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gnss-sdr/src/algorithms/libs/rtklib/rtklib_conversions.cc

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/*!
* \file rtklib_conversions.cc
* \brief GNSS-SDR to RTKLIB data structures conversion functions
* \author 2017, Javier Arribas
*
* -----------------------------------------------------------------------------
*
* 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 "rtklib_conversions.h"
#include "MATH_CONSTANTS.h" // for GNSS_PI, TWO_PI
#include "beidou_dnav_ephemeris.h" // for Beidou_Dnav_Ephemeris
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "glonass_gnav_ephemeris.h" // for Glonass_Gnav_Ephemeris
#include "glonass_gnav_utc_model.h" // for Glonass_Gnav_Utc_Model
#include "gnss_obs_codes.h" // for CODE_L1C, CODE_L2S, CODE_L5X
#include "gnss_synchro.h" // for Gnss_Synchro
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_cnav_ephemeris.h" // for Gps_CNAV_Ephemeris
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "rtklib_rtkcmn.h"
#include <cmath>
#include <cstdint>
#include <string>
obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band, bool pre_2009_file)
{
// Get signal type info to adjust code type based on constellation
std::string sig_ = gnss_synchro.Signal;
rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / TWO_PI;
switch (band)
{
case 0:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L1C);
break;
case 1:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2S);
break;
case 2:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L5X);
break;
}
double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
if (CN0_dB_Hz_est > 63.75)
{
CN0_dB_Hz_est = 63.75;
}
if (CN0_dB_Hz_est < 0.0)
{
CN0_dB_Hz_est = 0.0;
}
auto CN0_dB_Hz = static_cast<unsigned char>(std::round(CN0_dB_Hz_est / 0.25));
rtklib_obs.SNR[band] = CN0_dB_Hz;
// Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
switch (gnss_synchro.System)
{
case 'G':
rtklib_obs.sat = gnss_synchro.PRN;
break;
case 'E':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO;
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS;
break;
case 'C':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
// Update signal code
if (sig_ == "B1")
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2I);
}
else if (sig_ == "B3")
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6I);
}
break;
default:
rtklib_obs.sat = gnss_synchro.PRN;
}
// Note that BeiDou week numbers do not need adjustment for foreseeable future. Consider change
// to more elegant solution
// if(gnss_synchro.System == 'C')
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// else
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
//
if (gnss_synchro.System == 'E')
{
rtklib_obs.time = gst2time(week, gnss_synchro.RX_time);
}
else
{
rtklib_obs.time = gpst2time(adjgpsweek(week, pre_2009_file), gnss_synchro.RX_time);
}
// account for the TOW crossover transitory in the first 18 seconds where the week is not yet updated!
if (gnss_synchro.RX_time < 18.0)
{
rtklib_obs.time = timeadd(rtklib_obs.time, 604800);
}
rtklib_obs.rcv = 1;
return rtklib_obs;
}
geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& gnav_clock_model)
{
int week;
double sec;
int adj_week;
geph_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, 0.0, 0.0}, 0.0, 0.0, 0.0};
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number + NSATGPS; /* satellite number */
rtklib_sat.iode = static_cast<int>(glonass_gnav_eph.d_t_b); /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
rtklib_sat.sva = static_cast<int>(glonass_gnav_eph.d_F_T); /* satellite accuracy*/
rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_E_n); /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn * 1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[1] = glonass_gnav_eph.d_Yn * 1000; /* satellite position (ecef) (m) */
rtklib_sat.pos[2] = glonass_gnav_eph.d_Zn * 1000; /* satellite position (ecef) (m) */
rtklib_sat.vel[0] = glonass_gnav_eph.d_VXn * 1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[1] = glonass_gnav_eph.d_VYn * 1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.vel[2] = glonass_gnav_eph.d_VZn * 1000; /* satellite velocity (ecef) (m/s) */
rtklib_sat.acc[0] = glonass_gnav_eph.d_AXn * 1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[1] = glonass_gnav_eph.d_AYn * 1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn * 1000; /* satellite acceleration (ecef) (m/s^2) */
rtklib_sat.taun = glonass_gnav_eph.d_tau_n; /* SV clock bias (s) */
rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n; /* SV relative freq bias */
rtklib_sat.dtaun = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
// Time expressed in GPS Time but using RTKLib format
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);
adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.toe = gpst2time(adj_week, sec);
// Time expressed in GPS Time but using RTKLib format
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);
adj_week = adjgpsweek(static_cast<int>(week));
rtklib_sat.tof = gpst2time(adj_week, sec);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
{
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,
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};
// Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.sqrtA * gal_eph.sqrtA;
rtklib_sat.M0 = gal_eph.M_0;
rtklib_sat.deln = gal_eph.delta_n;
rtklib_sat.OMG0 = gal_eph.OMEGA_0;
rtklib_sat.OMGd = gal_eph.OMEGAdot;
rtklib_sat.omg = gal_eph.omega;
rtklib_sat.i0 = gal_eph.i_0;
rtklib_sat.idot = gal_eph.idot;
rtklib_sat.e = gal_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = gal_eph.WN + 1024; /* week of tow in GPS (not mod-1024) week scale */
rtklib_sat.cic = gal_eph.Cic;
rtklib_sat.cis = gal_eph.Cis;
rtklib_sat.cuc = gal_eph.Cuc;
rtklib_sat.cus = gal_eph.Cus;
rtklib_sat.crc = gal_eph.Crc;
rtklib_sat.crs = gal_eph.Crs;
rtklib_sat.f0 = gal_eph.af0;
rtklib_sat.f1 = gal_eph.af1;
rtklib_sat.f2 = gal_eph.af2;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.tow);
/* adjustment for week handover */
double tow;
double toc;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, nullptr);
if (rtklib_sat.toes < tow - 302400.0)
{
rtklib_sat.week++;
tow -= 604800.0;
}
else if (rtklib_sat.toes > tow + 302400.0)
{
rtklib_sat.week--;
tow += 604800.0;
}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, bool pre_2009_file)
{
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,
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};
rtklib_sat.sat = gps_eph.PRN;
rtklib_sat.A = gps_eph.sqrtA * gps_eph.sqrtA;
rtklib_sat.M0 = gps_eph.M_0;
rtklib_sat.deln = gps_eph.delta_n;
rtklib_sat.OMG0 = gps_eph.OMEGA_0;
rtklib_sat.OMGd = gps_eph.OMEGAdot;
rtklib_sat.omg = gps_eph.omega;
rtklib_sat.i0 = gps_eph.i_0;
rtklib_sat.idot = gps_eph.idot;
rtklib_sat.e = gps_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_eph.WN, pre_2009_file); /* week of tow */
rtklib_sat.cic = gps_eph.Cic;
rtklib_sat.cis = gps_eph.Cis;
rtklib_sat.cuc = gps_eph.Cuc;
rtklib_sat.cus = gps_eph.Cus;
rtklib_sat.crc = gps_eph.Crc;
rtklib_sat.crs = gps_eph.Crs;
rtklib_sat.f0 = gps_eph.af0;
rtklib_sat.f1 = gps_eph.af1;
rtklib_sat.f2 = gps_eph.af2;
rtklib_sat.tgd[0] = gps_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = gps_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.tow);
/* adjustment for week handover */
double tow;
double toc;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, nullptr);
if (rtklib_sat.toes < tow - 302400.0)
{
rtklib_sat.week++;
tow -= 604800.0;
}
else if (rtklib_sat.toes > tow + 302400.0)
{
rtklib_sat.week--;
tow += 604800.0;
}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
{
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,
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};
rtklib_sat.sat = bei_eph.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.sqrtA * bei_eph.sqrtA;
rtklib_sat.M0 = bei_eph.M_0;
rtklib_sat.deln = bei_eph.delta_n;
rtklib_sat.OMG0 = bei_eph.OMEGA_0;
rtklib_sat.OMGd = bei_eph.OMEGAdot;
rtklib_sat.omg = bei_eph.omega;
rtklib_sat.i0 = bei_eph.i_0;
rtklib_sat.idot = bei_eph.idot;
rtklib_sat.e = bei_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.svh = bei_eph.SV_health;
rtklib_sat.sva = bei_eph.SV_accuracy;
rtklib_sat.code = bei_eph.sig_type; /* B1I data */
rtklib_sat.flag = bei_eph.nav_type; /* MEO/IGSO satellite */
rtklib_sat.iode = static_cast<int32_t>(bei_eph.AODE); /* AODE */
rtklib_sat.iodc = static_cast<int32_t>(bei_eph.AODC); /* AODC */
rtklib_sat.week = bei_eph.WN; /* week of tow */
rtklib_sat.cic = bei_eph.Cic;
rtklib_sat.cis = bei_eph.Cis;
rtklib_sat.cuc = bei_eph.Cuc;
rtklib_sat.cus = bei_eph.Cus;
rtklib_sat.crc = bei_eph.Crc;
rtklib_sat.crs = bei_eph.Crs;
rtklib_sat.f0 = bei_eph.af0;
rtklib_sat.f1 = bei_eph.af1;
rtklib_sat.f2 = bei_eph.af2;
rtklib_sat.tgd[0] = bei_eph.TGD1;
rtklib_sat.tgd[1] = bei_eph.TGD2;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = bei_eph.toe;
rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toe));
rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toc));
rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.tow));
/* adjustment for week handover */
double tow;
double toc;
double toe;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, nullptr);
toe = time2gpst(rtklib_sat.toe, nullptr);
if (rtklib_sat.toes < tow - 302400.0)
{
rtklib_sat.week++;
tow -= 604800.0;
}
else if (rtklib_sat.toes > tow + 302400.0)
{
rtklib_sat.week--;
tow += 604800.0;
}
rtklib_sat.toe = gpst2time(rtklib_sat.week, toe);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
{
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,
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};
rtklib_sat.sat = gps_cnav_eph.PRN;
rtklib_sat.A = gps_cnav_eph.sqrtA * gps_cnav_eph.sqrtA;
rtklib_sat.M0 = gps_cnav_eph.M_0;
rtklib_sat.deln = gps_cnav_eph.delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.OMEGA_0;
rtklib_sat.OMGd = gps_cnav_eph.OMEGAdot;
rtklib_sat.omg = gps_cnav_eph.omega;
rtklib_sat.i0 = gps_cnav_eph.i_0;
rtklib_sat.idot = gps_cnav_eph.idot;
rtklib_sat.e = gps_cnav_eph.ecc;
rtklib_sat.Adot = gps_cnav_eph.Adot; // only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.delta_ndot; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.WN); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.Cic;
rtklib_sat.cis = gps_cnav_eph.Cis;
rtklib_sat.cuc = gps_cnav_eph.Cuc;
rtklib_sat.cus = gps_cnav_eph.Cus;
rtklib_sat.crc = gps_cnav_eph.Crc;
rtklib_sat.crs = gps_cnav_eph.Crs;
rtklib_sat.f0 = gps_cnav_eph.af0;
rtklib_sat.f1 = gps_cnav_eph.af1;
rtklib_sat.f2 = gps_cnav_eph.af2;
rtklib_sat.tgd[0] = gps_cnav_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.isc[0] = gps_cnav_eph.ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.tow);
/* adjustment for week handover */
double tow;
double toc;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, nullptr);
if (rtklib_sat.toes < tow - 302400.0)
{
rtklib_sat.week++;
tow -= 604800.0;
}
else if (rtklib_sat.toes > tow + 302400.0)
{
rtklib_sat.week--;
tow += 604800.0;
}
rtklib_sat.toe = gpst2time(rtklib_sat.week, rtklib_sat.toes);
rtklib_sat.toc = gpst2time(rtklib_sat.week, toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow);
return rtklib_sat;
}
alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
{
alm_t rtklib_alm;
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gps_alm.PRN;
rtklib_alm.svh = gps_alm.SV_health;
rtklib_alm.svconf = gps_alm.AS_status;
rtklib_alm.week = gps_alm.WNa;
gtime_t toa;
toa.time = gps_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = gps_alm.sqrtA * gps_alm.sqrtA;
rtklib_alm.e = gps_alm.ecc;
rtklib_alm.i0 = (gps_alm.delta_i + 0.3) * GNSS_PI;
rtklib_alm.OMG0 = gps_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gps_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gps_alm.omega * GNSS_PI;
rtklib_alm.M0 = gps_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gps_alm.af0;
rtklib_alm.f1 = gps_alm.af1;
rtklib_alm.toas = gps_alm.toa;
return rtklib_alm;
}
alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
{
alm_t rtklib_alm;
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gal_alm.PRN + NSATGPS + NSATGLO;
rtklib_alm.svh = gal_alm.E1B_HS;
rtklib_alm.svconf = gal_alm.E1B_HS;
rtklib_alm.week = gal_alm.WNa;
gtime_t toa;
toa.time = gal_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = gal_alm.sqrtA * gal_alm.sqrtA;
rtklib_alm.e = gal_alm.ecc;
rtklib_alm.i0 = (gal_alm.delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gal_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gal_alm.omega * GNSS_PI;
rtklib_alm.M0 = gal_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gal_alm.af0;
rtklib_alm.f1 = gal_alm.af1;
rtklib_alm.toas = gal_alm.toa;
return rtklib_alm;
}
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