mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity
gnss-sdr/src/algorithms/PVT/adapters/rtklib_pvt.cc

908 lines
58 KiB
C++
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

/*!
* \file rtklib_pvt.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "rtklib_pvt.h"
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#if USE_OLD_BOOST_MATH_COMMON_FACTOR
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
#else
#include <boost/integer/common_factor_rt.hpp>
namespace bc = boost::integer;
#endif
Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Pvt_Conf pvt_output_parameters = Pvt_Conf();
// dump parameters
const std::string default_dump_filename("./pvt.dat");
const std::string default_nmea_dump_filename("./nmea_pvt.nmea");
const std::string default_nmea_dump_devname("/dev/tty1");
const std::string default_rtcm_dump_devname("/dev/pts/1");
DLOG(INFO) << "role " << role;
pvt_output_parameters.dump = configuration->property(role + ".dump", false);
pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
// Flag to postprocess old gnss records (older than 2009) and avoid wrong week rollover
pvt_output_parameters.pre_2009_file = configuration->property("GNSS-SDR.pre_2009_file", false);
// output rate
pvt_output_parameters.output_rate_ms = bc::lcm(20, configuration->property(role + ".output_rate_ms", 500));
// display rate
pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));
// NMEA Printer settings
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
pvt_output_parameters.nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
pvt_output_parameters.nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RINEX version
pvt_output_parameters.rinex_version = configuration->property(role + ".rinex_version", 3);
if (FLAGS_RINEX_version == "3.01" || FLAGS_RINEX_version == "3.02" || FLAGS_RINEX_version == "3")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version == "2.10" || FLAGS_RINEX_version == "2.11" || FLAGS_RINEX_version == "2")
{
pvt_output_parameters.rinex_version = 2;
}
pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.rinex_name = configuration->property(role + ".rinex_name", std::string("-"));
if (FLAGS_RINEX_name != "-")
{
pvt_output_parameters.rinex_name = FLAGS_RINEX_name;
}
// RTCM Printer settings
pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
pvt_output_parameters.rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
pvt_output_parameters.flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
pvt_output_parameters.rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
pvt_output_parameters.rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
const int rtcm_MT1019_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
const int rtcm_MT1020_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
const int rtcm_MT1045_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
const int rtcm_MSM_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
const int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
const int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
const int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1081; k < 1088; k++) // All GLONASS MSM
{
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
pvt_output_parameters.kml_rate_ms = bc::lcm(configuration->property(role + ".kml_rate_ms", pvt_output_parameters.kml_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
// Infer the type of receiver
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
* 13 | Galileo E5a + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + Galileo E5a
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
* 23 | GLONASS L1 C/A
* 24 | GLONASS L2 C/A
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
* 28 | GPS L2C + GLONASS L1 C/A
* 29 | GPS L1 C/A + GLONASS L2 C/A
* 30 | Galileo E1B + GLONASS L2 C/A
* 31 | GPS L2C + GLONASS L2 C/A
* 32 | GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a
* 33 | GPS L1 C/A + Galileo E1B + Galileo E5a
*
* Skipped previous values to avoid overlapping
* 100 | Galileo E6B
* 101 | Galileo E1B + Galileo E6B
* 102 | Galileo E5a + Galileo E6B
* 103 | Galileo E5b + Galileo E6B
* 104 | Galileo E1B + Galileo E5a + Galileo E6B
* 105 | Galileo E1B + Galileo E5b + Galileo E6B
* 106 | GPS L1 C/A + Galileo E1B + Galileo E6B
* Skipped previous values to avoid overlapping
* 500 | BeiDou B1I
* 501 | BeiDou B1I + GPS L1 C/A
* 502 | BeiDou B1I + Galileo E1B
* 503 | BeiDou B1I + GLONASS L1 C/A
* 504 | BeiDou B1I + GPS L1 C/A + Galileo E1B
* 505 | BeiDou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
* 506 | BeiDou B1I + Beidou B3I
* Skipped previous values to avoid overlapping
* 600 | BeiDou B3I
* 601 | BeiDou B3I + GPS L2C
* 602 | BeiDou B3I + GLONASS L2 C/A
* 603 | BeiDou B3I + GPS L2C + GLONASS L2 C/A
* 604 | BeiDou B3I + GPS L1 C/A
* 605 | BeiDou B3I + Galileo E1B
* 606 | BeiDou B3I + GLONASS L1 C/A
* 607 | BeiDou B3I + GPS L1 C/A + Galileo E1B
* 608 | BeiDou B3I + GPS L1 C/A + Galileo E1B + BeiDou B1I
* 609 | BeiDou B3I + GPS L1 C/A + Galileo E1B + GLONASS L1 C/A
* 610 | BeiDou B3I + GPS L1 C/A + Galileo E1B + GLONASS L1 C/A + BeiDou B1I
*
* 1000 | GPS L1 C/A + GPS L2C + GPS L5
* 1001 | GPS L1 C/A + Galileo E1B + GPS L2C + GPS L5 + Galileo E5a
*/
const int gps_1C_count = configuration->property("Channels_1C.count", 0);
const int gps_2S_count = configuration->property("Channels_2S.count", 0);
const int gps_L5_count = configuration->property("Channels_L5.count", 0);
const int gal_1B_count = configuration->property("Channels_1B.count", 0);
const int gal_E5a_count = configuration->property("Channels_5X.count", 0);
const int gal_E5b_count = configuration->property("Channels_7X.count", 0);
const int gal_E6_count = configuration->property("Channels_E6.count", 0);
const int glo_1G_count = configuration->property("Channels_1G.count", 0);
const int glo_2G_count = configuration->property("Channels_2G.count", 0);
const int bds_B1_count = configuration->property("Channels_B1.count", 0);
const int bds_B3_count = configuration->property("Channels_B3.count", 0);
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 1; // L1
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 2; // GPS L2C
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 3; // L5
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 4; // E1
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 5; // E5a
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 6;
}
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 7; // GPS L1 C/A + GPS L2C
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 8; // L1+L5
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 9; // L1+E1
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 10; // GPS L1 C/A + Galileo E5a
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 11;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 12; // Galileo E1B + GPS L2C
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 13; // L5+E5a
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 14; // Galileo E1B + Galileo E5a
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 15;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 16; // GPS L2C + GPS L5
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 17; // GPS L2C + Galileo E5a
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 18;
}
// if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0)) pvt_output_parameters.type_of_receiver = 19;
// if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0)) pvt_output_parameters.type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 21; // GPS L1 C/A + Galileo E1B + GPS L2C
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 22; // GPS L1 C/A + Galileo E1B + GPS L5
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 23; // GLONASS L1 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 24; // GLONASS L2 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 25; // GLONASS L1 C/A + GLONASS L2 C/A
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 26; // GPS L1 C/A + GLONASS L1 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 27; // Galileo E1B + GLONASS L1 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 28; // GPS L2C + GLONASS L1 C/A
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 29; // GPS L1 C/A + GLONASS L2 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 30; // Galileo E1B + GLONASS L2 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 31; // GPS L2C + GLONASS L2 C/A
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 33; // L1+E1+E5a
}
// Galileo E6
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 100; // Galileo E6B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 101; // Galileo E1B + Galileo E6B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 102; // Galileo E5a + Galileo E6B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 103; // Galileo E5b + Galileo E6B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 104; // Galileo E1B + Galileo E5a + Galileo E6B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 105; // Galileo E1B + Galileo E5b + Galileo E6B
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 106; // GPS L1 C/A + Galileo E1B + Galileo E6B
}
// BeiDou B1I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 500; // Beidou B1I
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 501; // Beidou B1I + GPS L1 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 502; // Beidou B1I + Galileo E1B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 503; // Beidou B1I + GLONASS L1 C/A
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 504; // Beidou B1I + GPS L1 C/A + Galileo E1B
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 505; // Beidou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 506; // Beidou B1I + Beidou B3I
}
// BeiDou B3I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 600; // Beidou B3I
}
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 601; // Beidou B3I + GPS L2C
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 602; // Beidou B3I + GLONASS L2 C/A
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 603; // Beidou B3I + GPS L2C + GLONASS L2 C/A
}
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 1000; // GPS L1 + GPS L2C + GPS L5
}
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 1001; // GPS L1 + Galileo E1B + GPS L2C + GPS L5 + Galileo E5a
}
// RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
const std::string default_pos_mode("Single");
const std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); // (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h
if (positioning_mode_str == "Single")
{
positioning_mode = PMODE_SINGLE;
}
if (positioning_mode_str == "Static")
{
positioning_mode = PMODE_STATIC;
}
if (positioning_mode_str == "Kinematic")
{
positioning_mode = PMODE_KINEMA;
}
if (positioning_mode_str == "PPP_Static")
{
positioning_mode = PMODE_PPP_STATIC;
}
if (positioning_mode_str == "PPP_Kinematic")
{
positioning_mode = PMODE_PPP_KINEMA;
}
if (positioning_mode == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode.\n";
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n";
std::cout << "positioning_mode specified value: " << positioning_mode_str << '\n';
std::cout << "Setting positioning_mode to Single\n";
positioning_mode = PMODE_SINGLE;
}
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (gal_E6_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
{
num_bands = 1;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)))
{
num_bands = 2;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
{
num_bands = 2;
}
if ((gal_1B_count > 0) && (gal_E6_count > 0))
{
num_bands = 2;
}
if ((gal_1B_count > 0) && (gal_E6_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)))
{
num_bands = 3;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
{
num_bands = 3;
}
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
{
// warn user and set the default
number_of_frequencies = num_bands;
}
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{
// warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
elevation_mask = 15.0;
}
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if ((dynamics_model < 0) || (dynamics_model > 2))
{
// warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
dynamics_model = 0;
}
const std::string default_iono_model("OFF");
const std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1;
if (iono_model_str == "OFF")
{
iono_model = IONOOPT_OFF;
}
if (iono_model_str == "Broadcast")
{
iono_model = IONOOPT_BRDC;
}
if (iono_model_str == "SBAS")
{
iono_model = IONOOPT_SBAS;
}
if (iono_model_str == "Iono-Free-LC")
{
iono_model = IONOOPT_IFLC;
}
if (iono_model_str == "Estimate_STEC")
{
iono_model = IONOOPT_EST;
}
if (iono_model_str == "IONEX")
{
iono_model = IONOOPT_TEC;
}
if (iono_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model.\n";
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n";
std::cout << "iono_model specified value: " << iono_model_str << '\n';
std::cout << "Setting iono_model to OFF\n";
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
const std::string default_trop_model("OFF");
int trop_model = -1;
const std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if (trop_model_str == "OFF")
{
trop_model = TROPOPT_OFF;
}
if (trop_model_str == "Saastamoinen")
{
trop_model = TROPOPT_SAAS;
}
if (trop_model_str == "SBAS")
{
trop_model = TROPOPT_SBAS;
}
if (trop_model_str == "Estimate_ZTD")
{
trop_model = TROPOPT_EST;
}
if (trop_model_str == "Estimate_ZTD_Grad")
{
trop_model = TROPOPT_ESTG;
}
if (trop_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model.\n";
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n";
std::cout << "trop_model specified value: " << trop_model_str << '\n';
std::cout << "Setting trop_model to OFF\n";
trop_model = TROPOPT_OFF;
}
/* RTKLIB positioning options */
int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
/* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
const int phwindup = configuration->property(role + ".phwindup", 0);
/* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
const int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
/* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
The excluded satellite is selected to indicate the minimum SSE. */
const int raim_fde = configuration->property(role + ".raim_fde", 0);
const int earth_tide = configuration->property(role + ".earth_tide", 0);
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0))
{
nsys += SYS_GPS;
}
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0))
{
nsys += SYS_GAL;
}
if ((glo_1G_count > 0) || (glo_2G_count > 0))
{
nsys += SYS_GLO;
}
if ((bds_B1_count > 0) || (bds_B3_count > 0))
{
nsys += SYS_BDS;
}
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
// warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
navigation_system = nsys;
}
// Settings 2
const std::string default_gps_ar("Continuous");
const std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1;
if (integer_ambiguity_resolution_gps_str == "OFF")
{
integer_ambiguity_resolution_gps = ARMODE_OFF;
}
if (integer_ambiguity_resolution_gps_str == "Continuous")
{
integer_ambiguity_resolution_gps = ARMODE_CONT;
}
if (integer_ambiguity_resolution_gps_str == "Instantaneous")
{
integer_ambiguity_resolution_gps = ARMODE_INST;
}
if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold")
{
integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
}
if (integer_ambiguity_resolution_gps_str == "PPP-AR")
{
integer_ambiguity_resolution_gps = ARMODE_PPPAR;
}
if (integer_ambiguity_resolution_gps == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n";
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n";
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << '\n';
std::cout << "Setting AR_GPS to OFF\n";
integer_ambiguity_resolution_gps = ARMODE_OFF;
}
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{
// warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
integer_ambiguity_resolution_glo = 1;
}
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{
// warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
integer_ambiguity_resolution_bds = 1;
}
const double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
const int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.FLAGS_RINEX_version.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
const double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
const int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
const double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
const double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
const double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
const int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */
// Statistics
const double bias_0 = configuration->property(role + ".bias_0", 30.0);
const double iono_0 = configuration->property(role + ".iono_0", 0.03);
const double trop_0 = configuration->property(role + ".trop_0", 0.3);
const double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
bias (ambiguity) (cycle/sqrt(s)) */
const double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
const double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
const double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
const double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
const double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
const double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
const double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
const double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
const double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
const double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = {
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */
elevation_mask * D2R, /* elevation mask angle (degrees) */
snrmask, /* snrmask_t snrmask SNR mask */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
outage_reset_ambiguity, /* obs outage count to reset bias */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
10, /* min fix count to hold ambiguity */
1, /* max iteration to resolve ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */
trop_model, /* troposphere option (TROPOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
number_filter_iter, /* number of filter iteration */
0, /* code smoothing window size (0:none) */
0, /* interpolate reference obs (for post mission) */
0, /* sbssat_t sbssat SBAS correction options */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* rover position for fixed mode */
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
30.0, /* max difference of time (sec) */
threshold_reject_innovation, /* reject threshold of innovation (m) */
threshold_reject_gdop, /* reject threshold of gdop */
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */
0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
rtkinit(&rtk, &rtklib_configuration_options);
// Outputs
const bool default_output_enabled = configuration->property(role + ".output_enabled", true);
pvt_output_parameters.output_enabled = default_output_enabled;
pvt_output_parameters.rinex_output_enabled = configuration->property(role + ".rinex_output_enabled", default_output_enabled);
pvt_output_parameters.gpx_output_enabled = configuration->property(role + ".gpx_output_enabled", default_output_enabled);
pvt_output_parameters.geojson_output_enabled = configuration->property(role + ".geojson_output_enabled", default_output_enabled);
pvt_output_parameters.kml_output_enabled = configuration->property(role + ".kml_output_enabled", default_output_enabled);
pvt_output_parameters.xml_output_enabled = configuration->property(role + ".xml_output_enabled", default_output_enabled);
pvt_output_parameters.nmea_output_file_enabled = configuration->property(role + ".nmea_output_file_enabled", default_output_enabled);
pvt_output_parameters.rtcm_output_file_enabled = configuration->property(role + ".rtcm_output_file_enabled", false);
const std::string default_output_path = configuration->property(role + ".output_path", std::string("."));
pvt_output_parameters.output_path = default_output_path;
pvt_output_parameters.rinex_output_path = configuration->property(role + ".rinex_output_path", default_output_path);
pvt_output_parameters.gpx_output_path = configuration->property(role + ".gpx_output_path", default_output_path);
pvt_output_parameters.geojson_output_path = configuration->property(role + ".geojson_output_path", default_output_path);
pvt_output_parameters.kml_output_path = configuration->property(role + ".kml_output_path", default_output_path);
pvt_output_parameters.xml_output_path = configuration->property(role + ".xml_output_path", default_output_path);
pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
// Read PVT MONITOR Configuration
pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);
pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
pvt_output_parameters.protobuf_enabled = configuration->property(role + ".enable_protobuf", true);
if (configuration->property("Monitor.enable_protobuf", false) == true)
{
pvt_output_parameters.protobuf_enabled = true;
}
// Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
// Enable or disable rx clock correction in observables
pvt_output_parameters.enable_rx_clock_correction = configuration->property(role + ".enable_rx_clock_correction", false);
// Set maximum clock offset allowed if pvt_output_parameters.enable_rx_clock_correction = false
pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms);
// make PVT object
pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{
LOG(ERROR) << "The PVT block does not have an output stream";
}
}
Rtklib_Pvt::~Rtklib_Pvt()
{
DLOG(INFO) << "PVT adapter destructor called.";
rtkfree(&rtk);
}
bool Rtklib_Pvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time)
{
return pvt_->get_latest_PVT(longitude_deg,
latitude_deg,
height_m,
ground_speed_kmh,
course_over_ground_deg,
UTC_time);
}
void Rtklib_Pvt::clear_ephemeris()
{
pvt_->clear_ephemeris();
}
std::map<int, Gps_Ephemeris> Rtklib_Pvt::get_gps_ephemeris() const
{
return pvt_->get_gps_ephemeris_map();
}
std::map<int, Galileo_Ephemeris> Rtklib_Pvt::get_galileo_ephemeris() const
{
return pvt_->get_galileo_ephemeris_map();
}
std::map<int, Gps_Almanac> Rtklib_Pvt::get_gps_almanac() const
{
return pvt_->get_gps_almanac_map();
}
std::map<int, Galileo_Almanac> Rtklib_Pvt::get_galileo_almanac() const
{
return pvt_->get_galileo_almanac_map();
}
void Rtklib_Pvt::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void Rtklib_Pvt::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}
gr::basic_block_sptr Rtklib_Pvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr Rtklib_Pvt::get_right_block()
{
return nullptr; // this is a sink, nothing downstream
}
Reference in New Issue View Git Blame Copy Permalink