2017-06-21 04:44:44 +00:00
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/*!
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* \file glonass_gnav_navigation_message.h
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* \brief Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
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* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
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* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
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#define GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
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#include <bitset>
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#include <map>
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#include <string>
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#include <utility>
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#include <vector>
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#include "GLONASS_L1_CA.h"
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#include "glonass_gnav_ephemeris.h"
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#include "glonass_gnav_almanac.h"
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#include "glonass_gnav_utc_model.h"
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/*!
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* \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
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*
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* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdfdescribed in IS-GPS-200E
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*
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*/
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class Glonass_Gnav_Navigation_Message
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{
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private:
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unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
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signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
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bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
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2017-07-12 20:11:53 +00:00
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bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
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2017-06-21 04:44:44 +00:00
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unsigned int get_frame_number(unsigned int satellite_slot_number);
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public:
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bool flag_CRC_test;
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2017-07-12 14:35:57 +00:00
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unsigned int frame_number;
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2017-06-21 04:44:44 +00:00
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Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
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Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information
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Glonass_Gnav_Almanac gnav_almanac[24]; //!< Almanac information for all 24 satellites
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2017-07-10 06:00:49 +00:00
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//!< Satellite Identification
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int i_channel_ID; //!< Channel ID assigned by the receiver
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int i_satellite_freq_channel; //!< SV Frequency Slot Number
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int i_satellite_slot_number; //!< SV Orbit Slot Number
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2017-06-21 04:44:44 +00:00
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//!< Ephmeris Flags
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bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received
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2017-07-10 06:00:49 +00:00
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bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received
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bool flag_ephemeris_str_2; //!< Flag indicating that ephemeris 2/4 (string 2) have been received
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bool flag_ephemeris_str_3; //!< Flag indicating that ephemeris 3/4 (string 3) have been received
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bool flag_ephemeris_str_4; //!< Flag indicating that ephemeris 4/4 (string 4) have been received
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2017-06-21 04:44:44 +00:00
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2017-07-10 06:00:49 +00:00
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//!< Almanac Flags
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bool flag_all_almanac; //!< Flag indicating that all almanac have been received
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bool flag_almanac_str_6; //!< Flag indicating that almanac of string 6 have been received
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bool flag_almanac_str_7; //!< Flag indicating that almanac of string 7 have been received
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bool flag_almanac_str_8; //!< Flag indicating that almanac of string 8 have been received
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bool flag_almanac_str_9; //!< Flag indicating that almanac of string 9 have been received
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bool flag_almanac_str_10; //!< Flag indicating that almanac of string 10 have been received
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bool flag_almanac_str_11; //!< Flag indicating that almanac of string 11 have been received
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bool flag_almanac_str_12; //!< Flag indicating that almanac of string 12 have been received
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bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received
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bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received
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bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received
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//!< UTC and System Clocks Flags
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bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
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bool flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data
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bool flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data
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2017-06-21 04:44:44 +00:00
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bool flag_TOW_5;
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bool flag_TOW_6;
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2017-07-10 06:00:49 +00:00
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bool flag_TOW_set; //!< it is true when page 5 or page 6 arrives
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2017-06-21 04:44:44 +00:00
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//broadcast orbit 1
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//TODO Need to send the information regarding the frame number
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2017-07-10 06:00:49 +00:00
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double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
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double d_TOW_F1; //!< Time of GPS Week from HOW word of Subframe 1 [s]
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double d_TOW_F2; //!< Time of GPS Week from HOW word of Subframe 2 [s]
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double d_TOW_F3; //!< Time of GPS Week from HOW word of Subframe 3 [s]
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double d_TOW_F4; //!< Time of GPS Week from HOW word of Subframe 4 [s]
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double d_TOW_F5; //!< Time of GPS Week from HOW word of Subframe 5 [s]
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2017-06-21 04:44:44 +00:00
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// Clock terms
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double d_satClkCorr; // Satellite clock error
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double d_dtr; // Relativistic clock correction term
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double d_satClkDrift; // Satellite clock drift
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/*!
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* \brief Reset GLONASS GNAV Navigation Information
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*/
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void reset();
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/*!
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* \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data
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*/
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Glonass_Gnav_Ephemeris get_ephemeris();
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/*!
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* \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data
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*/
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Glonass_Gnav_Utc_Model get_utc_model();
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/*
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* \brief Returns a Galileo_Almanac object filled with the latest navigation data received
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*/
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2017-07-12 20:11:53 +00:00
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Glonass_Gnav_Almanac get_almanac(int satellite_slot_number);
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2017-06-21 04:44:44 +00:00
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/*
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* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_ephemeris();
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/*
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* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_utc_model();
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/*
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* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_almanac();
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/*!
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2017-07-10 06:00:49 +00:00
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* \brief Decodes the GLONASS GNAV string
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2017-06-21 04:44:44 +00:00
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*/
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2017-07-10 06:00:49 +00:00
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int string_decoder(char *string);
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/*!
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* \brief Computes the Coordinated Universal Time (UTC) and returns it in [s]
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*/
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double utc_time(const double gpstime_corrected) const;
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/*!
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* Default constructor
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*/
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Glonass_Gnav_Navigation_Message();
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};
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#endif
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