mirror of
https://github.com/gnss-sdr/gnss-sdr
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188 lines
9.3 KiB
C
188 lines
9.3 KiB
C
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/*!
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* \file rtklib_sbas.h
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* \brief sbas functions
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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* option : -DRRCENA enable rrc correction
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*
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* references :
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* [1] RTCA/DO-229C, Minimum operational performanc standards for global
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* positioning system/wide area augmentation system airborne equipment,
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* RTCA inc, November 28, 2001
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* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
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* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
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* July 31, 2009
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*
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* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
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* history : 2007/10/14 1.0 new
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* 2009/01/24 1.1 modify sbspntpos() api
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* improve fast/ion correction update
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* 2009/04/08 1.2 move function crc24q() to rcvlog.c
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* support glonass, galileo and qzss
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* 2009/06/08 1.3 modify sbsupdatestat()
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* delete sbssatpos()
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* 2009/12/12 1.4 support glonass
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* 2010/01/22 1.5 support ems (egnos message service) format
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* 2010/06/10 1.6 added api:
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* sbssatcorr(),sbstropcorr(),sbsioncorr(),
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* sbsupdatecorr()
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* changed api:
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* sbsreadmsgt(),sbsreadmsg()
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* deleted api:
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* sbspntpos(),sbsupdatestat()
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* 2010/08/16 1.7 not reject udre==14 or give==15 correction message
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* (2.4.0_p4)
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* 2011/01/15 1.8 use api ionppp()
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* add prn mask of qzss for qzss L1SAIF
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* 2016/07/29 1.9 crc24q() -> rtk_crc24q()
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*-----------------------------------------------------------------------------*/
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#ifndef RTKLIB_SBAS_H_
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#define RTKLIB_SBAS_H_
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#include "rtklib.h"
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#include "rtklib_rtkcmn.h"
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/* constants -----------------------------------------------------------------*/
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#define WEEKOFFSET 1024 /* gps week offset for NovAtel OEM-3 */
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/* sbas igp definition -------------------------------------------------------*/
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static const short
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x1[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
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25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
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x2[]={-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5, 0, 5, 10, 15, 20, 25, 30,
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35, 40, 45, 50, 55},
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x3[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20,
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25, 30, 35, 40, 45, 50, 55, 65, 75},
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x4[]={-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15,
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20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
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x5[]={-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115,
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-110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45,
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- 40,- 35,- 30,- 25,- 20,- 15,- 10,- 5, 0, 5, 10, 15, 20, 25,
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30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
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100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
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170, 175},
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x6[]={-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50,
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- 40,- 30,- 20,- 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
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100, 110, 120, 130, 140, 150, 160, 170},
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x7[]={-180,-150,-120,- 90,- 60,- 30, 0, 30, 60, 90, 120, 150},
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x8[]={-170,-140,-110,- 80,- 50,- 20, 10, 40, 70, 100, 130, 160};
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const sbsigpband_t igpband1[9][8]={ /* band 0-8 */
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{{-180,x1, 1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101},
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{-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}},
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{{-140,x4, 1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101},
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{-120,x3,102,128},{-115,x2,129,151},{-110,x3,152,178},{-105,x2,179,201}},
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{{-100,x3, 1, 27},{- 95,x2, 28, 50},{- 90,x1, 51, 78},{- 85,x2, 79,101},
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{- 80,x3,102,128},{- 75,x2,129,151},{- 70,x3,152,178},{- 65,x2,179,201}},
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{{- 60,x3, 1, 27},{- 55,x2, 28, 50},{- 50,x4, 51, 78},{- 45,x2, 79,101},
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{- 40,x3,102,128},{- 35,x2,129,151},{- 30,x3,152,178},{- 25,x2,179,201}},
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{{- 20,x3, 1, 27},{- 15,x2, 28, 50},{- 10,x3, 51, 77},{- 5,x2, 78,100},
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{ 0,x1,101,128},{ 5,x2,129,151},{ 10,x3,152,178},{ 15,x2,179,201}},
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{{ 20,x3, 1, 27},{ 25,x2, 28, 50},{ 30,x3, 51, 77},{ 35,x2, 78,100},
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{ 40,x4,101,128},{ 45,x2,129,151},{ 50,x3,152,178},{ 55,x2,179,201}},
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{{ 60,x3, 1, 27},{ 65,x2, 28, 50},{ 70,x3, 51, 77},{ 75,x2, 78,100},
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{ 80,x3,101,127},{ 85,x2,128,150},{ 90,x1,151,178},{ 95,x2,179,201}},
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{{ 100,x3, 1, 27},{ 105,x2, 28, 50},{ 110,x3, 51, 77},{ 115,x2, 78,100},
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{ 120,x3,101,127},{ 125,x2,128,150},{ 130,x4,151,178},{ 135,x2,179,201}},
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{{ 140,x3, 1, 27},{ 145,x2, 28, 50},{ 150,x3, 51, 77},{ 155,x2, 78,100},
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{ 160,x3,101,127},{ 165,x2,128,150},{ 170,x3,151,177},{ 175,x2,178,200}}
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};
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const sbsigpband_t igpband2[2][5]={ /* band 9-10 */
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{{ 60,x5, 1, 72},{ 65,x6, 73,108},{ 70,x6,109,144},{ 75,x6,145,180},
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{ 85,x7,181,192}},
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{{- 60,x5, 1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180},
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{- 85,x8,181,192}}
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};
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char *getfield(char *p, int pos);
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double varfcorr(int udre);
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double varicorr(int give);
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double degfcorr(int ai);
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int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav);
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int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion);
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int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
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int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
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void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,sbs_t *sbs);
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int cmpmsgs(const void *p1, const void *p2);
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int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
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sbs_t *sbs);
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int sbsreadmsg(const char *file, int sel, sbs_t *sbs);
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void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg);
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void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
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const sbsigp_t **igp, double *x, double *y);
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int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
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const double *azel, double *delay, double *var);
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void getmet(double lat, double *met);
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double sbstropcorr(gtime_t time, const double *pos, const double *azel,
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double *var);
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int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
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double *drs, double *ddts);
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int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
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double *prc, double *var);
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int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
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double *dts, double *var);
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int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
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sbsmsg_t *sbsmsg);
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#endif /* RTKLIB_SBAS_H_ */
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