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breaking change - add weeknumber to RF measuremetns

pull/1/head
bert hubert 2019-08-10 16:03:45 +02:00
parent 26ce29bcfd
commit 0e93701b20
5 changed files with 57 additions and 38 deletions
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14
README.md
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@ -10,9 +10,11 @@ Tooling:
frames & metadata
* navtrans: transmits GNSS NAV frames emitted by ubxtool to a collector.
Performs some best effort buffering & will reconnect if needed.
UPDATE -> will be part of ubxtool
* navrecv: receives GNSS NAV frames and stores them on disk, split out per
sender
* navstore: tails the file stored by navrecv, puts them in LMDB
sender. UPDATE -> part of navnexus
* navstore: tails the file stored by navrecv, puts them in LMDB.
UPDATE -> part of navnexus
* navstream: produces a stream of NAV updates from all sources, with a few
seconds delay so all data is in. Does this with queries to LMDB
* navweb: consumes these ordered nav updates for a nice website
@ -32,6 +34,14 @@ The magic value is there to help us resync from partially written data.
The whole goal is that we can continue to rebuild the database by
rerunning 'navstore' and 'navinflux'.
Big TODO
--------
* Oddity of ephemeris age in doppler graph (possibly wider)
* Navnexus permanence
* Semantics definition for output of Navnexus
* Idempotency and retransmit by ubxtool
ubxtool
-------
* Will also spool raw serial data to disk (in a filename that includes the

20
navmon.proto
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@ -34,15 +34,17 @@ message NavMonMessage {
message RFData {
required double rcvTow = 1;
required uint32 gnssID =2;
required uint32 gnssSV =3;
required double doppler =4;
required double carrierphase = 5;
required double pseudorange = 6;
required double locktimeMS = 7;
required double doStd = 8;
required double cpStd = 9;
required double prStd = 10;
required uint32 rcvWn = 2;
required uint32 gnssID =3;
required uint32 gnssSV =4;
required double doppler =5;
required double carrierphase = 6;
required double pseudorange = 7;
required double locktimeMS = 8;
required double doStd = 9;
required double cpStd = 10;
required double prStd = 11
;
}
message ObserverPosition {

7
navnexus.cc
View File

@ -52,16 +52,19 @@ void recvSession(int s, ComboAddress client)
if(nmm.type() == NavMonMessage::GalileoInavType) {
std::lock_guard<std::mutex> lg(g_dedupmut);
if(g_dedup.count({nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()})) {
cerr<<"Dedupped message from "<< nmm.sourceid()<<" "<< fmt::format("{0} {1} {2} {3}", nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()) << endl;
// cerr<<"Dedupped message from "<< nmm.sourceid()<<" "<< fmt::format("{0} {1} {2} {3}", nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()) << endl;
continue;
}
cerr<<"New message from "<< nmm.sourceid()<<" "<< fmt::format("{0} {1} {2} {3}", nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()) << endl;
// cerr<<"New message from "<< nmm.sourceid()<<" "<< fmt::format("{0} {1} {2} {3}", nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()) << endl;
g_dedup.insert({nmm.gi().gnssid(), nmm.gi().gnsssv(), nmm.gi().gnsswn(), nmm.gi().gnsstow()});
}
else
; // cerr<<"Not an inav message "<< (int) nmm.type()<<endl;
g_history.insert({{nmm.localutcseconds(), nmm.localutcnanoseconds()}, out});
if(write(g_store, out.c_str(), out.size()) != out.size()) {
cerr<<"Failed to store message in buffer"<<endl;
}
for(const auto& fd : g_clients) {
SWrite(fd, out);
}

50
navparse.cc
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@ -851,31 +851,33 @@ try
Point sat;
Point us=g_ourpos;
// be careful with time here - we need to evaluate at the timestamp of this RFDataType update
// which might be newer than .tow in g_svstats
getCoordinates(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &sat);
Point core;
Vector us2sat(us, sat);
Vector speed;
getSpeed(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &speed);
cout<<sv<<" radius: "<<Vector(core, sat).length()<<", distance: "<<us2sat.length()<<", orbital velocity: "<<speed.length()/1000.0<<" km/s, ";
getCoordinates(g_svstats[sv].wn, nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &sat);
Point core;
Vector us2sat(us, sat);
Vector speed;
getSpeed(g_svstats[sv].wn, nmm.rfd().rcvtow(), g_svstats[sv].liveIOD(), &speed);
cout<<sv<<" radius: "<<Vector(core, sat).length()<<", distance: "<<us2sat.length()<<", orbital velocity: "<<speed.length()/1000.0<<" km/s, ";
Vector core2us(core, us);
Vector dx(us, sat); // = x-ourx, dy = y-oury, dz = z-ourz;
// double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
//double deg = 180.0* (elev/M_PI);
// cout <<"elev: "<<90 - deg<< " ("<<g_svstats[sv].el<<")\n";
us2sat.norm();
double radvel=us2sat.inner(speed);
double c=299792458;
double galileol1f = 1575.42 * 1000000; // frequency
double preddop = -galileol1f*radvel/c;
double ephage = ephAge(g_svstats[sv].tow, g_svstats[sv].liveIOD().t0e*60);
cout<<"Radial velocity: "<< radvel<<", predicted doppler: "<< preddop << ", measured doppler: "<<nmm.rfd().doppler()<<endl;
dopplercsv << std::fixed << utcFromGST(g_svstats[sv].wn, nmm.rfd().rcvtow()) <<" " << nmm.rfd().gnssid() <<" " <<sv<<" "<<nmm.rfd().pseudorange()<<" "<< nmm.rfd().carrierphase() <<" " << nmm.rfd().doppler()<<" " << preddop << " " << Vector(us, sat).length() << " " <<radvel <<" " << nmm.rfd().locktimems()<<" " <<ephage << " " << nmm.rfd().prstd() << " " << nmm.rfd().cpstd() <<" " <<
nmm.rfd().dostd() << endl;
}
Vector core2us(core, us);
Vector dx(us, sat); // = x-ourx, dy = y-oury, dz = z-ourz;
// double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
//double deg = 180.0* (elev/M_PI);
// cout <<"elev: "<<90 - deg<< " ("<<g_svstats[sv].el<<")\n";
us2sat.norm();
double radvel=us2sat.inner(speed);
double c=299792458;
double galileol1f = 1575.42 * 1000000; // frequency
double preddop = -galileol1f*radvel/c;
// be careful with time here -
double ephage = ephAge(nmm.rfd().rcvtow(), g_svstats[sv].liveIOD().t0e*60);
cout<<"Radial velocity: "<< radvel<<", predicted doppler: "<< preddop << ", measured doppler: "<<nmm.rfd().doppler()<<endl;
dopplercsv << std::fixed << utcFromGST(g_svstats[sv].wn, nmm.rfd().rcvtow()) <<" " << nmm.rfd().gnssid() <<" " <<sv<<" "<<nmm.rfd().pseudorange()<<" "<< nmm.rfd().carrierphase() <<" " << nmm.rfd().doppler()<<" " << preddop << " " << Vector(us, sat).length() << " " <<radvel <<" " << nmm.rfd().locktimems()<<" " <<ephage << " " << nmm.rfd().prstd() << " " << nmm.rfd().cpstd() <<" " <<
nmm.rfd().dostd() << endl;
}

4
ubxtool.cc
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@ -421,7 +421,8 @@ int main(int argc, char** argv)
else if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX
// cerr<<"Got "<<(int)payload[11] <<" measurements "<<endl;
double rcvTow;
memcpy(&rcvTow, &payload[0], 8);
memcpy(&rcvTow, &payload[0], 8);
uint16_t rcvWn = payload[8] + 256*payload[9];
for(int n=0 ; n < payload[11]; ++n) {
double prMes;
double cpMes;
@ -449,6 +450,7 @@ int main(int argc, char** argv)
nmm.mutable_rfd()->set_gnssid(gnssid);
nmm.mutable_rfd()->set_gnsssv(sv);
nmm.mutable_rfd()->set_rcvtow(rcvTow);
nmm.mutable_rfd()->set_rcvwn(rcvWn);
nmm.mutable_rfd()->set_doppler(doppler);
nmm.mutable_rfd()->set_carrierphase(cpMes);
nmm.mutable_rfd()->set_pseudorange(prMes);