GNSS::GNSS_RxData

GNSS::GNSS_RxData Class Reference

#include <GNSS_RxData.h>

Detailed Description

A class for handling GNSS information for ONE EPOCH for ONE RECEIVER such as pseudorange, ADR, and Doppler measurements, user position, user velocity, and other associated information. The previous epoch of data is also retained if available.

The 'measurement' data is public and can be accessed directly by the user! This is struct style encapsulation and to allow easy access to the data but the user must be careful (especially with the observation array in to avoiding out of bound array access).

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-10-29

Since:: 2006-11-13

Definition at line 363 of file GNSS_RxData.h.


Public Member Functions
	GNSS_RxData ()
	The default constructor (no data allocated yet).
virtual	~GNSS_RxData ()
	The destructor.
bool	ZeroAllMeasurements ()
	Set all data in the measurement array to zero.
bool	ZeroPVT ()
	Set all PVT data to zero.
bool	SetInitialPVT (const double latitudeRads, const double longitudeRads, const double height, const double vn, const double ve, const double vup, const double clk, const double clkdrift, const double std_lat, const double std_lon, const double std_hgt, const double std_vn, const double std_ve, const double std_vup, const double std_clk, const double std_clkdrift, const double undulation=0)
	Set the initial receiver position, velocity, and time.
bool	UpdatePositionAndRxClock (const double latitudeRads, const double longitudeRads, const double height, const double clk, const double std_lat, const double std_lon, const double std_hgt, const double std_clk)
	Update the receiver position and clock offset.
bool	UpdateVelocityAndClockDrift (const double vn, const double ve, const double vup, const double clkdrift, const double std_vn, const double std_ve, const double std_vup, const double std_clkdrift)
	Update the receiver velocity and clock drift.
bool	Initialize (const char path, bool &isValidPath, const GNSS_enumRxDataType rxType, const char RINEX_ephemeris_path)
	Initialize the receiver data object with data path information.
bool	LoadNext (bool &endOfStream)
	Load the next epoch of data.
bool	LoadNext_NOVATELOEM4 (bool &endOfStream)
	Load the next epoch of data of GNSS_RXDATA_NOVATELOEM4 data.
bool	LoadNext_RINEX21 (bool &endOfStream)
	Load the next epoch of data of GNSS_RXDATA_RINEX21 data.
bool	LoadNext_RINEX211 (bool &endOfStream)
	Load the next epoch of data of GNSS_RXDATA_RINEX211 data.
bool	CheckRINEXObservationHeader (const char *filepath, bool &isValid)
	Check the header on the RINEX Observation file to confirm it has the correct version and the file type is Observation.
bool	LoadRINEXNavigationData (void)
	If a RINEX GPS Navigation file is associated with this receiver, load all the ephemeris records into the member array.
bool	UpdateTheEphemerisArrayWithUsingRINEX ()
	If a RINEX GPS Navigation file is associated with this receiver, Load m_EphAlmArray appropriately based on the current receiver time.
bool	CheckForCycleSlips_UsingPhaseRatePrediction (const double nrThresholdCycles)
	Check for cycle slips using the phase rate prediction method.
bool	DebugPrintObservationArray (const char *filepath)
	A debugging function for printing all of the observation array to a file.
bool	Debug_WriteSuperMsg80CharsWide (char *buffer, const unsigned maxBufferLength, const double referenceLatitude, const double referenceLongitude, const double referenceHeight, unsigned &nrBytesInBuffer)
	The number of bytes set in the buffer.
Static Public Member Functions
static bool	GetDMS (const double angleDegs, short &degrees, short &minutes, float &seconds, char *dms_str, const unsigned maxLength_dms_str)
	Get degrees, minutes, seconds from a decimal degrees angle.
Data Fields
GNSS_structMeasurement	m_ObsArray [GNSS_RXDATA_NR_CHANNELS]
	The array of GNSS measurements.
unsigned char	m_nrValidObs
	The number of usable items in m_ObsArray.
GNSS_structMeasurement	m_prev_ObsArray [GNSS_RXDATA_NR_CHANNELS]
	The previous observation set.
unsigned char	m_prev_nrValidObs
	The number of usable items in m_prevObsArray.
unsigned char	m_nrGPSL1Obs
	The number of GPS L1 observations in m_ObsArray.
GNSS_structPVT	m_pvt
	The receiver's position, velocity, and time information.
GNSS_structPVT	m_prev_pvt
	The receiver's previous position, velocity, and time information.
GNSS_structKlobuchar	m_klobuchar
	The klobuchar ionospheric correction parameters for GPS.
GPS_BroadcastEphemerisAndAlmanacArray	m_EphAlmArray
double	m_elevationMask
double	m_cnoMask
double	m_locktimeMask
unsigned	m_maxAgeEphemeris
bool	m_DisableTropoCorrection
	A boolean to indicate if the tropospheric correction is to be disabled for all satellites.
bool	m_DisableIonoCorrection
	A boolean to indicate if the ionospheric correction is to be disabled for all satellites.
std::string	filepath
	The file path to the RINEX ephemeris data.
GPS_structEphemeris *	eph_array
	All of the RINEX ephemeris data is loaded into a single array at start up.
unsigned	max_array_length
	The length of the m_RINEX_eph_array.
unsigned	array_length
	The length of the m_RINEX_eph_array.
GNSS_structKlobuchar	iono_model
	An associated ionospheric model.
Protected Attributes
FILE *	m_fid
	A file pointer to the input.
unsigned char	m_message [GNSS_RXDATA_MSG_LENGTH]
	A large message buffer.
unsigned short	m_messageLength
	The length of the message in the message buffer.
GNSS_enumRxDataType	m_rxDataType
	The receiver data type.
bool	m_CheckRinexObservationHeader
	The RINEX Observation Header must be checked once.
RINEX_structDecodedHeader	m_RINEX_obs_header
	Decoded RINEX Observation Header information.
bool	m_RINEX_use_eph
	A boolean to indicate RINEX ephemeris information is used.
unsigned	m_RINEX_eph_index

Constructor & Destructor Documentation

GNSS::GNSS_RxData::GNSS_RxData ( )

The default constructor (no data allocated yet).

Definition at line 358 of file GNSS_RxData.cpp.

GNSS::GNSS_RxData::~GNSS_RxData ( ) [virtual]

The destructor.

Definition at line 387 of file GNSS_RxData.cpp.

Member Function Documentation

bool GNSS::GNSS_RxData::ZeroAllMeasurements ( )

Set all data in the measurement array to zero.

Returns:: true if successful, false if error.

Definition at line 400 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::ZeroPVT ( )

Set all PVT data to zero.

Returns:: true if successful, false if error.

Definition at line 415 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::SetInitialPVT	(	const double	latitudeRads,
		const double	longitudeRads,
		const double	height,
		const double	vn,
		const double	ve,
		const double	vup,
		const double	clk,
		const double	clkdrift,
		const double	std_lat,
		const double	std_lon,
		const double	std_hgt,
		const double	std_vn,
		const double	std_ve,
		const double	std_vup,
		const double	std_clk,
		const double	std_clkdrift,
		const double	undulation = `0`
	)

Set the initial receiver position, velocity, and time.

Returns:: true if successful, false if error.

Parameters:

latitudeRads	The latitude [rad].
longitudeRads	The longitude [rad].
height	The orthometric height [m].
vn	The northing velocity [m/s].
ve	The easting velocity [m/s].
vup	The up velocity [m/s].
clk	The clock offset [m].
clkdrift	The clock drift [m/s].
std_lat	The standard deviation uncertainty in the latitude [m].
std_lon	The standard deviation uncertainty in the longitude [m].
std_hgt	The standard deviation uncertainty in the height [m].
std_vn	The standard deviation uncertainty in the northing velocity [m/s].
std_ve	The standard deviation uncertainty in the easting velocity [m/s].
std_vup	The standard deviation uncertainty in the up velocity [m/s].
std_clk	The standard deviation uncertainty in the clock offset [m].
std_clkdrift	The standard deviation uncertainty in the clock drift [m/s].
undulation	The undulation if known [m].

Definition at line 1000 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::UpdatePositionAndRxClock	(	const double	latitudeRads,
		const double	longitudeRads,
		const double	height,
		const double	clk,
		const double	std_lat,
		const double	std_lon,
		const double	std_hgt,
		const double	std_clk
	)

Update the receiver position and clock offset.

Returns:: true if successful, false if error.

Parameters:

latitudeRads	The latitude [rad].
longitudeRads	The longitude [rad].
height	The orthometric height [m].
clk	The clock offset [m].
std_lat	The standard deviation uncertainty in the latitude [m].
std_lon	The standard deviation uncertainty in the longitude [m].
std_hgt	The standard deviation uncertainty in the height [m].
std_clk	The standard deviation uncertainty in the clock offset [m].

Definition at line 1069 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::UpdateVelocityAndClockDrift	(	const double	vn,
		const double	ve,
		const double	vup,
		const double	clkdrift,
		const double	std_vn,
		const double	std_ve,
		const double	std_vup,
		const double	std_clkdrift
	)

Update the receiver velocity and clock drift.

Returns:: true if successful, false if error.

Parameters:

vn	The northing velocity [m/s].
ve	The easting velocity [m/s].
vup	The up velocity [m/s].
clkdrift	The clock drift [m/s].
std_vn	The standard deviation uncertainty in the northing velocity [m/s].
std_ve	The standard deviation uncertainty in the easting velocity [m/s].
std_vup	The standard deviation uncertainty in the up velocity [m/s].
std_clkdrift	The standard deviation uncertainty in the clock drift [m/s].

Definition at line 1127 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::GetDMS	(	const double	angleDegs,
		short &	degrees,
		short &	minutes,
		float &	seconds,
		char *	dms_str,
		const unsigned	maxLength_dms_str
	)			`[static]`

Get degrees, minutes, seconds from a decimal degrees angle.

Returns:: true if successful, false if error.

Parameters:

angleDegs	The angle [degrees].
degrees	The degrees part.
minutes	The minutes part.
seconds	The seconds part.
dms_str	A DMS string e.g. dms_str = "-180'59'59.9999\""
maxLength_dms_str	The maximum length of the dms_str string.

Definition at line 1165 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::Initialize	(	const char *	path,
		bool &	isValidPath,
		const GNSS_enumRxDataType	rxType,
		const char *	RINEX_ephemeris_path
	)

Initialize the receiver data object with data path information.

Author:: Glenn D. MacGougan

Date:: 2007-12-07

Returns:: true if successful, false if error.

Parameters:

path	The path to the Observation data file.
isValidPath	A boolean to indicate if the path is valid.
rxType	The receiver data type.
RINEX_ephemeris_path	The path to a RINEX ephemeris file, NULL if not available.

Definition at line 423 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::LoadNext ( bool & endOfStream )

Load the next epoch of data.

Returns:: true if successful, false if error.

Parameters:

endOfStream

- indicates if the end of the input source was reached and no further data is available.

Definition at line 497 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::LoadNext_NOVATELOEM4 ( bool & endOfStream )

Load the next epoch of data of GNSS_RXDATA_NOVATELOEM4 data.

Returns:: true if successful, false if error.

Parameters:

endOfStream

- indicates if the end of the input source was reached and no further data is available.

Definition at line 714 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::LoadNext_RINEX21 ( bool & endOfStream )

Load the next epoch of data of GNSS_RXDATA_RINEX21 data.

Returns:: true if successful, false if error.

Parameters:

endOfStream

- indicates if the end of the input source was reached and no further data is available.

Definition at line 590 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::LoadNext_RINEX211 ( bool & endOfStream )

Load the next epoch of data of GNSS_RXDATA_RINEX211 data.

Returns:: true if successful, false if error.

Parameters:

endOfStream

- indicates if the end of the input source was reached and no further data is available.

Definition at line 606 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::CheckRINEXObservationHeader	(	const char *	filepath,
		bool &	isValid
	)

Check the header on the RINEX Observation file to confirm it has the correct version and the file type is Observation.

Author:: Glenn D. MacGougan

Date:: 2007-12-07

Parameters:

	filepath	- The C string path to the observation file.
	isValid	- A boolean indicating if the file is valid for use.

Returns:: true if successful, false if error.

Definition at line 535 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::LoadRINEXNavigationData ( void )

If a RINEX GPS Navigation file is associated with this receiver, load all the ephemeris records into the member array.

Author:: Glenn D. MacGougan

Date:: 2007-12-07

Returns:: true if successful, false if error.

Definition at line 1582 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::UpdateTheEphemerisArrayWithUsingRINEX ( )

If a RINEX GPS Navigation file is associated with this receiver, Load m_EphAlmArray appropriately based on the current receiver time.

Author:: Glenn D. MacGougan

Date:: 2007-12-07

Returns:: true if successful, false if error.

Definition at line 1640 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::CheckForCycleSlips_UsingPhaseRatePrediction ( const double nrThresholdCycles )

Check for cycle slips using the phase rate prediction method.

Postcondition:: m_ObsArray[i].flags.isNoCycleSlipDetected is set for each observation.

Returns:: true if successful, false if error.

Parameters:

nrThresholdCycles

The maximum number of cycles to use as the threshold to detect a slip [cycles].

Definition at line 1221 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::DebugPrintObservationArray ( const char * filepath )

A debugging function for printing all of the observation array to a file.

Returns:: true if successful, false if error.

< The unique id for this channel (eg PRN for GPS).

< The satellite system associated with this channel.

< The code type for this channel.

< The frequency type for this channel.

< This flag indicates that the channel is active for use. If this is not set, no other flags are valid for use.

< Indicates if the code tracking is locked.

< Indicates if the phase tracking is locked.

< Indicates if the phase parity if valid.

< Indicates if the pseudorange valid for use.

< Indicates if the ADR is valid for use.

< Indicates if the Doppler if valid for use.

< Indicates if this channel has another associated channel. eg. L1 and L2 measurements.

< Indicates if the channel was receiver assigned (otherwise, the user forced this channel assignment).

< Indicates if the pseudorange has carrier smoothing enabled.

< Indicates if this channel has valid associated ephemeris information.

< Indicates if this channel has valid associated almanac information.

< Indicates if the satellite tracked is above the elevation mask.

< Indciates if the channel's C/No is above a threshold value.

< Indicates if the channel's locktime is above a treshold value.

< Indicates if the user has not forced the rejection of this channel or PRN.

< Indicates if the pseudorange was not rejetced (ie Fault Detection and Exclusion).

< Indicates if the ADR was not rejetced (ie Fault Detection and Exclusion).

< Indicates if the Doppler was not rejected (ie Fault Detection and Exclusion).

< Indicates that no cycle slip has occurred at this epoch.

< Indicates if some part (pseudorange) of this channel's measurement was used in the position solution.

< Indicates if some part (Doppler) of this channel's measurement was used in the velocity solution.

< Indicates if the the ADR is used in the solution.

< Indicates if a matching pseudrange observation is available from another receiver.

< Indicates if a matching Doppler observation is available from another receiver.

< Indicates if a matching ADR observation is available from another receiver.

< Indicates that the tropospheric correction should be applied.

< Indicates that the broadcast ionospheric correction should be applied.

< The measurement gps week (at 'transmit' time) [weeks].

< The measurement gps time of week (at 'transmit' time) [s].

< The pseudorange measurement [m].

< The carrier phase or accumulated Doppler range measurement [cycles].

< The Doppler measurement for this channel [Hz].

< The carrier to noise density ratio for this channel [dB-Hz]

< The number of seconds of continous phase tracking (no known cycle slips) [s].

< The estimated pseudorange measurement standard deviation [m].

< The estimated accumulated Doppler range measurement standard deviation [cycles].

< The estimated Doppler measurement standard deviation [Hz].

< The measured psr minus the computed psr estimate [m].

< The measured Doppler minus the computed Doppler estimate [m].

< The best estimate of the geometric range between the antenna and the satellite [m].

< The best estimate of the geometric range rate between the antenna and the satellite [m/s].

< The carrier smoothed pseudorange if available [m].

< The predicted pseudorange based on the satellite position, user position, and current clock offset [m].

< The estimated integer component of the adr. This may be the single or double differenced ambiguity [].

< The predicted Doppler based on user position, velocity, satellite position, velocity and clock rate [Hz].

< The associated satellite azimuth for this channel [rad].

< The associated satellite elevation for this channel [rad].

< The channel index of a matching differential observation. -1 means there is no matching channel.

< The channel index of a matching time differential observation. -1 means there is no matching channel.

< The index into the state vector for this ambiguity state. -1 not estimated.

< The measured ADR minus the computed ADR estimate [m]. This is likely a differential quantity.

< The design matrix row relating the pseudorange measurements to the position solution. dP/d(lat), dP/d(lon), dP/d(hgt).

< The design matrix row relating the Doppler measurements to the velocity solution. dD/d(lat), dD/d(lon), dD/d(hgt).

< The corrections associated with this channel.

< The post-adjustment (filtering) measurement residual associated with this channel.

Definition at line 1288 of file GNSS_RxData.cpp.

bool GNSS::GNSS_RxData::Debug_WriteSuperMsg80CharsWide	(	char *	buffer,
		const unsigned	maxBufferLength,
		const double	referenceLatitude,
		const double	referenceLongitude,
		const double	referenceHeight,
		unsigned &	nrBytesInBuffer
	)

The number of bytes set in the buffer.

Parameters:

buffer	A large character buffer (8KB min).
maxBufferLength	The maximum buffer length [bytes].
referenceLatitude	Reference position latitude [rad].
referenceLongitude	Reference position longitude [rad].
referenceHeight	Reference position height [m].
nrBytesInBuffer	The number of bytes set in the buffer.