mirror of
https://github.com/gnss-sdr/gnss-sdr
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364 lines
20 KiB
C++
364 lines
20 KiB
C++
/*!
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* \file galileo_e1_ls_pvt.cc
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* \brief Implementation of a Least Squares Position, Velocity, and Time
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* (PVT) solver, based on K.Borre's Matlab receiver.
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* \author Javier Arribas, 2011. 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 "hybrid_ls_pvt.h"
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#include <glog/logging.h>
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#include "Galileo_E1.h"
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using google::LogMessage;
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hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
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{
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// init empty ephemeris for all the available GNSS channels
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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d_flag_dump_enabled = flag_dump_to_file;
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d_galileo_current_time = 0;
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count_valid_position = 0;
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d_flag_averaging = false;
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// ############# ENABLE DATA FILE LOG #################
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if (d_flag_dump_enabled == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure &e)
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{
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LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
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}
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}
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}
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}
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hybrid_ls_pvt::~hybrid_ls_pvt()
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{
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d_dump_file.close();
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}
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bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
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std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
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std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
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std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
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int valid_observables = gnss_observables_map.size();
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arma::mat W = arma::eye(valid_observables, valid_observables); // channels weights matrix
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arma::vec obs = arma::zeros(valid_observables); // observables observation vector
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arma::mat satpos = arma::zeros(3, valid_observables); // satellite positions matrix
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int Galileo_week_number = 0;
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int GPS_week = 0;
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double utc = 0.0;
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double GST = 0.0;
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//double utc_tx_corrected = 0.0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s)
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double TX_time_corrected_s = 0.0;
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double SV_clock_bias_s = 0.0;
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d_flag_averaging = flag_averaging;
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// ********************************************************************************
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// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
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// ********************************************************************************
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int valid_obs = 0; //valid observations counter
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int obs_counter = 0;
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for(gnss_observables_iter = gnss_observables_map.begin();
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gnss_observables_iter != gnss_observables_map.end();
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gnss_observables_iter++)
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{
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if(gnss_observables_iter->second.System == 'E')
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{
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// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
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galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
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{
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/*!
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* \todo Place here the satellite CN0 (power level, or weight factor)
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*/
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W(obs_counter, obs_counter) = 1;
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// COMMON RX TIME PVT ALGORITHM
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double Rx_time = hybrid_current_time;
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double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
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// 2- compute the clock drift using the clock model (broadcast) for this SV
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SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 3- compute the current ECEF position for this SV using corrected TX time
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TX_time_corrected_s = Tx_time - SV_clock_bias_s;
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galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
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satpos(0,obs_counter) = galileo_ephemeris_iter->second.d_satpos_X;
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satpos(1,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Y;
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satpos(2,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Z;
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// 5- fill the observations vector with the corrected observables
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obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s;
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d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
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d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
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valid_obs++;
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Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
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GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
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// SV ECEF DEBUG OUTPUT
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DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
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<< " X=" << galileo_ephemeris_iter->second.d_satpos_X
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<< " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
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<< " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
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<< " [m] PR_obs=" << obs(obs_counter) << " [m]";
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}
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else // the ephemeris are not available for this SV
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{
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// no valid pseudorange for the current SV
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W(obs_counter, obs_counter) = 0; // SV de-activated
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obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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else if(gnss_observables_iter->second.System == 'G')
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{
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//std::cout << "Satellite System: " << gnss_observables_iter->second.System <<std::endl;
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// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
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std::string sig_(gnss_observables_iter->second.Signal);
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if(sig_.compare("1C") == 0)
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{
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gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != gps_ephemeris_map.end())
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{
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/*!
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* \todo Place here the satellite CN0 (power level, or weight factor)
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*/
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W(obs_counter, obs_counter) = 1;
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// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
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// first estimate of transmit time
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double Rx_time = hybrid_current_time;
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double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
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// 2- compute the clock drift using the clock model (broadcast) for this SV
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SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 3- compute the current ECEF position for this SV using corrected TX time
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TX_time_corrected_s = Tx_time - SV_clock_bias_s;
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gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
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satpos(0, obs_counter) = gps_ephemeris_iter->second.d_satpos_X;
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satpos(1, obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
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satpos(2, obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
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// 5- fill the observations vector with the corrected observables
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obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
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d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
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d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
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valid_obs++;
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GPS_week = gps_ephemeris_iter->second.i_GPS_week;
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// SV ECEF DEBUG OUTPUT
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DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
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<< " X=" << gps_ephemeris_iter->second.d_satpos_X
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<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
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<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
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<< " [m] PR_obs=" << obs(obs_counter) << " [m]";
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}
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else // the ephemeris are not available for this SV
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{
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// no valid pseudorange for the current SV
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W(obs_counter, obs_counter) = 0; // SV de-activated
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obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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if(sig_.compare("2S") == 0)
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{
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gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
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{
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/*!
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* \todo Place here the satellite CN0 (power level, or weight factor)
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*/
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W(obs_counter, obs_counter) = 1;
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// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
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// first estimate of transmit time
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double Rx_time = hybrid_current_time;
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double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
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// 2- compute the clock drift using the clock model (broadcast) for this SV
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SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 3- compute the current ECEF position for this SV using corrected TX time
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TX_time_corrected_s = Tx_time - SV_clock_bias_s;
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gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
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satpos(0, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_X;
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satpos(1, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_Y;
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satpos(2, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_Z;
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// 5- fill the observations vector with the corrected observables
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obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
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d_visible_satellites_IDs[valid_obs] = gps_cnav_ephemeris_iter->second.i_satellite_PRN;
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d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
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valid_obs++;
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GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
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// SV ECEF DEBUG OUTPUT
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DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
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<< " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
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<< " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
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<< " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
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<< " [m] PR_obs=" << obs(obs_counter) << " [m]";
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}
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else // the ephemeris are not available for this SV
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{
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// no valid pseudorange for the current SV
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W(obs_counter, obs_counter) = 0; // SV de-activated
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obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
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DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
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}
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}
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}
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obs_counter++;
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}
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// ********************************************************************************
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// ****** SOLVE LEAST SQUARES******************************************************
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// ********************************************************************************
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d_valid_observations = valid_obs;
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LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
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if(valid_obs >= 4)
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{
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arma::vec mypos;
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DLOG(INFO) << "satpos=" << satpos;
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DLOG(INFO) << "obs=" << obs;
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DLOG(INFO) << "W=" << W;
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mypos = leastSquarePos(satpos, obs, W);
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d_rx_dt_m = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds
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double secondsperweek = 604800.0;
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// Compute GST and Gregorian time
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if( GST != 0.0)
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{
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utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
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}
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else
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{
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utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
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}
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// get time string Gregorian calendar
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
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// 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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d_position_UTC_time = p_time;
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DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
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cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
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//ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
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if (d_height_m > 50000)
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{
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b_valid_position = false;
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LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
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<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
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<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << mypos(3) << " [s]";
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return false;
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}
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LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
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<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
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<< " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
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// ###### Compute DOPs ########
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hybrid_ls_pvt::compute_DOP();
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// ######## LOG FILE #########
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if(d_flag_dump_enabled == true)
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{
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// MULTIPLEXED FILE RECORDING - Record results to file
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try
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{
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double tmp_double;
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// PVT GPS time
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tmp_double = hybrid_current_time;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position East [m]
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tmp_double = mypos(0);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position North [m]
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tmp_double = mypos(1);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// ECEF User Position Up [m]
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tmp_double = mypos(2);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// User clock offset [s]
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tmp_double = mypos(3);
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Latitude [deg]
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tmp_double = d_latitude_d;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Longitude [deg]
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tmp_double = d_longitude_d;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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// GEO user position Height [m]
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tmp_double = d_height_m;
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d_dump_file.write((char*)&tmp_double, sizeof(double));
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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 PVT LS dump file " << e.what();
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}
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}
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// MOVING AVERAGE PVT
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pos_averaging(flag_averaging);
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}
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else
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{
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b_valid_position = false;
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}
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return b_valid_position;
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}
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