mirror of https://github.com/gnss-sdr/gnss-sdr
262 lines
12 KiB
C++
262 lines
12 KiB
C++
/*!
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* \file galileo_e1_pvt_cc.cc
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* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "galileo_e1_pvt_cc.h"
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#include <algorithm>
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#include <bitset>
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#include <iostream>
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#include <map>
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#include <sstream>
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#include <vector>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <gnuradio/gr_complex.h>
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include "control_message_factory.h"
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#include "gnss_synchro.h"
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#include "concurrent_map.h"
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using google::LogMessage;
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extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
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extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
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extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
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extern concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
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galileo_e1_pvt_cc_sptr
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galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
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{
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return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
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}
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galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
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gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(1, 1, sizeof(gr_complex)))
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{
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d_output_rate_ms = output_rate_ms;
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d_display_rate_ms = display_rate_ms;
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d_queue = queue;
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d_dump = dump;
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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std::string dump_ls_pvt_filename = dump_filename;
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//initialize kml_printer
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std::string kml_dump_filename;
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kml_dump_filename = d_dump_filename;
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kml_dump_filename.append(".kml");
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d_kml_dump = std::make_shared<Kml_Printer>();
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d_kml_dump->set_headers(kml_dump_filename);
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//initialize nmea_printer
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d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
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d_dump_filename.append("_raw.dat");
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dump_ls_pvt_filename.append("_ls_pvt.dat");
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d_averaging_depth = averaging_depth;
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d_flag_averaging = flag_averaging;
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d_ls_pvt = std::make_shared<galileo_e1_ls_pvt>(nchannels, dump_ls_pvt_filename, d_dump);
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d_ls_pvt->set_averaging_depth(d_averaging_depth);
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d_sample_counter = 0;
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d_last_sample_nav_output = 0;
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d_rx_time = 0.0;
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b_rinex_header_writen = false;
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rp = std::make_shared<Rinex_Printer>();
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == 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 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 dump file " << e.what();
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}
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}
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}
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}
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galileo_e1_pvt_cc::~galileo_e1_pvt_cc()
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{}
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bool galileo_e1_pvt_cc::pseudoranges_pairCompare_min( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
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{
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return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
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}
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int galileo_e1_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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d_sample_counter++;
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std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (in[i][0].Flag_valid_pseudorange == true)
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{
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gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
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d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
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}
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}
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// ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
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if (global_galileo_ephemeris_map.size() > 0)
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{
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d_ls_pvt->galileo_ephemeris_map = global_galileo_ephemeris_map.get_map_copy();
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}
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if (global_galileo_utc_model_map.size() > 0)
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{
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// UTC MODEL data is shared for all the Galileo satellites. Read always at ID=0
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global_galileo_utc_model_map.read(0, d_ls_pvt->galileo_utc_model);
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}
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if (global_galileo_iono_map.size() > 0)
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{
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// IONO data is shared for all the Galileo satellites. Read always at ID=0
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global_galileo_iono_map.read(0, d_ls_pvt->galileo_iono);
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}
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if (global_galileo_almanac_map.size() > 0)
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{
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// Almanac data is shared for all the Galileo satellites. Read always at ID=0
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global_galileo_almanac_map.read(0, d_ls_pvt->galileo_almanac);
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}
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// ############ 2 COMPUTE THE PVT ################################
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if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
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{
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// compute on the fly PVT solution
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if ((d_sample_counter % d_output_rate_ms) == 0)
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{
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bool pvt_result;
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pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging);
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if (pvt_result == true)
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{
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d_kml_dump->print_position_galileo(d_ls_pvt, d_flag_averaging);
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//ToDo: Implement Galileo RINEX and Galileo NMEA outputs
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// d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
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//
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if (!b_rinex_header_writen) // & we have utc data in nav message!
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{
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std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
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rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
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b_rinex_header_writen = true; // do not write header anymore
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}
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}
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if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
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{
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// Limit the RINEX navigation output rate to 1/6 seg
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// Notice that d_sample_counter period is 4ms (for Galileo correlators)
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if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
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{
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rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
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d_last_sample_nav_output = d_sample_counter;
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}
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std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
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{
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rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
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}
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}
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}
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}
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// DEBUG MESSAGE: Display position in console output
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if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
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{
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std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
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<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
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<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
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LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
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<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
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<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]";
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LOG(INFO) << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
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<< " is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = "
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<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP
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<< " GDOP = " << d_ls_pvt->d_GDOP;
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}
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// MULTIPLEXED FILE RECORDING - Record results to file
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if(d_dump == true)
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{
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try
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{
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double tmp_double;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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tmp_double = in[i][0].Pseudorange_m;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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tmp_double = 0;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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d_dump_file.write((char*)&d_rx_time, sizeof(double));
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}
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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 writing observables dump file " << e.what();
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}
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}
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}
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consume_each(1); //one by one
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return 0;
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}
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