1[256],linia2[256],linia3[256],linia4[256],linia5[256],linia6[256],linia7[256];
char idef[256];
sprintf(idef,"%2.0d",nav_msg.d_satellite_PRN);
sprintf(linia0,"%19.12E%19.12E%19.12E",nav_msg.d_A_f0,nav_msg.d_A_f1,nav_msg.d_A_f2);
sprintf(linia1,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_IODE_SF2,nav_msg.d_Crs,nav_msg.d_Delta_n,nav_msg.d_M_0);
sprintf(linia2,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_Cuc,nav_msg.d_e_eccentricity,nav_msg.d_Cus,nav_msg.d_sqrt_A);
sprintf(linia3,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_Toe,nav_msg.d_Cic,nav_msg.d_OMEGA0,nav_msg.d_Cis);
sprintf(linia4,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_i_0,nav_msg.d_Crc,nav_msg.d_OMEGA,nav_msg.d_OMEGA_DOT);
sprintf(linia5,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_IDOT,0.0,nav_msg.d_GPS_week+1024.0,0.0);//CodeL2, L2pData
sprintf(linia6,"%19.12E%19.12E%19.12E%19.12E",nav_msg.d_SV_accuracy,nav_msg.d_SV_health,nav_msg.d_TGD,nav_msg.d_IODC);
sprintf(linia7,"%19.12E%19.12E",nav_msg.d_TOW,0.0); //fit interval is set to 0
fseek(fp_rin2, fp_rin_end2, SEEK_SET);
fprintf(fp_rin2,"%s %s %s%s\n",idef,cad1,cad2,linia0);
fprintf(fp_rin2," %s\n",linia1);
fprintf(fp_rin2," %s\n",linia2);
fprintf(fp_rin2," %s\n",linia3);
fprintf(fp_rin2," %s\n",linia4);
fprintf(fp_rin2," %s\n",linia5);
fprintf(fp_rin2," %s\n",linia6);
fprintf(fp_rin2," %s\n",linia7);
fp_rin_end2 = ftell(fp_rin2);
}
}
void rinex_printer::Rinex2ObsHeader()
{
//Clock_S *pClock = &tNav.master_clock; /* Clock solution */
if(fp_rin != NULL)
{
//calculate UTC_TIME
time_t tiempo;
char cad[80];
struct tm *tmPtr;
tiempo = time(NULL);
tmPtr = gmtime(&tiempo);
strftime( cad, 24, "%d/%m/%Y %H:%M:%S", tmPtr );
fseek(fp_rin, fp_rin_end, SEEK_SET);
//fprintf(fp_rin,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n");
fprintf(fp_rin," 2.10 Observation G (GPS) RINEX VERSION / TYPE\n");
fprintf(fp_rin,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad);
fprintf(fp_rin,"CTTC MARKER NAME\n");
//fprintf(fp_rin,"0000 MARKERNUMBER\n");
fprintf(fp_rin,"JAVIER ARRIBAS CTTC OBSERVER / AGENCY\n");
fprintf(fp_rin,"GNSS-SDR-mercurio SDR 1.0 REC # / TYPE / VERS\n");
fprintf(fp_rin,"0000000000 CTTC00000.00 ANT # / TYPE\n");
fprintf(fp_rin," 4797642.2790 166436.1500 4185504.6370 APPROX POSITION XYZ\n");
fprintf(fp_rin," 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N\n");
fprintf(fp_rin," 1 0 WAVELENGTH FACT L1/2\n");
fprintf(fp_rin," 2 C1 L1 # / TYPES OF OBSERV\n");
fprintf(fp_rin," 0.1000 INTERVAL\n");
//INTRODUIR HORA PRIMERA OBSERVACIO
//ho escriure un cop hagi adquirit dades
//fprintf(fp_rin," 2001 3 24 13 10 36.0000000 TIME OF FIRST OBS\n");
//fprintf(fp_rin," END OF HEADER\n");
fp_rin_end = ftell(fp_rin);
temps_primera_obs=1;
}
}
void rinex_printer::LogRinex2Obs(gps_navigation_message nav_msg,double interframe_seconds, std::map<int,float> pseudoranges)
{
int ss;
char sat_vis[36];
for(int i=0;i<36;i++) sat_vis[i]=' ';
char packet[80];
int index=0;
char cad[2];
double setmanes;
std::map<int,float>::iterator pseudoranges_iter;
//necessito
//1-Data i hora<--- de struct Clock_S
//2-#sat visibles, identificador dat visibles-----> de Com fa a LogNav() // (Chan_Packet_S *) &tChan[lcv]->sv
//3-pseudodistancia de cada satèl·lit ----> Com fa a LogPseudo(), tb es pot treure la carrier_phase. Serveix per algo??
//4- El punt 1 i 2 s'han d'escriure a la mateixa línia. El punt 3 una línia per a cada satèl·lit.
if(fp_rin != NULL)
{
setmanes=nav_msg.d_GPS_week + 1024;
//1-Calcul data i hora gps
//Calculo el any,mes i dia a partir de l'hora UTC
//calculate UTC_TIME
time_t temps;
char cad1[80];
char cad2[80];
char cad3[80];
char cad4[80];
struct tm *tmPtr;
//Calculo hora, minut, segons a partir de pClocK.time =hora GPS
double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec;
double day,hour,minutes,seconds,enterseconds,a;
double gpstime;
gpstime=nav_msg.d_master_clock;
//calculate date of gps time:
//Days & weeks between 00h 1 Jan 1970 and 00h 6 Jan 1980
//520 weeks and 12 days.
temps=(520+setmanes)*7*24*3600+gpstime+17*24*3600;
tmPtr = gmtime(&temps);
strftime( cad1, 20, " %y %m %d", tmPtr );
strftime( cad2, 20, " %Y %m %d", tmPtr );
decimalday=((gpstime+interframe_seconds)/(24*3600));//Dies dins de la semana
daydecimalhour=modf(decimalday,&day);//day=#dies sencers, daydecimalhour=porcio de dia
daydecimalhour=daydecimalhour*24;//porcio de dia en hores
decimalhour=modf(daydecimalhour,&hour);//hour=hora del dia; decimalhour=porcio d'hora
decimalmin=decimalhour*60;//decimalmin=minuts del dia amb decimal
decimalsec=modf(decimalmin,&minutes);//minutes=minuts del dia enters,decimalsec=porcio de minuts
seconds=decimalsec*60;//seconds=segons del dia en decimal
a=modf(seconds,&enterseconds);
sprintf(cad4,"%6.0f%6.0f%13.7f",hour,minutes,seconds);
sprintf(cad3," %2.0f %2.0f%11.7f",hour,minutes,seconds);
//TODO: Include receiver clock offset
if(temps_primera_obs==1){
//Escriure Hora Primera Observació
fseek(fp_rin, fp_rin_end, SEEK_SET);
fprintf(fp_rin,"%s%s GPS TIME OF FIRST OBS\n",cad2,cad4);
fprintf(fp_rin,"00000CTTC MARKER NUMBER\n");
//fprintf(fp_rin,"Edited by .... COMMENT\n");
fprintf(fp_rin," END OF HEADER\n");
fp_rin_end = ftell(fp_rin);
temps_primera_obs=0;
}
//2-Num sat visibles i identificador
signed long int nsvs = 0;
//3-Escriure pseudodistancia
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
//PER FORMAT RINEX2
nsvs++;
sprintf(cad,"%2.0f",(double)pseudoranges_iter->first); //satellite PRN ID
int k=3*index;
sat_vis[k]='G';
sat_vis[k+1]=cad[0];
sat_vis[k+2]=cad[1];
index++;
}
//sat_vis tinc vector de identif de sat visibles
//Per format RINEX2
//sprintf(packet,"%s%s 0%3d%s%12.9f",cad1,cad3,nsvs,sat_vis,offset);
sprintf(packet,"%s%s 0%3d%s",cad1,cad3,nsvs,sat_vis);
packet[69]=packet[68];
packet[68]=' ';
fseek(fp_rin, fp_rin_end, SEEK_SET);
fprintf(fp_rin,"%s\n",packet);
fp_rin_end = ftell(fp_rin);
//3-Escriure pseudodistancia
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
ss=signalstrength(54.00); // TODO: include estimated signal strength
fseek(fp_rin, fp_rin_end, SEEK_SET);
fprintf(fp_rin,"%14.3f %14.3f %d\n",pseudoranges_iter->second,0.0,ss); //TODO: include the carrier phase
fp_rin_end = ftell(fp_rin);
}
}
}
int rinex_printer::signalstrength( double snr)
{
int ss;
if(snr<=12.00) ss=1;
else if(snr>12.00 && snr<=18.00) ss=2;
else if(snr>18.00 && snr<=24.00) ss=3;
else if(snr>24.00 && snr<=30.00) ss=4;
else if(snr>30.00 && snr<=36.00) ss=5;
else if(snr>36.00 && snr<=42.00) ss=6;
else if(snr>42.00 && snr<=48.00) ss=7;
else if(snr>48.00 && snr<=54) ss=8;
else if(snr>=54.00) ss=9;
return (ss);
}
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