mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2026-10-08 00:31:50 +00:00
joebre
7c8dfbbb79
rescode() (rtklib_pntpos.cc) computes each satellite's azimuth/elevation via satazel() before checking it against PVT.elevation_mask, and pntpos() copies that azel into ssat[] unconditionally -- only ssat[].vs is gated by the mask (the same applies to a satellite dropped by RAIM FDE). The used_satellites loop in rtklib_solver.cc was keying its entire per-satellite entry on vs, so a tracked satellite excluded from the fix (below the elevation mask, or by RAIM) disappeared from MonitorPvt entirely -- indistinguishable from a genuine tracking problem. Key entries on whether azel was actually computed this epoch instead, and add a separate `used` flag (default true) reflecting vs. A satellite that is tracked but excluded from the fix now still reports its real az/el, with used = false.
75 lines
3.6 KiB
Protocol Buffer
75 lines
3.6 KiB
Protocol Buffer
// SPDX-License-Identifier: BSD-3-Clause
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// SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
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syntax = "proto3";
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package gnss_sdr;
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/* MonitorPvt represents a search query, with pagination options to
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* indicate which results to include in the response. */
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message MonitorPvt {
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uint32 tow_at_current_symbol_ms = 1; // Time of week of the current symbol, in ms
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uint32 week = 2; // PVT GPS week
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double rx_time = 3; // PVT GPS time
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double user_clk_offset = 4; // User clock offset, in s
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double pos_x = 5; // Position X component in ECEF, expressed in m
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double pos_y = 6; // Position Y component in ECEF, expressed in m
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double pos_z = 7; // Position Z component in ECEF, expressed in m
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double vel_x = 8; // Velocity X component in ECEF, in m/s
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double vel_y = 9; // Velocity Y component in ECEF, in m/s
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double vel_z = 10; // Velocity Z component in ECEF, in m/s
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double cov_xx = 11; // Position variance in the Y component, in m2
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double cov_yy = 12; // Position variance in the Y component, in m2
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double cov_zz = 13; // Position variance in the Z component, in m2
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double cov_xy = 14; // Position XY covariance, in m2
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double cov_yz = 15; // Position YZ covariance, in m2
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double cov_zx = 16; // Position ZX covariance, in m2
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double latitude = 17; // Latitude, in deg. Positive: North
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double longitude = 18; // Longitude, in deg. Positive: East
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double height = 19; // Height, in m
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uint32 valid_sats = 20; // Number of valid satellites
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uint32 solution_status = 21; // RTKLIB solution status
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uint32 solution_type = 22; // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
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float ar_ratio_factor = 23; // Ambiguity resolution ratio factor for validation
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float ar_ratio_threshold = 24; // Ambiguity resolution ratio threshold for validation
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double gdop = 25; // Geometric Dilution of Precision
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double pdop = 26; // Position (3D) Dilution of Precision
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double hdop = 27; // Horizontal Dilution of Precision
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double vdop = 28; // Vertical Dilution of Precision
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double user_clk_drift_ppm = 29; // User clock drift [ppm]
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string utc_time = 30; // PVT UTC time (rfc 3339 datetime string)
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double vel_e = 31; // Velocity East component in the local frame, in m/s
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double vel_n = 32; // Velocity North component in the local frame, in m/s
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double vel_u = 33; // Velocity Up component in the local frame, in m/s
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double cog = 34; // Course Over Ground, in deg
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uint32 galhas_status = 35; // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not available
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string geohash = 36; // Encoded geographic location. See https://en.wikipedia.org/wiki/Geohash
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// One tracked satellite/signal with its azimuth/elevation, whether it was
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// combined with another signal of the same satellite (e.g. Galileo E1+E5a
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// iono-free combination), and whether it was actually used in this fix.
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// Signals are listed individually, not merged: a combined satellite
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// appears as two entries, both with combined = true. A satellite can have
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// azimuth_deg/elevation_deg populated with used = false when it was
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// tracked and had az/el computed but excluded from the fix itself (e.g.
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// below PVT.elevation_mask, or by RAIM FDE).
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message UsedSatellite {
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uint32 prn = 1;
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string system = 2; // "G" GPS, "E" Galileo, "R" GLONASS, "C" BeiDou, "S" SBAS, "J" QZSS
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string signal = 3;
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double azimuth_deg = 4;
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double elevation_deg = 5;
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bool combined = 6;
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bool used = 7;
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}
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repeated UsedSatellite used_satellites = 37;
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}
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