Rtklib_Pvt Class Reference

This class implements a PvtInterface for the RTKLIB PVT block. More...

#include <rtklib_pvt.h>

Inheritance diagram for Rtklib_Pvt:

Public Member Functions
	Rtklib_Pvt (const ConfigurationInterface *configuration, const std::string &role, unsigned int in_streams, unsigned int out_streams)
std::string	role () override
std::string	implementation () override
	Returns "RTKLIB_PVT".
void	clear_ephemeris () override
std::map< int, Gps_Ephemeris >	get_gps_ephemeris () const override
std::map< int, Galileo_Ephemeris >	get_galileo_ephemeris () const override
std::map< int, Gps_Almanac >	get_gps_almanac () const override
std::map< int, Galileo_Almanac >	get_galileo_almanac () const override
void	connect (gr::top_block_sptr top_block) override
void	disconnect (gr::top_block_sptr top_block) override
gr::basic_block_sptr	get_left_block () override
gr::basic_block_sptr	get_right_block () override
void	reset () override
size_t	item_size () override
	All blocks must have an item_size() function implementation.
bool	get_latest_PVT (double *longitude_deg, double *latitude_deg, double *height_m, double *ground_speed_kmh, double *course_over_ground_deg, time_t *UTC_time) override
Public Member Functions inherited from GNSSBlockInterface
virtual gr::basic_block_sptr	get_left_block (int RF_channel)
virtual gr::basic_block_sptr	get_right_block (int RF_channel)
virtual void	start ()
	Start the flow of samples if needed.

Detailed Description

This class implements a PvtInterface for the RTKLIB PVT block.

Global configuration options used:

GNSS-SDR.pre_2009_file - flag indicating a file older than 2009 rollover should be processed (false) GNSS-SDR.observable_interval_ms - (20)

It supports the following configuration options:

.dump - (false) .dump_filename - ("./pvt.dat") .dump_mat - (true) .rtk_trace_level - debug level for the RTKLIB methods (0)

.output_rate_ms - (500) Note that the actual rate is the least common multiple of this value and GNSS-SDR.observable_interval_ms .display_rate_ms - (500)

.flag_nmea_tty_port - (false) .nmea_dump_filename - ("./nmea_pvt.nmea") .nmea_dump_devname - ("/dev/tty1")

.rinex_version - (3) overridden by -RINEX_version=n.nn command line argument .rinexobs_rate_ms - rate at which RINEX observations are written (1000). Note that the actual rate is the least common multiple of this value and .output_rate_ms .rinex_name - (-RINEX_name command-line argument)

.flag_rtcm_tty_port - (false) .rtcm_dump_devname - ("/dev/pts/1") .flag_rtcm_server - (false) .rtcm_tcp_port - (2101) .rtcm_station_id - (1234) Output rates ... all values are LCM with the computed output rate (above) .rtcm_MT1019_rate_ms - (5000) .rtcm_MT1020_rate_ms - (5000) .rtcm_MT1045_rate_ms - (5000) .rtcm_MSM_rate_ms - (1000) .rtcm_MT1077_rate_ms - (.rtcm_MSM_rate_ms) .rtcm_MT1087_rate_ms - (.rtcm_MSM_rate_ms) .rtcm_MT1097_rate_ms - (.rtcm_MSM_rate_ms)

.kml_rate_ms - (1000) .gpx_rate_ms - (1000) .geojson_rate_ms - (1000) .nmea_rate_ms - (1000)

.positioning_mode - The RTKLIB positioning mode. ("Single") Supported values are "Single", "Static", "Kinematic", "PPP_Static" and "PPP_Kinematic". Unsupported modes include DGPS/DGNSS, Moving Baseline, Fixed, and PPP-fixed .num_bands - number of frequencies to use, between 1 and 3. Default is based on the channels configured .elevation_mask - (15.0). Value must be in the range [0,90.0] .dynamics_model - (0) 0:none, 1:velocity, 2:acceleration

.iono_model - ("OFF"). Supported values are "OFF", "Broadcast", "SBAS", "Iono-Free-LC", "Estimate_STEC", "IONEX". Unsupported values include QZSS broadcast, QZSS LEX, and SLANT TEC. .trop_model - ("OFF"). Supported values are "OFF", "Saastamoinen", "SBAS", "Estimate_ZTD", and "Estimate_ZTD_Grad". Unsupported values include ZTD correction and ZTD+grad correction .phwindup - phase windup correction for PPP modes (0) .reject_GPS_IIA - whether the GPS Block IIA satellites in eclipse are excluded (0). Only applies in PPP-* modes .raim_fde - whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) is enabled (0) .earth_tide - (0) .navigation_system - mask of navigation systems to use. Default based on configured channels 0x01:GPS, 0x02:SBAS, 0x04:GLONASS, 0x08:Galileo, 0x10:QZSS, 0x20:BeiDou, 0x40:IRNS, 0x80:LEO

.AR_GPS - Ambiguity Resolution mode for GPS ("Continuous"). Supported values are "OFF", "Continuous", "Instantaneous", "Fix-and-Hold", "PPP-AR". Unsupported values include PPP-AR ILS, WLNL, and TCAR. .AR_GLO - Ambiguity Resolution mode for GLONASS (1). Value must be in the range [0,3]. (0:off,1:on,2:auto cal,3:ext cal) .AR_DBS - Ambiguity Resolution Mode for BeiDou (1). Value must be in the range [0,1]. (0:off,1:on) .min_ratio_to_fix_ambiguity - (3.0) .min_lock_to_fix_ambiguity - (0) .min_elevation_to_fix_ambiguity - minimum elevation (deg) to fix integer ambiguity (0.0) .outage_reset_ambiguity - (5) .slip_threshold - (0.05) .threshold_reject_gdop - if GDOP is over this value, the observable is excluded (30.0) .threshold_reject_innovation - if innovation is over this value, the observable is excluded (30.0) .number_filter_iter - number of iterations for the estimation filter (1) .bias_0 - (30.0) .iono_0 - (0.03) .trop_0 - (0.3) .sigma_bias - process noise stddev of carrier-phase bias(ambiguity)(cycle/sqrt(s)) (1e-4) .sigma_iono - process noise stddev of vertical ionospheric delay per 10km baseline (m/sqrt(s)) (1e-3) .sigma_trop - process noise stddev of zenith tropospheric delay (m/sqrt(s)) (1e-4) .sigma_acch - process noise stddev of the receiver acceleration horizontal component (m/s2/sqrt(s)) (1e-1) .sigma_accv - process noise stddev of the receiver acceleration vertical component (m/s2/sqrt(s)) (1e-2) .sigma_pos - (0.0) .code_phase_error_ratio_l1 - (100.0) .code_phase_error_ratio_l2 - (100.0) .code_phase_error_ratio_l5 - (100.0) .carrier_phase_error_factor_a - (0.003) .carrier_phase_error_factor_b - (0.003)

.output_enabled - (true) .rinex_output_enabled - (.output_enabled) .gpx_output_enabled - (.output_enabled) .geojson_output_enabled - (.output_enabled) .kml_output_enabled - (.output_enabled) .xml_output_enabled - (.output_enabled) .nmea_output_enabled - (.output_enabled) .rtcm_output_enabled - (false)

.output_path - directory to which output files are written (".") .rinex_output_path - (.output_path) .gpx_output_path - (.output_path) .geojson_output_path - (.output_path) .kml_output_path - (.output_path) .xml_output_path - (.output_path) .nmea_output_path - (.output_path) .rtcm_output_path - (.output_path)

.enable_monitor - enable the PVT monitor (false) .monitor_client_addresses - ("127.0.0.1") .monitor_udp_port - DO NOT USE THE DEFAULT (1234) .enable_protobuf - serialize using protocol buffers (true). Monitor.enable_protobuf if true, sets this to true

.enable_monitor_ephemeris - enable the ephemeris monitor (false) .monitor_ephemeris_client_addresses - ("127.0.0.1") .monitor_ephemeris_udp_port - DO NOT USE THE DEFAULT (1234)

.show_local_time_zone - (false) .enable_rx_clock_correction - (false) .max_clock_offset_ms - (40)

Definition at line 173 of file rtklib_pvt.h.

Member Function Documentation

clear_ephemeris()

void Rtklib_Pvt::clear_ephemeris ( )

overridevirtual

Implements PvtInterface.

connect()

void Rtklib_Pvt::connect ( gr::top_block_sptr top_block )

overridevirtual

Implements GNSSBlockInterface.

disconnect()

void Rtklib_Pvt::disconnect ( gr::top_block_sptr top_block )

overridevirtual

Implements GNSSBlockInterface.

get_galileo_almanac()

std::map< int, Galileo_Almanac > Rtklib_Pvt::get_galileo_almanac ( ) const

overridevirtual

Implements PvtInterface.

get_galileo_ephemeris()

std::map< int, Galileo_Ephemeris > Rtklib_Pvt::get_galileo_ephemeris ( ) const

overridevirtual

Implements PvtInterface.

get_gps_almanac()

std::map< int, Gps_Almanac > Rtklib_Pvt::get_gps_almanac ( ) const

overridevirtual

Implements PvtInterface.

get_gps_ephemeris()

std::map< int, Gps_Ephemeris > Rtklib_Pvt::get_gps_ephemeris ( ) const

overridevirtual

Implements PvtInterface.

get_latest_PVT()

bool Rtklib_Pvt::get_latest_PVT ( double * longitude_deg, double * latitude_deg, double * height_m, double * ground_speed_kmh, double * course_over_ground_deg, time_t * UTC_time )

overridevirtual

Implements PvtInterface.

get_left_block()

gr::basic_block_sptr Rtklib_Pvt::get_left_block ( )

overridevirtual

Implements GNSSBlockInterface.

get_right_block()

gr::basic_block_sptr Rtklib_Pvt::get_right_block ( )

overridevirtual

Implements GNSSBlockInterface.

implementation()

std::string Rtklib_Pvt::implementation ( )

inlineoverridevirtual

Returns "RTKLIB_PVT".

Implements GNSSBlockInterface.

Definition at line 189 of file rtklib_pvt.h.

item_size()

size_t Rtklib_Pvt::item_size ( )

inlineoverridevirtual

All blocks must have an item_size() function implementation.

Implements GNSSBlockInterface.

Definition at line 211 of file rtklib_pvt.h.

reset()

void Rtklib_Pvt::reset ( )

inlineoverridevirtual

Implements PvtInterface.

Definition at line 205 of file rtklib_pvt.h.

role()

std::string Rtklib_Pvt::role ( )

inlineoverridevirtual

Implements GNSSBlockInterface.

Definition at line 183 of file rtklib_pvt.h.

---

The documentation for this class was generated from the following file:

• rtklib_pvt.h