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/observables/gnuradio_blocks/hybrid_observables_gs.cc

899 lines
43 KiB
C++
Raw Blame History

/*!
* \file hybrid_observables_gs.cc
* \brief Implementation of the observables computation block
* \author Javier Arribas 2017. jarribas(at)cttc.es
* \author Antonio Ramos 2018. antonio.ramos(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 "hybrid_observables_gs.h"
#include "MATH_CONSTANTS.h" // for SPEED_OF_LIGHT_M_S, TWO_PI
#include "gnss_circular_deque.h"
#include "gnss_frequencies.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_sdr_filesystem.h"
#include "gnss_sdr_make_unique.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <algorithm> // for std::min
#include <array>
#include <cmath> // for round
#include <cstdlib> // for size_t, llabs
#include <exception> // for exception
#include <iostream> // for cerr, cout
#include <limits> // for numeric_limits
#include <utility> // for move
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
hybrid_observables_gs_sptr hybrid_observables_gs_make(const Obs_Conf &conf_)
{
return hybrid_observables_gs_sptr(new hybrid_observables_gs(conf_));
}
hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_)
: gr::block("hybrid_observables_gs",
gr::io_signature::make(conf_.nchannels_in, conf_.nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(conf_.nchannels_out, conf_.nchannels_out, sizeof(Gnss_Synchro))),
d_conf(conf_),
d_dump_filename(conf_.dump_filename),
d_smooth_filter_M(static_cast<double>(conf_.smoothing_factor)),
d_T_rx_step_s(static_cast<double>(conf_.observable_interval_ms) / 1000.0),
d_last_rx_clock_round20ms_error(0.0),
d_T_rx_TOW_ms(0U),
d_T_rx_step_ms(conf_.observable_interval_ms),
d_T_status_report_timer_ms(0),
d_nchannels_in(conf_.nchannels_in),
d_nchannels_out(conf_.nchannels_out),
d_T_rx_TOW_set(false),
d_always_output_gs(conf_.always_output_gs),
d_dump(conf_.dump),
d_dump_mat(conf_.dump_mat && d_dump)
{
// PVT input message port
this->message_port_register_in(pmt::mp("pvt_to_observables"));
this->set_msg_handler(pmt::mp("pvt_to_observables"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_pvt_to_observables(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, boost::placeholders::_1));
#else
boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, _1));
#endif
#endif
// Send Channel status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
d_gnss_synchro_history = std::make_unique<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
d_Rx_clock_buffer.set_capacity(std::min(std::max(200U / d_T_rx_step_ms, 3U), 10U));
d_Rx_clock_buffer.clear();
d_channel_last_pll_lock = std::vector<bool>(d_nchannels_out, false);
d_channel_last_pseudorange_smooth = std::vector<double>(d_nchannels_out, 0.0);
d_channel_last_carrier_phase_rads = std::vector<double>(d_nchannels_out, 0.0);
d_mapStringValues["1C"] = evGPS_1C;
d_mapStringValues["2S"] = evGPS_2S;
d_mapStringValues["L5"] = evGPS_L5;
d_mapStringValues["1B"] = evGAL_1B;
d_mapStringValues["5X"] = evGAL_5X;
d_mapStringValues["E6"] = evGAL_E6;
d_mapStringValues["7X"] = evGAL_7X;
d_mapStringValues["1G"] = evGLO_1G;
d_mapStringValues["2G"] = evGLO_2G;
d_mapStringValues["B1"] = evBDS_B1;
d_mapStringValues["B2"] = evBDS_B2;
d_mapStringValues["B3"] = evBDS_B3;
d_SourceTagTimestamps = std::vector<std::queue<GnssTime>>(d_nchannels_out);
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
{
std::string dump_path;
// Get path
if (d_dump_filename.find_last_of('/') != std::string::npos)
{
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
d_dump_filename = dump_filename_;
}
else
{
dump_path = std::string(".");
}
if (d_dump_filename.empty())
{
d_dump_filename = "observables.dat";
}
// remove extension if any
if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
{
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
}
d_dump_filename.append(".dat");
d_dump_filename = dump_path + fs::path::preferred_separator + d_dump_filename;
// create directory
if (!gnss_sdr_create_directory(dump_path))
{
std::cerr << "GNSS-SDR cannot create dump file for the Observables block. Wrong permissions?\n";
d_dump = false;
}
d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit);
try
{
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ofstream::failure &e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
d_dump = false;
}
}
}
hybrid_observables_gs::~hybrid_observables_gs()
{
DLOG(INFO) << "Observables block destructor called.";
if (d_dump_file.is_open())
{
const auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
}
d_dump_mat = false;
}
}
if (d_dump_mat)
{
try
{
save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
}
}
}
void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
try
{
if (pmt::any_ref(msg).type().hash_code() == d_double_type_hash_code)
{
const auto new_rx_clock_offset_s = wht::any_cast<double>(pmt::any_ref(msg));
double old_tow_corrected = static_cast<double>(d_T_rx_TOW_ms) - new_rx_clock_offset_s * 1000.0;
d_T_rx_TOW_ms = d_T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
{
d_T_rx_TOW_ms += d_T_rx_step_ms - d_T_rx_TOW_ms % d_T_rx_step_ms;
}
d_last_rx_clock_round20ms_error = static_cast<double>(d_T_rx_TOW_ms) - old_tow_corrected;
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
}
if (pmt::any_ref(msg).type().hash_code() == d_int_type_hash_code)
{
const auto command_from_pvt = wht::any_cast<int>(pmt::any_ref(msg));
switch (command_from_pvt)
{
case 1: // reset TOW
d_T_rx_TOW_ms = 0;
d_last_rx_clock_round20ms_error = 0;
d_T_rx_TOW_set = false;
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
LOG(INFO) << "Received reset observables TOW command from PVT";
break;
default:
break;
}
}
}
catch (const wht::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_pvt_to_observables Bad any_cast: " << e.what();
}
}
int32_t hybrid_observables_gs::save_matfile() const
{
// READ DUMP FILE
const std::string dump_filename = d_dump_filename;
std::ifstream::pos_type size;
const int32_t number_of_double_vars = 7;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels_out;
std::ifstream dump_file;
std::cout << "Generating .mat file for " << dump_filename << '\n';
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << '\n';
return 1;
}
// count number of epochs and rewind
int64_t num_epoch = 0LL;
if (dump_file.is_open())
{
size = dump_file.tellg();
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg);
}
else
{
return 1;
}
auto RX_time = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto TOW_at_current_symbol_s = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto Carrier_Doppler_hz = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto Carrier_phase_cycles = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto Pseudorange_m = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto PRN = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
auto Flag_valid_pseudorange = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
try
{
if (dump_file.is_open())
{
for (int64_t i = 0; i < num_epoch; i++)
{
for (uint32_t chan = 0; chan < d_nchannels_out; chan++)
{
dump_file.read(reinterpret_cast<char *>(&RX_time[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_s[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&Carrier_Doppler_hz[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&Carrier_phase_cycles[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&Pseudorange_m[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&PRN[chan][i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&Flag_valid_pseudorange[chan][i]), sizeof(double));
}
}
}
dump_file.close();
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << '\n';
return 1;
}
auto RX_time_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto TOW_at_current_symbol_s_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto Carrier_Doppler_hz_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto Carrier_phase_cycles_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto Pseudorange_m_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto PRN_aux = std::vector<double>(d_nchannels_out * num_epoch);
auto Flag_valid_pseudorange_aux = std::vector<double>(d_nchannels_out * num_epoch);
uint32_t k = 0U;
for (int64_t j = 0; j < num_epoch; j++)
{
for (uint32_t i = 0; i < d_nchannels_out; i++)
{
RX_time_aux[k] = RX_time[i][j];
TOW_at_current_symbol_s_aux[k] = TOW_at_current_symbol_s[i][j];
Carrier_Doppler_hz_aux[k] = Carrier_Doppler_hz[i][j];
Carrier_phase_cycles_aux[k] = Carrier_phase_cycles[i][j];
Pseudorange_m_aux[k] = Pseudorange_m[i][j];
PRN_aux[k] = PRN[i][j];
Flag_valid_pseudorange_aux[k] = Flag_valid_pseudorange[i][j];
k++;
}
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
if (filename.size() > 4)
{
filename.erase(filename.end() - 4, filename.end());
}
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
std::array<size_t, 2> dims{static_cast<size_t>(d_nchannels_out), static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), RX_time_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("TOW_at_current_symbol_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), TOW_at_current_symbol_s_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Carrier_Doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Carrier_Doppler_hz_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Carrier_phase_cycles", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Carrier_phase_cycles_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Pseudorange_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Pseudorange_m_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), PRN_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Flag_valid_pseudorange", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Flag_valid_pseudorange_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
return 0;
}
double hybrid_observables_gs::compute_T_rx_s(const Gnss_Synchro &a) const
{
return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs));
}
bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, uint32_t ch, uint64_t rx_clock) const
{
int32_t nearest_element = -1;
int64_t old_abs_diff = std::numeric_limits<int64_t>::max();
for (uint32_t i = 0; i < d_gnss_synchro_history->size(ch); i++)
{
const int64_t abs_diff = llabs(static_cast<int64_t>(rx_clock) - static_cast<int64_t>(d_gnss_synchro_history->get(ch, i).Tracking_sample_counter));
if (old_abs_diff > abs_diff)
{
old_abs_diff = abs_diff;
nearest_element = static_cast<int32_t>(i);
}
}
if (nearest_element != -1 and nearest_element != static_cast<int32_t>(d_gnss_synchro_history->size(ch)))
{
if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs)) < d_T_rx_step_s)
{
int32_t neighbor_element;
if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
{
neighbor_element = nearest_element + 1;
}
else
{
neighbor_element = nearest_element - 1;
}
if (neighbor_element < static_cast<int32_t>(d_gnss_synchro_history->size(ch)) and neighbor_element >= 0)
{
int32_t t1_idx;
int32_t t2_idx;
if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
{
// std::cout << "S1= " << d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->get(ch, neighbor_element).Tracking_sample_counter << '\n';
t1_idx = nearest_element;
t2_idx = neighbor_element;
}
else
{
// std::cout << "inv S1= " << d_gnss_synchro_history->get(ch, neighbor_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter << '\n';
t1_idx = neighbor_element;
t2_idx = nearest_element;
}
// 1st: copy the nearest gnss_synchro data for that channel
interpolated_obs = d_gnss_synchro_history->get(ch, nearest_element);
// 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
const double T_rx_s = static_cast<double>(rx_clock) / static_cast<double>(interpolated_obs.fs);
const double time_factor = (T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time) /
(d_gnss_synchro_history->get(ch, t2_idx).RX_time -
d_gnss_synchro_history->get(ch, t1_idx).RX_time);
// CARRIER PHASE INTERPOLATION
interpolated_obs.Carrier_phase_rads = d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads + (d_gnss_synchro_history->get(ch, t2_idx).Carrier_phase_rads - d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads) * time_factor;
// CARRIER DOPPLER INTERPOLATION
interpolated_obs.Carrier_Doppler_hz = d_gnss_synchro_history->get(ch, t1_idx).Carrier_Doppler_hz + (d_gnss_synchro_history->get(ch, t2_idx).Carrier_Doppler_hz - d_gnss_synchro_history->get(ch, t1_idx).Carrier_Doppler_hz) * time_factor;
// TOW INTERPOLATION
// check TOW rollover
if ((d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms - d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) > 0)
{
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
}
else
{
// TOW rollover situation
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms + 604800000) - static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
}
// LOG(INFO) << "Channel " << ch << " int idx: " << t1_idx << " TOW Int: " << interpolated_obs.interp_TOW_ms
// << " TOW p1 : " << d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms
// << " TOW p2: "
// << d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms
// << " t2-t1: "
// << d_gnss_synchro_history->get(ch, t2_idx).RX_time - d_gnss_synchro_history->get(ch, t1_idx).RX_time
// << " trx - t1: "
// << T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time;
// std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs) << " s)\n";
return true;
}
return false;
}
// std::cout << "ALERT: Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs) << " s)\n";
// usleep(1000);
}
return false;
}
void hybrid_observables_gs::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
for (int32_t n = 0; n < static_cast<int32_t>(d_nchannels_in) - 1; n++)
{
ninput_items_required[n] = 0;
}
// last input channel is the sample counter, triggered each ms
ninput_items_required[d_nchannels_in - 1] = 1;
}
void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
{
// 1. Set the TOW using the minimum TOW in the observables.
// this will be the receiver time.
// 2. If the TOW is set, it must be incremented by the desired receiver time step.
// the time step must match the observables timer block (connected to the las input channel)
std::vector<Gnss_Synchro>::const_iterator it;
if (!d_T_rx_TOW_set)
{
// int32_t TOW_ref = std::numeric_limits<uint32_t>::max();
uint32_t TOW_ref = 0U;
for (it = data.cbegin(); it != data.cend(); it++)
{
if (it->Flag_valid_word)
{
if (it->TOW_at_current_symbol_ms > TOW_ref)
{
TOW_ref = it->TOW_at_current_symbol_ms;
d_T_rx_TOW_set = true;
}
}
}
d_T_rx_TOW_ms = TOW_ref;
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
{
d_T_rx_TOW_ms += d_T_rx_step_ms - d_T_rx_TOW_ms % d_T_rx_step_ms;
}
}
else
{
d_T_rx_TOW_ms += d_T_rx_step_ms; // the tow time step increment must match the ref time channel step
if (d_T_rx_TOW_ms >= 604800000)
{
DLOG(INFO) << "TOW RX TIME rollover!";
d_T_rx_TOW_ms = d_T_rx_TOW_ms % 604800000;
}
}
}
void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data) const
{
// std::cout.precision(17);
// std::cout << " d_T_rx_TOW_ms: " << static_cast<double>(d_T_rx_TOW_ms) << '\n';
std::vector<Gnss_Synchro>::iterator it;
const auto current_T_rx_TOW_ms = static_cast<double>(d_T_rx_TOW_ms);
const double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
for (it = data.begin(); it != data.end(); it++)
{
if (it->Flag_valid_word)
{
double traveltime_ms = current_T_rx_TOW_ms - it->interp_TOW_ms;
if (fabs(traveltime_ms) > 302400) // check TOW roll over
{
traveltime_ms = 604800000.0 + current_T_rx_TOW_ms - it->interp_TOW_ms;
}
it->RX_time = current_T_rx_TOW_s;
it->Pseudorange_m = traveltime_ms * SPEED_OF_LIGHT_M_MS;
it->Flag_valid_pseudorange = true;
// debug code
// std::cout << "[" << it->Channel_ID << "] interp_TOW_ms: " << it->interp_TOW_ms << '\n';
// std::cout << "[" << it->Channel_ID << "] Diff d_T_rx_TOW_ms - interp_TOW_ms: " << static_cast<double>(d_T_rx_TOW_ms) - it->interp_TOW_ms << '\n';
}
else
{
it->RX_time = current_T_rx_TOW_s;
}
}
}
void hybrid_observables_gs::smooth_pseudoranges(std::vector<Gnss_Synchro> &data)
{
std::vector<Gnss_Synchro>::iterator it;
for (it = data.begin(); it != data.end(); it++)
{
if (it->Flag_valid_pseudorange)
{
// 0. get wavelength for the current signal
double wavelength_m = 0;
switch (d_mapStringValues[it->Signal])
{
case evGPS_1C:
case evSBAS_1C:
case evGAL_1B:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGPS_L5:
case evGAL_5X:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ5;
break;
case evGAL_E6:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ6;
break;
case evGAL_7X:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ7;
break;
case evGPS_2S:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2;
break;
case evBDS_B3:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ3_BDS;
break;
case evGLO_1G:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1_GLO;
break;
case evGLO_2G:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2_GLO;
break;
case evBDS_B1:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1_BDS;
break;
case evBDS_B2:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ2_BDS;
break;
default:
break;
}
// todo: propagate the PLL lock status in Gnss_Synchro
// 1. check if last PLL lock status was false and initialize last d_channel_last_pseudorange_smooth
if (d_channel_last_pll_lock[it->Channel_ID] == true)
{
// 2. Compute the smoothed pseudorange for this channel
// Hatch filter algorithm (https://insidegnss.com/can-you-list-all-the-properties-of-the-carrier-smoothing-filter/)
const double r_sm = d_channel_last_pseudorange_smooth[it->Channel_ID];
const double factor = ((d_smooth_filter_M - 1.0) / d_smooth_filter_M);
it->Pseudorange_m = factor * r_sm + (1.0 / d_smooth_filter_M) * it->Pseudorange_m + wavelength_m * (factor / TWO_PI) * (it->Carrier_phase_rads - d_channel_last_carrier_phase_rads[it->Channel_ID]);
}
d_channel_last_pseudorange_smooth[it->Channel_ID] = it->Pseudorange_m;
d_channel_last_carrier_phase_rads[it->Channel_ID] = it->Carrier_phase_rads;
d_channel_last_pll_lock[it->Channel_ID] = it->Flag_valid_pseudorange;
}
else
{
d_channel_last_pll_lock[it->Channel_ID] = false;
}
}
}
void hybrid_observables_gs::set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro> &data, uint64_t rx_clock)
{
// it transforms the HW sample tag timestamp from a relative samplestamp (from receiver start)
// to an absolute GPS TOW samplestamp associated with the current set of pseudoranges
if (!d_TimeChannelTagTimestamps.empty())
{
double fs = 0;
std::vector<Gnss_Synchro>::const_iterator it;
for (it = data.begin(); it != data.end(); it++)
{
if (it->Flag_valid_pseudorange == true)
{
fs = static_cast<double>(it->fs);
break;
}
}
double delta_rxtime_to_tag;
GnssTime current_tag;
do
{
current_tag = d_TimeChannelTagTimestamps.front();
delta_rxtime_to_tag = (static_cast<double>(rx_clock) / fs) - current_tag.rx_time; // delta time relative to receiver's start time
if (delta_rxtime_to_tag >= 0)
{
d_TimeChannelTagTimestamps.pop();
}
}
while (delta_rxtime_to_tag >= 0.1 and !d_TimeChannelTagTimestamps.empty());
if (delta_rxtime_to_tag >= 0 and delta_rxtime_to_tag <= 0.1)
{
// std::cout << "[Time ch][" << delta_rxtime_to_tag
// << "] OBS RX TimeTag Week: " << current_tag.week
// << ", TOW: " << current_tag.tow_ms
// << " [ms], TOW fraction: " << current_tag.tow_ms_fraction
// << " [ms], DELTA TLM TOW: " << d_last_rx_clock_round20ms_error + delta_rxtime_to_tag * 1000.0 + static_cast<double>(current_tag.tow_ms) - static_cast<double>(d_T_rx_TOW_ms) + current_tag.tow_ms_fraction << " [ms] \n";
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
*tmp_obj = current_tag;
double intpart;
tmp_obj->tow_ms_fraction = tmp_obj->tow_ms_fraction + modf(delta_rxtime_to_tag * 1000.0, &intpart);
tmp_obj->tow_ms = current_tag.tow_ms + static_cast<int>(intpart);
tmp_obj->rx_time = static_cast<double>(d_T_rx_TOW_ms); // new TAG samplestamp in absolute RX time (GPS TOW frame) same as the pseudorange set
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(tmp_obj));
}
}
}
int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// Push receiver clock into history buffer (connected to the last of the input channels)
// The clock buffer gives time to the channels to compute the tracking observables
if (ninput_items[d_nchannels_in - 1] > 0)
{
d_Rx_clock_buffer.push_back(in[d_nchannels_in - 1][0].Tracking_sample_counter);
// time tags
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, d_nchannels_in - 1, this->nitems_read(d_nchannels_in - 1), this->nitems_read(d_nchannels_in - 1) + 1);
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "[Time ch ] timetag: " << timetag->rx_time << "\n";
d_TimeChannelTagTimestamps.push(*timetag);
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const wht::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
// Consume one item from the clock channel (last of the input channels)
consume(static_cast<int32_t>(d_nchannels_in) - 1, 1);
}
// Push the tracking observables into buffers to allow the observable interpolation at the desired Rx clock
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
// *************** time tags ****************
// std::vector<gr::tag_t> tags_vec;
// this->get_tags_in_range(tags_vec, n, this->nitems_read(n), this->nitems_read(n) + ninput_items[n]);
// for (std::vector<gr::tag_t>::iterator it = tags_vec.begin(); it != tags_vec.end(); ++it)
// {
// try
// {
// if (pmt::any_ref(it->value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
// {
// const std::shared_ptr<GnssTime> timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it->value));
// //std::cout << "[ch " << n << "] timetag: " << timetag->rx_time << "\n";
// d_SourceTagTimestamps.at(n).push(*timetag);
// }
// else
// {
// std::cout << "hash code not match\n";
// }
// }
// catch (const wht::bad_any_cast &e)
// {
// std::cout << "msg Bad any_cast: " << e.what();
// }
// }
// ************ end time tags **************
for (int32_t m = 0; m < ninput_items[n]; m++)
{
// Push the valid tracking Gnss_Synchros to their corresponding deque
if (in[n][m].Flag_valid_word)
{
if (d_gnss_synchro_history->size(n) > 0)
{
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (d_gnss_synchro_history->front(n).PRN != in[n][m].PRN)
{
d_gnss_synchro_history->clear(n);
// LOG(INFO) << "Channel " << d_gnss_synchro_history->front(n).Channel_ID << " changed satellite to PRN " << in[n][m].PRN;
}
}
d_gnss_synchro_history->push_back(n, in[n][m]);
d_gnss_synchro_history->back(n).RX_time = compute_T_rx_s(in[n][m]);
}
}
consume(n, ninput_items[n]);
}
if (d_Rx_clock_buffer.size() == d_Rx_clock_buffer.capacity())
{
std::vector<Gnss_Synchro> epoch_data(d_nchannels_out);
int32_t n_valid = 0;
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
Gnss_Synchro interpolated_gnss_synchro{};
if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front()))
{
// Produce an empty observation
interpolated_gnss_synchro = Gnss_Synchro();
interpolated_gnss_synchro.Flag_valid_pseudorange = false;
interpolated_gnss_synchro.Flag_valid_word = false;
interpolated_gnss_synchro.Flag_valid_acquisition = false;
interpolated_gnss_synchro.fs = 0;
interpolated_gnss_synchro.Channel_ID = n;
}
else
{
n_valid++;
}
epoch_data[n] = interpolated_gnss_synchro;
}
if (d_T_rx_TOW_set)
{
update_TOW(epoch_data);
}
else
{
if (n_valid > 0)
{
update_TOW(epoch_data);
}
}
if (n_valid > 0)
{
compute_pranges(epoch_data);
set_tag_timestamp_in_sdr_timeframe(epoch_data, d_Rx_clock_buffer.front());
}
// Carrier smoothing (optional)
if (d_conf.enable_carrier_smoothing == true)
{
smooth_pseudoranges(epoch_data);
}
// output the observables set to the PVT block
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
out[n][0] = epoch_data[n];
}
// report channel status every second
d_T_status_report_timer_ms += d_T_rx_step_ms;
if (d_T_status_report_timer_ms >= 1000)
{
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
const std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data[n]);
// publish valid gnss_synchro to the gnss_flowgraph channel status monitor
this->message_port_pub(pmt::mp("status"), pmt::make_any(gnss_synchro_sptr));
}
d_T_status_report_timer_ms = 0;
}
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (uint32_t i = 0; i < d_nchannels_out; i++)
{
tmp_double = out[i][0].RX_time;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].interp_TOW_ms / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Carrier_Doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Carrier_phase_rads / TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].PRN);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].Flag_valid_pseudorange);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
}
catch (const std::ofstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
d_dump = false;
}
}
if (n_valid > 0)
{
// LOG(INFO) << "OBS: diff time: " << out[0][0].RX_time * 1000.0 - old_time_debug;
// old_time_debug = out[0][0].RX_time * 1000.0;
return 1;
}
}
if (d_always_output_gs)
{
Gnss_Synchro empty_gs{};
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
out[n][0] = empty_gs;
}
return 1;
}
return 0;
}
Reference in New Issue View Git Blame Copy Permalink