mirror of https://github.com/gnss-sdr/gnss-sdr
770 lines
36 KiB
C++
770 lines
36 KiB
C++
/*!
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* \file hybrid_observables_gs.cc
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* \brief Implementation of the observables computation block
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* \author Javier Arribas 2017. jarribas(at)cttc.es
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* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2020 (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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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "hybrid_observables_gs.h"
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#include "MATH_CONSTANTS.h" // for SPEED_OF_LIGHT_M_S, TWO_PI
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#include "gnss_circular_deque.h"
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#include "gnss_frequencies.h"
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#include "gnss_sdr_create_directory.h"
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#include "gnss_sdr_make_unique.h"
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#include "gnss_synchro.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <matio.h>
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#include <array>
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#include <cmath> // for round
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#include <cstdlib> // for size_t, llabs
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#include <exception> // for exception
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#include <iostream> // for cerr, cout
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#include <limits> // for numeric_limits
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#include <utility> // for move
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#if HAS_STD_FILESYSTEM
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#include <system_error>
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namespace errorlib = std;
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#if HAS_STD_FILESYSTEM_EXPERIMENTAL
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#include <experimental/filesystem>
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namespace fs = std::experimental::filesystem;
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#else
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#include <filesystem>
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namespace fs = std::filesystem;
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#endif
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#else
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#include <boost/filesystem/operations.hpp> // for create_directories, exists
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#include <boost/filesystem/path.hpp> // for path, operator<<
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#include <boost/filesystem/path_traits.hpp> // for filesystem
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#include <boost/system/error_code.hpp> // for error_code
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namespace fs = boost::filesystem;
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namespace errorlib = boost::system;
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#endif
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hybrid_observables_gs_sptr hybrid_observables_gs_make(const Obs_Conf &conf_)
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{
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return hybrid_observables_gs_sptr(new hybrid_observables_gs(conf_));
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}
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hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_) : gr::block("hybrid_observables_gs",
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gr::io_signature::make(conf_.nchannels_in, conf_.nchannels_in, sizeof(Gnss_Synchro)),
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gr::io_signature::make(conf_.nchannels_out, conf_.nchannels_out, sizeof(Gnss_Synchro)))
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{
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// PVT input message port
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this->message_port_register_in(pmt::mp("pvt_to_observables"));
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this->set_msg_handler(pmt::mp("pvt_to_observables"),
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#if HAS_GENERIC_LAMBDA
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[this](auto &&PH1) { msg_handler_pvt_to_observables(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, boost::placeholders::_1));
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#else
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boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, _1));
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#endif
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#endif
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// Send Channel status to gnss_flowgraph
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this->message_port_register_out(pmt::mp("status"));
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d_conf = conf_;
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d_dump = conf_.dump;
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d_dump_mat = conf_.dump_mat and d_dump;
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d_dump_filename = conf_.dump_filename;
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d_nchannels_out = conf_.nchannels_out;
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d_nchannels_in = conf_.nchannels_in;
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d_gnss_synchro_history = std::make_unique<Gnss_circular_deque<Gnss_Synchro>>(1000, d_nchannels_out);
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of('/') != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "observables.dat";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
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}
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d_dump_filename.append(".dat");
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d_dump_filename = dump_path + fs::path::preferred_separator + d_dump_filename;
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the Observables block. Wrong permissions?\n";
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d_dump = false;
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}
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d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
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try
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{
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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) << "Observables 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 observables dump file " << e.what();
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d_dump = false;
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}
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}
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d_T_rx_TOW_ms = 0U;
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d_T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
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d_T_rx_TOW_set = false;
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d_T_status_report_timer_ms = 0;
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// rework
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d_Rx_clock_buffer.set_capacity(10); // 10*20 ms = 200 ms of data in buffer
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d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
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d_channel_last_pll_lock = std::vector<bool>(d_nchannels_out, false);
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d_channel_last_pseudorange_smooth = std::vector<double>(d_nchannels_out, 0.0);
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d_channel_last_carrier_phase_rads = std::vector<double>(d_nchannels_out, 0.0);
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d_smooth_filter_M = static_cast<double>(conf_.smoothing_factor);
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d_mapStringValues["1C"] = evGPS_1C;
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d_mapStringValues["2S"] = evGPS_2S;
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d_mapStringValues["L5"] = evGPS_L5;
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d_mapStringValues["1B"] = evGAL_1B;
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d_mapStringValues["5X"] = evGAL_5X;
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d_mapStringValues["E6"] = evGAL_E6;
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d_mapStringValues["7X"] = evGAL_7X;
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d_mapStringValues["1G"] = evGLO_1G;
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d_mapStringValues["2G"] = evGLO_2G;
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d_mapStringValues["B1"] = evBDS_B1;
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d_mapStringValues["B2"] = evBDS_B2;
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d_mapStringValues["B3"] = evBDS_B3;
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}
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hybrid_observables_gs::~hybrid_observables_gs()
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{
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DLOG(INFO) << "Observables block destructor called.";
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if (d_dump_file.is_open())
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{
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const auto pos = d_dump_file.tellp();
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try
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{
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d_dump_file.close();
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}
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catch (const std::exception &ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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if (pos == 0)
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{
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errorlib::error_code ec;
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if (!fs::remove(fs::path(d_dump_filename), ec))
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{
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std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
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}
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d_dump_mat = false;
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}
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}
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if (d_dump_mat)
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{
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try
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{
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save_matfile();
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}
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catch (const std::exception &ex)
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{
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LOG(WARNING) << "Error saving the .mat file: " << ex.what();
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}
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}
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}
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void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg)
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
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try
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{
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if (pmt::any_ref(msg).type().hash_code() == d_double_type_hash_code)
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{
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const auto new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
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d_T_rx_TOW_ms = d_T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
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// align the receiver clock to integer multiple of 20 ms
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if (d_T_rx_TOW_ms % 20)
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{
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d_T_rx_TOW_ms += 20 - d_T_rx_TOW_ms % 20;
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}
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// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
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for (uint32_t n = 0; n < d_nchannels_out; n++)
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{
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d_gnss_synchro_history->clear(n);
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}
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LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
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}
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}
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catch (const boost::bad_any_cast &e)
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{
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LOG(WARNING) << "msg_handler_pvt_to_observables Bad any_cast: " << e.what();
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}
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}
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int32_t hybrid_observables_gs::save_matfile() const
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{
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// READ DUMP FILE
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const std::string dump_filename = d_dump_filename;
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std::ifstream::pos_type size;
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const int32_t number_of_double_vars = 7;
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const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels_out;
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std::ifstream dump_file;
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std::cout << "Generating .mat file for " << dump_filename << '\n';
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dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
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try
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{
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dump_file.open(dump_filename.c_str(), std::ios::binary | std::ios::ate);
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}
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catch (const std::ifstream::failure &e)
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{
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std::cerr << "Problem opening dump file:" << e.what() << '\n';
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return 1;
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}
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// count number of epochs and rewind
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int64_t num_epoch = 0LL;
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if (dump_file.is_open())
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{
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size = dump_file.tellg();
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num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
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dump_file.seekg(0, std::ios::beg);
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}
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else
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{
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return 1;
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}
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auto RX_time = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto TOW_at_current_symbol_s = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto Carrier_Doppler_hz = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto Carrier_phase_cycles = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto Pseudorange_m = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto PRN = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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auto Flag_valid_pseudorange = std::vector<std::vector<double>>(d_nchannels_out, std::vector<double>(num_epoch));
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try
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{
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if (dump_file.is_open())
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{
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for (int64_t i = 0; i < num_epoch; i++)
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{
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for (uint32_t chan = 0; chan < d_nchannels_out; chan++)
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{
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dump_file.read(reinterpret_cast<char *>(&RX_time[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_s[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&Carrier_Doppler_hz[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&Carrier_phase_cycles[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&Pseudorange_m[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&PRN[chan][i]), sizeof(double));
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dump_file.read(reinterpret_cast<char *>(&Flag_valid_pseudorange[chan][i]), sizeof(double));
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}
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}
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}
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dump_file.close();
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}
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catch (const std::ifstream::failure &e)
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{
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std::cerr << "Problem reading dump file:" << e.what() << '\n';
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return 1;
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}
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auto RX_time_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto TOW_at_current_symbol_s_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto Carrier_Doppler_hz_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto Carrier_phase_cycles_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto Pseudorange_m_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto PRN_aux = std::vector<double>(d_nchannels_out * num_epoch);
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auto Flag_valid_pseudorange_aux = std::vector<double>(d_nchannels_out * num_epoch);
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uint32_t k = 0U;
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for (int64_t j = 0; j < num_epoch; j++)
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{
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for (uint32_t i = 0; i < d_nchannels_out; i++)
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{
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RX_time_aux[k] = RX_time[i][j];
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TOW_at_current_symbol_s_aux[k] = TOW_at_current_symbol_s[i][j];
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Carrier_Doppler_hz_aux[k] = Carrier_Doppler_hz[i][j];
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Carrier_phase_cycles_aux[k] = Carrier_phase_cycles[i][j];
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Pseudorange_m_aux[k] = Pseudorange_m[i][j];
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PRN_aux[k] = PRN[i][j];
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Flag_valid_pseudorange_aux[k] = Flag_valid_pseudorange[i][j];
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k++;
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}
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}
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// WRITE MAT FILE
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mat_t *matfp;
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matvar_t *matvar;
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std::string filename = d_dump_filename;
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if (filename.size() > 4)
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{
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filename.erase(filename.end() - 4, filename.end());
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}
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filename.append(".mat");
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matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
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if (reinterpret_cast<int64_t *>(matfp) != nullptr)
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{
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std::array<size_t, 2> dims{static_cast<size_t>(d_nchannels_out), static_cast<size_t>(num_epoch)};
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matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), RX_time_aux.data(), MAT_F_DONT_COPY_DATA);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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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);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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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);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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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);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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matvar = Mat_VarCreate("Pseudorange_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Pseudorange_m_aux.data(), MAT_F_DONT_COPY_DATA);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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matvar = Mat_VarCreate("PRN", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), PRN_aux.data(), MAT_F_DONT_COPY_DATA);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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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);
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Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
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Mat_VarFree(matvar);
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}
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Mat_Close(matfp);
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return 0;
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}
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double hybrid_observables_gs::compute_T_rx_s(const Gnss_Synchro &a) const
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{
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return ((static_cast<double>(a.Tracking_sample_counter) + a.Code_phase_samples) / static_cast<double>(a.fs));
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}
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bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, uint32_t ch, uint64_t rx_clock) const
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{
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int32_t nearest_element = -1;
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int64_t old_abs_diff = std::numeric_limits<int64_t>::max();
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for (uint32_t i = 0; i < d_gnss_synchro_history->size(ch); i++)
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{
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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));
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if (old_abs_diff > abs_diff)
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{
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old_abs_diff = abs_diff;
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nearest_element = static_cast<int32_t>(i);
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}
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}
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if (nearest_element != -1 and nearest_element != static_cast<int32_t>(d_gnss_synchro_history->size(ch)))
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{
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if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs)) < 0.02)
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{
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int32_t neighbor_element;
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if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
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{
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neighbor_element = nearest_element + 1;
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}
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else
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{
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neighbor_element = nearest_element - 1;
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}
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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 20 ms
|
|
if (d_T_rx_TOW_ms % 20)
|
|
{
|
|
d_T_rx_TOW_ms += 20 - d_T_rx_TOW_ms % 20;
|
|
}
|
|
}
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
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);
|
|
// 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++)
|
|
{
|
|
// Push the valid tracking Gnss_Synchros to their corresponding deque
|
|
for (int32_t m = 0; m < ninput_items[n]; m++)
|
|
{
|
|
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);
|
|
}
|
|
|
|
// 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::ifstream::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;
|
|
}
|
|
}
|
|
return 0;
|
|
}
|