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Merging gnss-sdr/rinex_fix branch
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This commit rewrites the way pseudoranges are computed, now accounting for the receiver clock offset. It also adds more work in the QA code. If extra tests are activated by -DENABLE_UNIT_TESTING_EXTRA=ON or -DENABLE_SYSTEM_TESTING_EXTRA=ON, additional raw data files, a software-defined signal generator and GPSTk 2.9 are downloaded. Many fixes and code refactoring in tracking blocks.
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@carlesfernandez
carlesfernandez committed Feb 3, 2017
2 parents d9cc803 + 15ff162 commit 0362476
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Showing 50 changed files with 2,846 additions and 871 deletions.
9 changes: 6 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -61,13 +61,15 @@ option(ENABLE_CUDA "Enable building of processing blocks implemented with CUDA (
option(ENABLE_GENERIC_ARCH "Builds a portable binary" OFF)
option(ENABLE_PACKAGING "Enable software packaging" OFF)
option(ENABLE_OWN_GLOG "Download glog and link it to gflags" OFF)
option(ENABLE_OWN_ARMADILLO "Download and build Armadillo locally" OFF)
option(ENABLE_LOG "Enable logging" ON)
if(ENABLE_PACKAGING)
set(ENABLE_GENERIC_ARCH ON)
endif(ENABLE_PACKAGING)

# Testing
option(ENABLE_UNIT_TESTING "Build unit tests" ON)
option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
if(ENABLE_SYSTEM_TESTING_EXTRA)
Expand Down Expand Up @@ -874,7 +876,7 @@ if(OS_IS_LINUX)
endif(OS_IS_LINUX)

find_package(Armadillo)
if(NOT ARMADILLO_FOUND)
if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
message(STATUS " Armadillo has not been found.")
message(STATUS " Armadillo will be downloaded and built automatically ")
message(STATUS " when doing 'make'. ")
Expand Down Expand Up @@ -923,11 +925,12 @@ if(NOT ARMADILLO_FOUND)
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo
)
else(NOT ARMADILLO_FOUND)
set(ARMADILLO_VERSION_STRING ${armadillo_RELEASE})
else(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
set(armadillo_RELEASE ${ARMADILLO_VERSION_STRING})
add_library(armadillo-${armadillo_RELEASE} UNKNOWN IMPORTED)
set_property(TARGET armadillo-${armadillo_RELEASE} PROPERTY IMPORTED_LOCATION "${ARMADILLO_LIBRARIES}")
endif(NOT ARMADILLO_FOUND)
endif(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)



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5 changes: 5 additions & 0 deletions src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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22 changes: 13 additions & 9 deletions src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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Expand Up @@ -227,22 +227,22 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
this->set_msg_handler(pmt::mp("telemetry"),
boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));

//initialize kml_printer
// initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
d_kml_printer = std::make_shared<Kml_Printer>();
d_kml_printer->set_headers(kml_dump_filename);

//initialize geojson_printer
// initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);

//initialize nmea_printer
// initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);

//initialize rtcm_printer
// initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_tcp_port = rtcm_tcp_port;
Expand Down Expand Up @@ -330,7 +330,7 @@ void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniza
d_last_status_print_seg = current_rx_seg;
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
}
}

Expand All @@ -340,7 +340,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
{
gnss_observables_map.clear();
d_sample_counter++;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer

print_receiver_status(in);

Expand All @@ -366,14 +366,18 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
{
// 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_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
if( first_fix == 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
Expand All @@ -399,7 +403,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
b_rinex_header_written = true; // do not write header anymore
}
}
if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
if(b_rinex_header_written)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)
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16 changes: 16 additions & 0 deletions src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
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