mirror of https://github.com/gnss-sdr/gnss-sdr
500 lines
31 KiB
C++
500 lines
31 KiB
C++
/*!
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* \file rtklib_solver.cc
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* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
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* data flow and structures
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* \authors <ul>
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* <li> 2007-2013, T. Takasu
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* -----------------------------------------------------------------------*/
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#include "rtklib_solver.h"
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#include "rtklib_conversions.h"
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#include "GPS_L1_CA.h"
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#include "Galileo_E1.h"
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#include "GLONASS_L1_CA.h"
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#include <glog/logging.h>
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using google::LogMessage;
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rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk)
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{
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// init empty ephemeris for all the available GNSS channels
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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d_flag_dump_enabled = flag_dump_to_file;
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count_valid_position = 0;
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this->set_averaging_flag(false);
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rtk_ = rtk;
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pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
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// ############# ENABLE DATA FILE LOG #################
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if (d_flag_dump_enabled == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure& e)
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{
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LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
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}
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}
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}
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}
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rtklib_solver::~rtklib_solver()
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{
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if (d_dump_file.is_open() == true)
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{
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try
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{
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d_dump_file.close();
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}
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catch (const std::exception& ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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}
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}
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bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging)
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{
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std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
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std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
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std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
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std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
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std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
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const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
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this->set_averaging_flag(flag_averaging);
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// ********************************************************************************
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// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
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// ********************************************************************************
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int valid_obs = 0; //valid observations counter
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int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
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obsd_t obs_data[MAXOBS];
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eph_t eph_data[MAXOBS];
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geph_t geph_data[MAXOBS];
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for (gnss_observables_iter = gnss_observables_map.cbegin();
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gnss_observables_iter != gnss_observables_map.cend();
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gnss_observables_iter++)
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{
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switch (gnss_observables_iter->second.System)
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{
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case 'E':
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// Galileo E1
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if (sig_.compare("1B") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// Galileo E5
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if (sig_.compare("5X") == 0)
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
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{
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bool found_E1_obs = false;
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
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{
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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found_E1_obs = true;
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break;
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}
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}
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if (!found_E1_obs)
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{
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//insert Galileo E5 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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{}, {0.0, 0.0, 0.0}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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galileo_ephemeris_iter->second.WN_5,
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2); //Band 3 (L5/E5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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case 'G':
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{
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// GPS L1
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// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
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std::string sig_(gnss_observables_iter->second.Signal);
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if (sig_.compare("1C") == 0)
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{
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_ephemeris_iter->second.i_GPS_week,
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0);
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valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
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}
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}
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//GPS L2
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if (sig_.compare("2S") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
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{
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// 1. Find the same satellite in GPS L1 band
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.cend())
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{
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// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
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// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
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{
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eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1); //Band 2 (L2)
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break;
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}
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}
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}
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else
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{
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// 3. If not found, insert the GPS L2 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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{}, {0.0, 0.0, 0.0}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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1); //Band 2 (L2)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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//GPS L5
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if (sig_.compare("L5") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
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{
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// 1. Find the same satellite in GPS L1 band
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.cend())
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{
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// 2. If found, replace the existing GPS L1 ephemeris with the GPS L5 ephemeris
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// (more precise!), and attach the L5 observation to the L1 observation in RTKLIB structure
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for (int i = 0; i < valid_obs; i++)
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{
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if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
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{
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eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2); //Band 3 (L5)
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break;
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}
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}
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}
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else
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{
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// 3. If not found, insert the GPS L5 ephemeris and the observation
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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//convert observation from GNSS-SDR class to RTKLIB structure
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unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
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obsd_t newobs = {{0, 0}, '0', '0', {}, {},
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{default_code_, default_code_, default_code_},
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{}, {0.0, 0.0, 0.0}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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gps_cnav_ephemeris_iter->second.i_GPS_week,
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2); //Band 3 (L5)
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valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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case 'R': //TODO This should be using rtk lib nomenclature
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{
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std::string sig_(gnss_observables_iter->second.Signal);
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// GLONASS GNAV L1
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if (sig_.compare("1G") == 0)
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{
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// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
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{
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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0); //Band 0 (L1)
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glo_valid_obs++;
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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// GLONASS GNAV L2
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if (sig_.compare("2G") == 0)
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{
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// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
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glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
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{
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bool found_L1_obs = false;
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for (int i = 0; i < glo_valid_obs; i++)
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{
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if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS)))
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{
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obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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1); //Band 1 (L2)
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found_L1_obs = true;
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break;
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}
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}
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if (!found_L1_obs)
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{
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//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
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//convert ephemeris from GNSS-SDR class to RTKLIB structure
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geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
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//convert observation from GNSS-SDR class to RTKLIB structure
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obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
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obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
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gnss_observables_iter->second,
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glonass_gnav_ephemeris_iter->second.d_WN,
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1); //Band 1 (L2)
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glo_valid_obs++;
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}
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}
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else // the ephemeris are not available for this SV
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{
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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break;
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}
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default:
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DLOG(INFO) << "Hybrid observables: Unknown GNSS";
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break;
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}
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}
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// **********************************************************************
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// ****** SOLVE PVT******************************************************
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// **********************************************************************
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this->set_valid_position(false);
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if (valid_obs > 0 || glo_valid_obs > 0)
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{
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int result = 0;
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nav_t nav_data;
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nav_data.eph = eph_data;
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nav_data.geph = geph_data;
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nav_data.n = valid_obs;
|
|
nav_data.ng = glo_valid_obs;
|
|
|
|
for (int i = 0; i < MAXSAT; i++)
|
|
{
|
|
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
|
|
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
|
|
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
|
|
}
|
|
|
|
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
|
|
|
|
if (result == 0)
|
|
{
|
|
LOG(INFO) << "RTKLIB rtkpos error";
|
|
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
|
|
this->set_time_offset_s(0.0); //reset rx time estimation
|
|
this->set_num_valid_observations(0);
|
|
}
|
|
else
|
|
{
|
|
this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver
|
|
pvt_sol = rtk_.sol;
|
|
this->set_valid_position(true);
|
|
arma::vec rx_position_and_time(4);
|
|
rx_position_and_time(0) = pvt_sol.rr[0];
|
|
rx_position_and_time(1) = pvt_sol.rr[1];
|
|
rx_position_and_time(2) = pvt_sol.rr[2];
|
|
rx_position_and_time(3) = pvt_sol.dtr[0];
|
|
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
|
|
double offset_s = this->get_time_offset_s();
|
|
this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s)); // accumulate the rx time error for the next iteration [meters]->[seconds]
|
|
DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
|
|
|
|
boost::posix_time::ptime p_time;
|
|
gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
|
|
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
|
p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
|
this->set_position_UTC_time(p_time);
|
|
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
|
|
|
|
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
|
|
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
|
|
<< " [deg], Height= " << this->get_height() << " [m]"
|
|
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
|
|
|
|
// ######## LOG FILE #########
|
|
if (d_flag_dump_enabled == true)
|
|
{
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
try
|
|
{
|
|
double tmp_double;
|
|
// PVT GPS time
|
|
tmp_double = Rx_time;
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// ECEF User Position East [m]
|
|
tmp_double = rx_position_and_time(0);
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// ECEF User Position North [m]
|
|
tmp_double = rx_position_and_time(1);
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// ECEF User Position Up [m]
|
|
tmp_double = rx_position_and_time(2);
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// User clock offset [s]
|
|
tmp_double = rx_position_and_time(3);
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// GEO user position Latitude [deg]
|
|
tmp_double = this->get_latitude();
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// GEO user position Longitude [deg]
|
|
tmp_double = this->get_longitude();
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
// GEO user position Height [m]
|
|
tmp_double = this->get_height();
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return this->is_valid_position();
|
|
}
|