mirror of https://github.com/gnss-sdr/gnss-sdr
267 lines
12 KiB
C++
267 lines
12 KiB
C++
/*!
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* \file rtklib_conversions.cc
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* \brief GNSS-SDR to RTKLIB data structures conversion functions
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* \author 2017, Javier Arribas
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2017 (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 "rtklib_conversions.h"
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#include "rtklib_rtkcmn.h"
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obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synchro, int week, int band)
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{
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rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
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rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
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rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / PI_2;
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switch(band)
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{
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case 0:
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rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L1C);
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break;
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case 1:
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rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2S);
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break;
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case 2:
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rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L5X);
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break;
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}
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double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
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if (CN0_dB_Hz_est > 63.75) CN0_dB_Hz_est = 63.75;
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if (CN0_dB_Hz_est < 0.0) CN0_dB_Hz_est = 0.0;
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unsigned char CN0_dB_Hz = static_cast<unsigned char>(std::round(CN0_dB_Hz_est / 0.25 ));
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rtklib_obs.SNR[band] = CN0_dB_Hz;
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//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
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switch(gnss_synchro.System)
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{
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case 'G':
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rtklib_obs.sat = gnss_synchro.PRN;
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break;
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case 'E':
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rtklib_obs.sat = gnss_synchro.PRN+NSATGPS+NSATGLO;
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break;
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case 'R':
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rtklib_obs.sat = gnss_synchro.PRN+NSATGPS;
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break;
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default:
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rtklib_obs.sat = gnss_synchro.PRN;
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}
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rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
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rtklib_obs.rcv = 1;
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return rtklib_obs;
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}
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geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & gnav_clock_model)
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{
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double week, sec;
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int adj_week;
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geph_t rtklib_sat = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0.0, 0.0, 0.0}, {0.0, 0.0,
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0.0}, {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0};
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rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
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rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */
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rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
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rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
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rtklib_sat.sva = static_cast<int>(glonass_gnav_eph.d_F_T); /* satellite accuracy*/
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rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_E_n); /* satellite age*/
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rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */
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rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn*1000; /* satellite position (ecef) (m) */
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rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn*1000; /* satellite position (ecef) (m) */
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rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn*1000; /* satellite velocity (ecef) (m/s) */
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rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn*1000; /* satellite velocity (ecef) (m/s) */
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rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn*1000; /* satellite velocity (ecef) (m/s) */
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rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn*1000; /* satellite acceleration (ecef) (m/s^2) */
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rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn*1000; /* satellite acceleration (ecef) (m/s^2) */
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rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn*1000; /* satellite acceleration (ecef) (m/s^2) */
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rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
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rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
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rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
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// Time expressed in GPS Time but using RTKLib format
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glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
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adj_week = adjgpsweek(static_cast<int>(week));
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rtklib_sat.toe = gpst2time(adj_week, sec);
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// Time expressed in GPS Time but using RTKLib format
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glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_k, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);
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adj_week = adjgpsweek(static_cast<int>(week));
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rtklib_sat.tof = gpst2time(adj_week, sec);
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return rtklib_sat;
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}
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eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
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{
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eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
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//Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
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rtklib_sat.sat = gal_eph.i_satellite_PRN+NSATGPS+NSATGLO;
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rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
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rtklib_sat.M0 = gal_eph.M0_1;
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rtklib_sat.deln = gal_eph.delta_n_3;
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rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
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rtklib_sat.OMGd = gal_eph.OMEGA_dot_3;
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rtklib_sat.omg = gal_eph.omega_2;
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rtklib_sat.i0 = gal_eph.i_0_2;
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rtklib_sat.idot = gal_eph.iDot_2;
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rtklib_sat.e = gal_eph.e_1;
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rtklib_sat.Adot = 0; //only in CNAV;
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rtklib_sat.ndot = 0; //only in CNAV;
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rtklib_sat.week = adjgpsweek(gal_eph.WN_5); /* week of tow */
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rtklib_sat.cic = gal_eph.C_ic_4;
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rtklib_sat.cis = gal_eph.C_is_4;
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rtklib_sat.cuc = gal_eph.C_uc_3;
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rtklib_sat.cus = gal_eph.C_us_3;
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rtklib_sat.crc = gal_eph.C_rc_3;
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rtklib_sat.crs = gal_eph.C_rs_3;
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rtklib_sat.f0 = gal_eph.af0_4;
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rtklib_sat.f1 = gal_eph.af1_4;
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rtklib_sat.f2 = gal_eph.af2_4;
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rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
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rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
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rtklib_sat.tgd[2] = 0;
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rtklib_sat.tgd[3] = 0;
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rtklib_sat.toes = gal_eph.t0e_1;
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rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.t0c_4);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.TOW_5);
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/* adjustment for week handover */
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double tow, toc;
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tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
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toc = time2gpst(rtklib_sat.toc, NULL);
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if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
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else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
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rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
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rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
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return rtklib_sat;
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}
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eph_t eph_to_rtklib(const Gps_Ephemeris & gps_eph)
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{
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eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
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rtklib_sat.sat = gps_eph.i_satellite_PRN;
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rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
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rtklib_sat.M0 = gps_eph.d_M_0;
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rtklib_sat.deln = gps_eph.d_Delta_n;
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rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
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rtklib_sat.OMGd = gps_eph.d_OMEGA_DOT;
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rtklib_sat.omg = gps_eph.d_OMEGA;
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rtklib_sat.i0 = gps_eph.d_i_0;
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rtklib_sat.idot = gps_eph.d_IDOT;
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rtklib_sat.e = gps_eph.d_e_eccentricity;
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rtklib_sat.Adot = 0; //only in CNAV;
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rtklib_sat.ndot = 0; //only in CNAV;
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rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week); /* week of tow */
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rtklib_sat.cic = gps_eph.d_Cic;
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rtklib_sat.cis = gps_eph.d_Cis;
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rtklib_sat.cuc = gps_eph.d_Cuc;
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rtklib_sat.cus = gps_eph.d_Cus;
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rtklib_sat.crc = gps_eph.d_Crc;
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rtklib_sat.crs = gps_eph.d_Crs;
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rtklib_sat.f0 = gps_eph.d_A_f0;
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rtklib_sat.f1 = gps_eph.d_A_f1;
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rtklib_sat.f2 = gps_eph.d_A_f2;
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rtklib_sat.tgd[0] = gps_eph.d_TGD;
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rtklib_sat.tgd[1] = 0;
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rtklib_sat.tgd[2] = 0;
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rtklib_sat.tgd[3] = 0;
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rtklib_sat.toes = gps_eph.d_Toe;
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rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
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/* adjustment for week handover */
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double tow, toc;
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tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
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toc = time2gpst(rtklib_sat.toc, NULL);
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if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
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else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
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rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
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rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
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return rtklib_sat;
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}
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eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris & gps_cnav_eph)
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{
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eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, 0.0, 0.0 };
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rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
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const double A_REF = 26559710.0; // See IS-GPS-200H, pp. 170
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rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
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rtklib_sat.M0 = gps_cnav_eph.d_M_0;
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rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
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rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
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// Compute the angle between the ascending node and the Greenwich meridian
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const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200H pp. 164
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double d_OMEGA_DOT = OMEGA_DOT_REF * PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
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rtklib_sat.OMGd = d_OMEGA_DOT;
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rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
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rtklib_sat.i0 = gps_cnav_eph.d_i_0;
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rtklib_sat.idot = gps_cnav_eph.d_IDOT;
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rtklib_sat.e = gps_cnav_eph.d_e_eccentricity;
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rtklib_sat.Adot = gps_cnav_eph.d_A_DOT; //only in CNAV;
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rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N; //only in CNAV;
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rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
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rtklib_sat.cic = gps_cnav_eph.d_Cic;
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rtklib_sat.cis = gps_cnav_eph.d_Cis;
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rtklib_sat.cuc = gps_cnav_eph.d_Cuc;
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rtklib_sat.cus = gps_cnav_eph.d_Cus;
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rtklib_sat.crc = gps_cnav_eph.d_Crc;
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rtklib_sat.crs = gps_cnav_eph.d_Crs;
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rtklib_sat.f0 = gps_cnav_eph.d_A_f0;
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rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
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rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
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rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
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rtklib_sat.tgd[1] = 0;
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rtklib_sat.tgd[2] = 0;
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rtklib_sat.tgd[3] = 0;
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rtklib_sat.toes = gps_cnav_eph.d_Toe1;
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rtklib_sat.toc = gpst2time(rtklib_sat.week,gps_cnav_eph.d_Toc);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week,gps_cnav_eph.d_TOW);
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/* adjustment for week handover */
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double tow, toc;
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tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
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toc = time2gpst(rtklib_sat.toc, NULL);
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if (rtklib_sat.toes < tow - 302400.0) {rtklib_sat.week++; tow -= 604800.0;}
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else if (rtklib_sat.toes > tow + 302400.0) {rtklib_sat.week--; tow += 604800.0;}
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rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
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rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
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rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
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return rtklib_sat;
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}
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