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gnss-sdr/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc

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/*!
* \file gps_l1_ca_pvt_cc.cc
* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pvt_cc.h"
#include <iostream>
#include <sstream>
#include <vector>
#include <map>
#include <algorithm>
#include <bitset>
#include <cmath>
#include "math.h"
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "control_message_factory.h"
#include "boost/date_time/posix_time/posix_time.hpp"
#include "gnss_synchro.h"
#include "concurrent_map.h"
using google::LogMessage;
extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
extern concurrent_map<Gps_Iono> global_gps_iono_map;
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
{
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
}
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
gr_make_io_signature(1, 1, sizeof(gr_complex)))
{
d_output_rate_ms = output_rate_ms;
d_display_rate_ms = display_rate_ms;
d_queue = queue;
d_dump = dump;
d_nchannels = nchannels;
d_dump_filename = dump_filename;
std::string dump_ls_pvt_filename = dump_filename;
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
kml_dump_filename.append(".kml");
d_kml_dump.set_headers(kml_dump_filename);
//initialize nmea_printer
d_nmea_printer = new Nmea_Printer(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;
d_flag_averaging = flag_averaging;
d_ls_pvt = new gps_l1_ca_ls_pvt(nchannels,dump_ls_pvt_filename,d_dump);
d_ls_pvt->set_averaging_depth(d_averaging_depth);
d_sample_counter = 0;
d_last_sample_nav_output=0;
d_tx_time=0.0;
b_rinex_header_writen = false;
rp = new Rinex_Printer();
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
std::cout << "PVT dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
std::cout << "Exception opening PVT dump file " << e.what() << std::endl;
}
}
}
}
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
{
d_kml_dump.close_file();
delete d_ls_pvt;
delete rp;
delete d_nmea_printer;
}
bool pseudoranges_pairCompare_min( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
{
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
}
int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
d_sample_counter++;
std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
std::map<int,double> pseudoranges;
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
for (unsigned int i=0; i<d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
{
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
}
}
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
{
double pr = gnss_pseudoranges_iter->second.Pseudorange_m;
pseudoranges[gnss_pseudoranges_iter->first] = pr;
}
// find the minimum index (nearest satellite, will be the reference)
gnss_pseudoranges_iter = std::min_element(gnss_pseudoranges_map.begin(), gnss_pseudoranges_map.end(), pseudoranges_pairCompare_min);
// ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
d_ls_pvt->gps_ephemeris_map=global_gps_ephemeris_map.get_map_copy();
if (global_gps_utc_model_map.size()>0)
{
// UTC MODEL data is shared for all the GPS satellites. Read always at ID=0
global_gps_utc_model_map.read(0,d_ls_pvt->gps_utc_model);
}
if (global_gps_iono_map.size()>0)
{
// IONO data is shared for all the GPS satellites. Read always at ID=0
global_gps_iono_map.read(0,d_ls_pvt->gps_iono);
}
// ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() >0)
{
// The GPS TX time is directly the Time of Week (TOW) associated to the current symbol of the reference channel
// It is used to compute the SV positions at the TX instant
d_tx_time = gnss_pseudoranges_iter->second.d_TOW_at_current_symbol;
// compute on the fly PVT solution
//mod 8/4/2012 Set the PVT computation rate in this block
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result=d_ls_pvt->get_PVT(gnss_pseudoranges_map,d_tx_time,d_flag_averaging);
if (pvt_result==true)
{
d_kml_dump.print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) // & we have utc data in nav message!
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second,d_tx_time);
rp->rinex_nav_header(rp->navFile,d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_writen = true; // do not write header anymore
}
}
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)
if ((d_sample_counter-d_last_sample_nav_output)>=6000)
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
d_last_sample_nav_output=d_sample_counter;
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_tx_time, pseudoranges);
}
}
}
}
// DEBUG MESSAGE: Display position in console output
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is HDOP = " << d_ls_pvt->d_HDOP << " and VDOP = " << d_ls_pvt->d_VDOP << std::endl;
}
// MULTIPLEXED FILE RECORDING - Record results to file
if(d_dump == true)
{
try
{
double tmp_double;
for (unsigned int i=0; i<d_nchannels ; i++)
{
tmp_double = in[i][0].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = in[i][0].Pseudorange_symbol_shift;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_tx_time, sizeof(double));
}
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
}
}
}
consume_each(1); //one by one
return 0;
}
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