mirror of https://github.com/gnss-sdr/gnss-sdr
360 lines
18 KiB
C++
360 lines
18 KiB
C++
/*!
|
|
* \file hybrid_pvt_cc.cc
|
|
* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
|
|
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
|
*
|
|
* GNSS-SDR is a software defined Global Navigation
|
|
* Satellite Systems receiver
|
|
*
|
|
* This file is part of GNSS-SDR.
|
|
*
|
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "hybrid_pvt_cc.h"
|
|
#include <algorithm>
|
|
#include <iostream>
|
|
#include <map>
|
|
#include <boost/date_time/posix_time/posix_time.hpp>
|
|
#include <gnuradio/gr_complex.h>
|
|
#include <gnuradio/io_signature.h>
|
|
#include <glog/logging.h>
|
|
#include "concurrent_map.h"
|
|
|
|
using google::LogMessage;
|
|
|
|
hybrid_pvt_cc_sptr
|
|
hybrid_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, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
|
|
{
|
|
return hybrid_pvt_cc_sptr(new hybrid_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, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
|
|
}
|
|
|
|
|
|
|
|
void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
|
|
{
|
|
try {
|
|
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
|
|
{
|
|
// ### GPS EPHEMERIS ###
|
|
std::shared_ptr<Gps_Ephemeris> gps_eph;
|
|
gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
|
|
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
|
|
<< gps_eph->i_satellite_PRN << " (Block "
|
|
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
|
|
<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
|
|
<< gps_eph->i_GPS_week;
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
|
|
}
|
|
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
|
|
{
|
|
// ### GPS IONO ###
|
|
std::shared_ptr<Gps_Iono> gps_iono;
|
|
gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
|
|
d_ls_pvt->gps_iono=*gps_iono;
|
|
DLOG(INFO) << "New IONO record has arrived ";
|
|
}
|
|
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
|
|
{
|
|
// ### GPS UTC MODEL ###
|
|
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
|
|
gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
|
|
d_ls_pvt->gps_utc_model=*gps_utc_model;
|
|
DLOG(INFO) << "New UTC record has arrived ";
|
|
}
|
|
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
|
|
{
|
|
// ### Galileo EPHEMERIS ###
|
|
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
|
|
galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
|
|
// insert new ephemeris record
|
|
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
|
|
<< ", GALILEO Week Number =" << galileo_eph->WN_5
|
|
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
|
|
}
|
|
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
|
|
{
|
|
// ### Galileo IONO ###
|
|
std::shared_ptr<Galileo_Iono> galileo_iono;
|
|
galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
|
|
d_ls_pvt->galileo_iono=*galileo_iono;
|
|
DLOG(INFO) << "New IONO record has arrived ";
|
|
}
|
|
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
|
|
{
|
|
// ### Galileo UTC MODEL ###
|
|
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
|
|
galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
|
|
d_ls_pvt->galileo_utc_model=*galileo_utc_model;
|
|
DLOG(INFO) << "New UTC record has arrived ";
|
|
}
|
|
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
|
|
{
|
|
// ### Galileo Almanac ###
|
|
std::shared_ptr<Galileo_Almanac> galileo_almanac;
|
|
galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
d_ls_pvt->galileo_almanac=*galileo_almanac;
|
|
DLOG(INFO) << "New Galileo Almanac has arrived ";
|
|
}else{
|
|
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
|
|
}
|
|
|
|
}
|
|
catch(boost::bad_any_cast& e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
|
|
}
|
|
}
|
|
|
|
|
|
hybrid_pvt_cc::hybrid_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, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
|
|
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
|
gr::io_signature::make(0, 0, sizeof(gr_complex)))
|
|
{
|
|
|
|
d_output_rate_ms = output_rate_ms;
|
|
d_display_rate_ms = display_rate_ms;
|
|
d_queue = queue;
|
|
d_dump = dump;
|
|
d_nchannels = nchannels;
|
|
d_dump_filename = dump_filename;
|
|
std::string dump_ls_pvt_filename = dump_filename;
|
|
|
|
// GPS Ephemeris data message port in
|
|
this->message_port_register_in(pmt::mp("telemetry"));
|
|
this->set_msg_handler(pmt::mp("telemetry"),
|
|
boost::bind(&hybrid_pvt_cc::msg_handler_telemetry, this, _1));
|
|
|
|
//initialize kml_printer
|
|
std::string kml_dump_filename;
|
|
kml_dump_filename = d_dump_filename;
|
|
d_kml_dump = std::make_shared<Kml_Printer>();
|
|
d_kml_dump->set_headers(kml_dump_filename);
|
|
|
|
//initialize geojson_printer
|
|
std::string geojson_dump_filename;
|
|
geojson_dump_filename = d_dump_filename;
|
|
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
|
|
d_geojson_printer->set_headers(geojson_dump_filename);
|
|
|
|
//initialize nmea_printer
|
|
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
|
|
|
|
//initialize rtcm_printer
|
|
std::string rtcm_dump_filename;
|
|
rtcm_dump_filename = d_dump_filename;
|
|
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
|
|
|
|
d_dump_filename.append("_raw.dat");
|
|
dump_ls_pvt_filename.append("_ls_pvt.dat");
|
|
d_averaging_depth = averaging_depth;
|
|
d_flag_averaging = flag_averaging;
|
|
|
|
d_ls_pvt = std::make_shared<hybrid_ls_pvt>((int)nchannels, dump_ls_pvt_filename, d_dump);
|
|
d_ls_pvt->set_averaging_depth(d_averaging_depth);
|
|
|
|
d_sample_counter = 0;
|
|
d_last_sample_nav_output = 0;
|
|
d_rx_time = 0.0;
|
|
d_TOW_at_curr_symbol_constellation = 0.0;
|
|
b_rinex_header_writen = false;
|
|
b_rinex_header_updated = false;
|
|
rp = std::make_shared<Rinex_Printer>();
|
|
|
|
d_last_status_print_seg=0;
|
|
|
|
// ############# ENABLE DATA FILE LOG #################
|
|
if (d_dump == true)
|
|
{
|
|
if (d_dump_file.is_open() == false)
|
|
{
|
|
try
|
|
{
|
|
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
|
|
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
|
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Exception opening PVT dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
hybrid_pvt_cc::~hybrid_pvt_cc()
|
|
{}
|
|
|
|
|
|
|
|
bool hybrid_pvt_cc::pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
|
|
{
|
|
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
|
|
}
|
|
|
|
|
|
void hybrid_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
|
|
{
|
|
// Print the current receiver status using std::cout every second
|
|
int current_rx_seg=floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
|
|
if ( current_rx_seg!= d_last_status_print_seg)
|
|
{
|
|
d_last_status_print_seg = current_rx_seg;
|
|
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl<< std::flush;
|
|
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
|
}
|
|
}
|
|
|
|
int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
|
|
{
|
|
d_sample_counter++;
|
|
bool arrived_galileo_almanac = false;
|
|
|
|
gnss_pseudoranges_map.clear();
|
|
|
|
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
|
|
|
|
print_receiver_status(in);
|
|
|
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
|
{
|
|
if (in[i][0].Flag_valid_pseudorange == true)
|
|
{
|
|
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
|
|
//d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
|
|
d_TOW_at_curr_symbol_constellation = in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
|
|
d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
|
|
}
|
|
}
|
|
|
|
// ############ 2 COMPUTE THE PVT ################################
|
|
// ToDo: relax this condition because the receiver should work even with NO GALILEO SATELLITES
|
|
//if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
|
|
if (gnss_pseudoranges_map.size() > 0)
|
|
{
|
|
//std::cout << "Both GPS and Galileo ephemeris map have been filled " << std::endl;
|
|
// compute on the fly PVT solution
|
|
if ((d_sample_counter % d_output_rate_ms) == 0)
|
|
{
|
|
bool pvt_result;
|
|
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging);
|
|
|
|
if (pvt_result == true)
|
|
{
|
|
d_kml_dump->print_position(d_ls_pvt, d_flag_averaging);
|
|
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
|
|
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
|
|
|
|
if (!b_rinex_header_writen) // & we have utc data in nav message!
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
|
|
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
|
|
std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
|
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
|
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
|
|
{
|
|
if (arrived_galileo_almanac)
|
|
{
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time);
|
|
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
|
|
b_rinex_header_writen = true; // do not write header anymore
|
|
}
|
|
}
|
|
}
|
|
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
|
|
{
|
|
// Limit the RINEX navigation output rate to 1/6 seg
|
|
// Notice that d_sample_counter period is 4ms (for Galileo correlators)
|
|
if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
|
|
{
|
|
rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map);
|
|
d_last_sample_nav_output = d_sample_counter;
|
|
}
|
|
std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
|
|
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
|
|
std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
|
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
|
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
|
|
}
|
|
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// DEBUG MESSAGE: Display position in console output
|
|
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
|
|
{
|
|
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " UTC using "<< d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
|
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
|
|
|
|
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " UTC using "<< d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
|
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]";
|
|
|
|
std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " UTC using "<< d_ls_pvt->d_valid_observations<<" observations is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = "
|
|
<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP
|
|
<< " GDOP = " << d_ls_pvt->d_GDOP << std::endl;
|
|
}
|
|
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
if(d_dump == true)
|
|
{
|
|
try
|
|
{
|
|
double tmp_double;
|
|
for (unsigned int i = 0; i < d_nchannels; i++)
|
|
{
|
|
tmp_double = in[i][0].Pseudorange_m;
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
tmp_double = 0;
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
d_dump_file.write((char*)&d_rx_time, sizeof(double));
|
|
}
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
|
|
consume_each(1); //one by one
|
|
return 1;
|
|
}
|
|
|
|
|