[hamradio-commits] [gnss-sdr] 282/303: Upgrading Galileo PVT and Hybrid PVT chains with the latest bug fixes for GPS
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:08 UTC 2017
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit fc7ff7ba0bf3ca984313af1975a4bb9eed6bcc41
Author: Javier Arribas <javiarribas at gmail.com>
Date: Fri Feb 3 13:00:50 2017 +0100
Upgrading Galileo PVT and Hybrid PVT chains with the latest bug fixes for GPS
---
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc | 5 +
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 16 +
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 282 +++++------
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 2 +-
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 515 +++++++++++----------
.../gnuradio_blocks/hybrid_observables_cc.cc | 9 +-
6 files changed, 444 insertions(+), 385 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
index 35e1478..e7c1f98 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
@@ -287,6 +287,11 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
if (pvt_result == true)
{
+ // correct the observable to account for the receiver clock offset
+ for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
+ {
+ it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
+ }
if( first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index cf14524..946a4e9 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -455,6 +455,22 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if (pvt_result == true)
{
+ // correct the observable to account for the receiver clock offset
+ for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
+ {
+ it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
+ }
+ if(first_fix == true)
+ {
+ std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
+ << " UTC 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;
+ ttff_msgbuf ttff;
+ ttff.mtype = 1;
+ ttff.ttff = d_sample_counter;
+ send_sys_v_ttff_msg(ttff);
+ first_fix = false;
+ }
d_kml_dump->print_position(d_ls_pvt, d_flag_averaging);
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 070503c..8f60917 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -48,21 +48,21 @@ galileo_e1_ls_pvt::galileo_e1_ls_pvt(int nchannels, std::string dump_filename, b
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
+ {
+ if (d_dump_file.is_open() == false)
{
- 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);
- LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
- }
- catch (const std::ifstream::failure &e)
- {
- LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
- }
- }
+ 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);
+ LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
+ }
+ catch (const std::ifstream::failure &e)
+ {
+ LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
+ }
}
+ }
}
@@ -78,11 +78,10 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
- int valid_pseudoranges = gnss_pseudoranges_map.size();
- arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); // channels weights matrix
- arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
- arma::mat satpos = arma::zeros(3, valid_pseudoranges); // satellite positions matrix
+ arma::vec W; // channels weight vector
+ arma::vec obs; // pseudoranges observation vector
+ arma::mat satpos; // satellite positions matrix
int Galileo_week_number = 0;
double utc = 0.0;
@@ -96,60 +95,62 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
- int obs_counter = 0;
+
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
+ {
+ // 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
+ galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
+ if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
+ {
+ /*!
+ * \todo Place here the satellite CN0 (power level, or weight factor)
+ */
+ W.resize(valid_obs + 1, 1);
+ W(valid_obs) = 1;
+
+ // COMMON RX TIME PVT ALGORITHM
+ double Rx_time = galileo_current_time;
+ double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GALILEO_C_m_s;
+
+ // 2- compute the clock drift using the clock model (broadcast) for this SV, including relativistic effect
+ SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
+
+ // 3- compute the current ECEF position for this SV using corrected TX time
+ TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+ galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+ //store satellite positions in a matrix
+ satpos.resize(3, valid_obs + 1);
+ satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X;
+ satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
+ satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z;
+
+ // 4- fill the observations vector with the corrected pseudoranges
+ obs.resize(valid_obs + 1, 1);
+ obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - d_rx_dt_s * GALILEO_C_m_s;
+ d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
+ d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
+
+
+ Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
+ GST = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first)->second.Galileo_System_Time(Galileo_week_number, galileo_current_time);
+
+ // SV ECEF DEBUG OUTPUT
+ DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
+ << " X=" << galileo_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+
+ valid_obs++;
+ }
+ else // the ephemeris are not available for this SV
{
- // 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
- galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
- if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
- {
- /*!
- * \todo Place here the satellite CN0 (power level, or weight factor)
- */
- W(obs_counter, obs_counter) = 1.0;
-
- // COMMON RX TIME PVT ALGORITHM
- double Rx_time = galileo_current_time;
- double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GALILEO_C_m_s;
-
- // 2- compute the clock drift using the clock model (broadcast) for this SV, including relativistic effect
- SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
-
- // 3- compute the current ECEF position for this SV using corrected TX time
- TX_time_corrected_s = Tx_time - SV_clock_bias_s;
- galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-
- satpos(0,obs_counter) = galileo_ephemeris_iter->second.d_satpos_X;
- satpos(1,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Y;
- satpos(2,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Z;
-
- // 4- fill the observations vector with the corrected pseudoranges
- obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s;
- d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
- d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
- valid_obs++;
-
- Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
- GST = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first)->second.Galileo_System_Time(Galileo_week_number, galileo_current_time);
-
- // SV ECEF DEBUG OUTPUT
- DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
- << " X=" << galileo_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(obs_counter) << " [m]";
- }
- else // the ephemeris are not available for this SV
- {
- // no valid pseudorange for the current SV
- W(obs_counter, obs_counter) = 0; // SV de-activated
- obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
- DLOG(INFO) << "No ephemeris data for SV "<< gnss_pseudoranges_iter->first;
- }
- obs_counter++;
+ DLOG(INFO) << "No ephemeris data for SV "<< gnss_pseudoranges_iter->first;
}
+ }
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
@@ -158,78 +159,91 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
LOG(INFO) << "Galileo PVT: valid observations=" << valid_obs;
if (valid_obs >= 4)
+ {
+ arma::vec rx_position_and_time;
+ DLOG(INFO) << "satpos=" << satpos;
+ DLOG(INFO) << "obs="<< obs;
+ DLOG(INFO) << "W=" << W;
+
+ // check if this is the initial position computation
+ if (d_rx_dt_s == 0)
{
- arma::vec mypos;
- DLOG(INFO) << "satpos=" << satpos;
- DLOG(INFO) << "obs="<< obs;
- DLOG(INFO) << "W=" << W;
-
- mypos = leastSquarePos(satpos, obs, W);
-
- // Compute Gregorian time
- utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
- // get time string Gregorian calendar
- boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
- // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
- boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
- d_position_UTC_time = p_time;
-
- DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos;
-
- cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
- d_rx_dt_s = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
- DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
- << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
-
- // ###### Compute DOPs ########
- compute_DOP();
-
- // ######## LOG FILE #########
- if(d_flag_dump_enabled == true)
- {
- // MULTIPLEXED FILE RECORDING - Record results to file
- try
- {
- double tmp_double;
- // PVT GPS time
- tmp_double = galileo_current_time;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position East [m]
- tmp_double = mypos(0);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position North [m]
- tmp_double = mypos(1);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position Up [m]
- tmp_double = mypos(2);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // User clock offset [s]
- tmp_double = mypos(3);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Latitude [deg]
- tmp_double = d_latitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Longitude [deg]
- tmp_double = d_longitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Height [m]
- tmp_double = d_height_m;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- }
- catch (const std::ifstream::failure& e)
- {
- LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
- }
- }
-
- // MOVING AVERAGE PVT
- galileo_e1_ls_pvt::pos_averaging(flag_averaging);
+ // execute Bancroft's algorithm to estimate initial receiver position and time
+ DLOG(INFO) << " Executing Bancroft algorithm...";
+ rx_position_and_time = bancroftPos(satpos.t(), obs);
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s = rx_position_and_time(3) / GALILEO_C_m_s; // save time for the next iteration [meters]->[seconds]
}
- else
+ // Execute WLS using previous position as the initialization point
+ rx_position_and_time = leastSquarePos(satpos, obs, W);
+
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s += rx_position_and_time(3) / GALILEO_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
+
+ // Compute Gregorian time
+ utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+ // get time string Gregorian calendar
+ boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+ // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+ boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+ d_position_UTC_time = p_time;
+
+ DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << rx_position_and_time;
+
+ cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
+ d_rx_dt_s = rx_position_and_time(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
+ DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
+ << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+
+ // ###### Compute DOPs ########
+ compute_DOP();
+
+ // ######## LOG FILE #########
+ if(d_flag_dump_enabled == true)
{
- b_valid_position = false;
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ try
+ {
+ double tmp_double;
+ // PVT GPS time
+ tmp_double = galileo_current_time;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position East [m]
+ tmp_double = rx_position_and_time(0);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position North [m]
+ tmp_double = rx_position_and_time(1);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position Up [m]
+ tmp_double = rx_position_and_time(2);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // User clock offset [s]
+ tmp_double = rx_position_and_time(3);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Latitude [deg]
+ tmp_double = d_latitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Longitude [deg]
+ tmp_double = d_longitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Height [m]
+ tmp_double = d_height_m;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (const std::ifstream::failure& e)
+ {
+ LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
+ }
}
+
+ // MOVING AVERAGE PVT
+ galileo_e1_ls_pvt::pos_averaging(flag_averaging);
+ }
+ else
+ {
+ b_valid_position = false;
+ }
return b_valid_position;
}
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index a9e60f4..1633f6f 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -133,7 +133,6 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
- valid_obs++;
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
@@ -142,6 +141,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]";
+ valid_obs++;
// compute the UTC time for this SV (just to print the associated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index 3629bac..87dae62 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -47,21 +47,21 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
d_flag_averaging = false;
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
+ {
+ if (d_dump_file.is_open() == false)
{
- 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);
- LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
- }
- catch (const std::ifstream::failure &e)
- {
- LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
- }
- }
+ 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);
+ LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
+ }
+ catch (const std::ifstream::failure &e)
+ {
+ LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
+ }
}
+ }
}
@@ -78,11 +78,9 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
- int valid_observables = gnss_observables_map.size();
-
- arma::mat W = arma::eye(valid_observables, valid_observables); // channels weights matrix
- arma::vec obs = arma::zeros(valid_observables); // observables observation vector
- arma::mat satpos = arma::zeros(3, valid_observables); // satellite positions matrix
+ arma::vec W; // channels weight vector
+ arma::vec obs; // pseudoranges observation vector
+ arma::mat satpos; // satellite positions matrix
int Galileo_week_number = 0;
int GPS_week = 0;
@@ -98,168 +96,184 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
- int obs_counter = 0;
for(gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++)
+ {
+ switch(gnss_observables_iter->second.System)
+ {
+ case 'E':
{
- if(gnss_observables_iter->second.System == 'E')
+ // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
+ galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
+ {
+ /*!
+ * \todo Place here the satellite CN0 (power level, or weight factor)
+ */
+ W.resize(valid_obs + 1, 1);
+ W(valid_obs) = 1;
+
+ // COMMON RX TIME PVT ALGORITHM
+ double Rx_time = hybrid_current_time;
+ double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
+
+ // 2- compute the clock drift using the clock model (broadcast) for this SV
+ SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
+
+ // 3- compute the current ECEF position for this SV using corrected TX time
+ TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+ galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+ //store satellite positions in a matrix
+ satpos.resize(3, valid_obs + 1);
+ satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X;
+ satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
+ satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z;
+
+
+ // 4- fill the observations vector with the corrected observables
+ obs.resize(valid_obs + 1, 1);
+ obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - d_rx_dt_s * GALILEO_C_m_s;
+ d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
+ d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
+
+
+
+ Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
+ GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
+
+ // SV ECEF DEBUG OUTPUT
+ DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
+ << " X=" << galileo_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+
+ valid_obs++;
+ }
+
+ else // the ephemeris are not available for this SV
+ {
+ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+ }
+ break;
+ }
+ case 'G':
+ {
+ // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
+ std::string sig_(gnss_observables_iter->second.Signal);
+ if(sig_.compare("1C") == 0)
+ {
+ gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
- // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
- galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
- {
- /*!
- * \todo Place here the satellite CN0 (power level, or weight factor)
- */
- W(obs_counter, obs_counter) = 1;
-
- // COMMON RX TIME PVT ALGORITHM
- double Rx_time = hybrid_current_time;
- double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
-
- // 2- compute the clock drift using the clock model (broadcast) for this SV
- SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
-
- // 3- compute the current ECEF position for this SV using corrected TX time
- TX_time_corrected_s = Tx_time - SV_clock_bias_s;
- galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-
- satpos(0,obs_counter) = galileo_ephemeris_iter->second.d_satpos_X;
- satpos(1,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Y;
- satpos(2,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Z;
-
- // 5- fill the observations vector with the corrected observables
- obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s;
- d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
- d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
- valid_obs++;
-
- Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
- GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
-
- // SV ECEF DEBUG OUTPUT
- DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
- << " X=" << galileo_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(obs_counter) << " [m]";
- }
-
- else // the ephemeris are not available for this SV
- {
- // no valid pseudorange for the current SV
- W(obs_counter, obs_counter) = 0; // SV de-activated
- obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
- DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
- }
+ /*!
+ * \todo Place here the satellite CN0 (power level, or weight factor)
+ */
+ W.resize(valid_obs + 1, 1);
+ W(valid_obs) = 1;
+
+ // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
+ // first estimate of transmit time
+ double Rx_time = hybrid_current_time;
+ double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
+
+ // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
+ SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
+
+ // 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
+ TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+ double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+ //store satellite positions in a matrix
+ satpos.resize(3, valid_obs + 1);
+ satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
+ satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
+ satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
+
+ // 4- fill the observations vector with the corrected pseudoranges
+ obs.resize(valid_obs + 1, 1);
+ obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
+ d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
+ d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
+
+ // SV ECEF DEBUG OUTPUT
+ DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
+ << " X=" << gps_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+
+ valid_obs++;
+ // compute the UTC time for this SV (just to print the associated UTC timestamp)
+ GPS_week = gps_ephemeris_iter->second.i_GPS_week;
+ utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
}
-
- else if(gnss_observables_iter->second.System == 'G')
+ else // the ephemeris are not available for this SV
{
- //std::cout << "Satellite System: " << gnss_observables_iter->second.System <<std::endl;
- // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
- std::string sig_(gnss_observables_iter->second.Signal);
- if(sig_.compare("1C") == 0)
- {
- gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_ephemeris_iter != gps_ephemeris_map.end())
- {
- /*!
- * \todo Place here the satellite CN0 (power level, or weight factor)
- */
- W(obs_counter, obs_counter) = 1;
-
- // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
- // first estimate of transmit time
- double Rx_time = hybrid_current_time;
- double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
-
- // 2- compute the clock drift using the clock model (broadcast) for this SV
- SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
-
- // 3- compute the current ECEF position for this SV using corrected TX time
- TX_time_corrected_s = Tx_time - SV_clock_bias_s;
- gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-
- satpos(0, obs_counter) = gps_ephemeris_iter->second.d_satpos_X;
- satpos(1, obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
- satpos(2, obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
-
- // 5- fill the observations vector with the corrected observables
- obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
- d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
- d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
- valid_obs++;
- GPS_week = gps_ephemeris_iter->second.i_GPS_week;
-
- // SV ECEF DEBUG OUTPUT
- DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
- << " X=" << gps_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(obs_counter) << " [m]";
- }
- else // the ephemeris are not available for this SV
- {
- // no valid pseudorange for the current SV
- W(obs_counter, obs_counter) = 0; // SV de-activated
- obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
- DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
- }
- }
- if(sig_.compare("2S") == 0)
- {
- gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
- if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
- {
- /*!
- * \todo Place here the satellite CN0 (power level, or weight factor)
- */
- W(obs_counter, obs_counter) = 1;
-
- // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
- // first estimate of transmit time
- double Rx_time = hybrid_current_time;
- double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
-
- // 2- compute the clock drift using the clock model (broadcast) for this SV
- SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
-
- // 3- compute the current ECEF position for this SV using corrected TX time
- TX_time_corrected_s = Tx_time - SV_clock_bias_s;
- gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-
- satpos(0, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_X;
- satpos(1, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_Y;
- satpos(2, obs_counter) = gps_cnav_ephemeris_iter->second.d_satpos_Z;
-
- // 5- fill the observations vector with the corrected observables
- obs(obs_counter) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
- d_visible_satellites_IDs[valid_obs] = gps_cnav_ephemeris_iter->second.i_satellite_PRN;
- d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
- valid_obs++;
- GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
-
- // SV ECEF DEBUG OUTPUT
- DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
- << " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
- << " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
- << " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
- << " [m] PR_obs=" << obs(obs_counter) << " [m]";
- }
- else // the ephemeris are not available for this SV
- {
- // no valid pseudorange for the current SV
- W(obs_counter, obs_counter) = 0; // SV de-activated
- obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
- DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
- }
- }
+ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
- obs_counter++;
+ }
+ if(sig_.compare("2S") == 0)
+ {
+ gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
+ {
+ /*!
+ * \todo Place here the satellite CN0 (power level, or weight factor)
+ */
+ W.resize(valid_obs + 1, 1);
+ W(valid_obs) = 1;
+
+ // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
+ // first estimate of transmit time
+ double Rx_time = hybrid_current_time;
+ double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
+
+ // 2- compute the clock drift using the clock model (broadcast) for this SV
+ SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
+
+ // 3- compute the current ECEF position for this SV using corrected TX time
+ TX_time_corrected_s = Tx_time - SV_clock_bias_s;
+ gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
+
+ //store satellite positions in a matrix
+ satpos.resize(3, valid_obs + 1);
+ satpos(0, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_X;
+ satpos(1, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Y;
+ satpos(2, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Z;
+
+ // 4- fill the observations vector with the corrected observables
+ obs.resize(valid_obs + 1, 1);
+ obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
+ d_visible_satellites_IDs[valid_obs] = gps_cnav_ephemeris_iter->second.i_satellite_PRN;
+ d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;
+
+ GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
+
+ // SV ECEF DEBUG OUTPUT
+ DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
+ << " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
+ << " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
+ << " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
+ << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+
+ valid_obs++;
+ }
+ else // the ephemeris are not available for this SV
+ {
+ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+ }
+ }
+ break;
}
+ default :
+ DLOG(INFO) << "Hybrid observables: Unknown GNSS";
+ break;
+ }
+ }
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
@@ -269,86 +283,101 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
if(valid_obs >= 4)
+ {
+ arma::vec rx_position_and_time;
+ DLOG(INFO) << "satpos=" << satpos;
+ DLOG(INFO) << "obs=" << obs;
+ DLOG(INFO) << "W=" << W;
+
+ // check if this is the initial position computation
+ if (d_rx_dt_s == 0)
+ {
+ // execute Bancroft's algorithm to estimate initial receiver position and time
+ DLOG(INFO) << " Executing Bancroft algorithm...";
+ rx_position_and_time = bancroftPos(satpos.t(), obs);
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
+ }
+
+ // Execute WLS using previous position as the initialization point
+ rx_position_and_time = leastSquarePos(satpos, obs, W);
+
+ d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+ d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
+
+ DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
+ DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
+
+ double secondsperweek = 604800.0;
+ // Compute GST and Gregorian time
+ if( GST != 0.0)
{
- arma::vec mypos;
- DLOG(INFO) << "satpos=" << satpos;
- DLOG(INFO) << "obs=" << obs;
- DLOG(INFO) << "W=" << W;
-
- mypos = leastSquarePos(satpos, obs, W);
- d_rx_dt_s = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds
- double secondsperweek = 604800.0;
- // Compute GST and Gregorian time
- if( GST != 0.0)
- {
- utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
- }
- else
- {
- utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
- }
-
- // get time string Gregorian calendar
- boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
- // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
- boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
- d_position_UTC_time = p_time;
+ utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
+ }
+ else
+ {
+ utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week) + secondsperweek * static_cast<double>(GPS_week);
+ }
- DLOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
+ // get time string Gregorian calendar
+ boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
+ // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
+ boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
+ d_position_UTC_time = p_time;
- cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
+ cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
- DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
- << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+ DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
+ << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
- // ###### Compute DOPs ########
- hybrid_ls_pvt::compute_DOP();
+ // ###### Compute DOPs ########
+ hybrid_ls_pvt::compute_DOP();
- // ######## LOG FILE #########
- if(d_flag_dump_enabled == true)
- {
- // MULTIPLEXED FILE RECORDING - Record results to file
- try
- {
- double tmp_double;
- // PVT GPS time
- tmp_double = hybrid_current_time;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position East [m]
- tmp_double = mypos(0);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position North [m]
- tmp_double = mypos(1);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // ECEF User Position Up [m]
- tmp_double = mypos(2);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // User clock offset [s]
- tmp_double = mypos(3);
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Latitude [deg]
- tmp_double = d_latitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Longitude [deg]
- tmp_double = d_longitude_d;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- // GEO user position Height [m]
- tmp_double = d_height_m;
- d_dump_file.write((char*)&tmp_double, sizeof(double));
- }
- catch (const std::ifstream::failure& e)
- {
- LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
- }
- }
-
- // MOVING AVERAGE PVT
- pos_averaging(flag_averaging);
- }
- else
+ // ######## LOG FILE #########
+ if(d_flag_dump_enabled == true)
{
- b_valid_position = false;
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ try
+ {
+ double tmp_double;
+ // PVT GPS time
+ tmp_double = hybrid_current_time;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position East [m]
+ tmp_double = rx_position_and_time(0);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position North [m]
+ tmp_double = rx_position_and_time(1);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // ECEF User Position Up [m]
+ tmp_double = rx_position_and_time(2);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // User clock offset [s]
+ tmp_double = rx_position_and_time(3);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Latitude [deg]
+ tmp_double = d_latitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Longitude [deg]
+ tmp_double = d_longitude_d;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ // GEO user position Height [m]
+ tmp_double = d_height_m;
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (const std::ifstream::failure& e)
+ {
+ LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
+ }
}
+
+ // MOVING AVERAGE PVT
+ pos_averaging(flag_averaging);
+ }
+ else
+ {
+ b_valid_position = false;
+ }
return b_valid_position;
}
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
index 9a88419..90fd8c6 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
@@ -196,7 +196,6 @@ int hybrid_observables_cc::general_work (int noutput_items,
DLOG(INFO) << "d_TOW_hybrid_reference [ms] = " << d_TOW_reference * 1000;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
DLOG(INFO) << "ref_PRN_rx_time_ms [ms] = " << d_ref_PRN_rx_time_ms;
- //int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
@@ -235,8 +234,6 @@ int hybrid_observables_cc::general_work (int noutput_items,
dopper_vec_hz = arma::vec(std::vector<double>(d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].begin(), d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].end()));
desired_symbol_TOW[0] = symbol_TOW_vec_s[history_deep - 1] + delta_rx_time_ms / 1000.0;
- // arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
- // arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
// Curve fitting to cuadratic function
arma::mat A = arma::ones<arma::mat> (history_deep, 2);
@@ -249,10 +246,8 @@ int hybrid_observables_cc::general_work (int noutput_items,
coef_doppler = pinv_A * dopper_vec_hz;
arma::vec acc_phase_lin;
arma::vec carrier_doppler_lin;
- acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0]; // +coef_acc_phase[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
- carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0]; // +coef_doppler[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
- //std::cout<<"acc_phase_vec_interp_rads="<<acc_phase_vec_interp_rads[0]<<std::endl;
- //std::cout<<"dopper_vec_interp_hz="<<dopper_vec_interp_hz[0]<<std::endl;
+ acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0];
+ carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0];
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
}
--
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/pkg-hamradio/gnss-sdr.git
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