mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-07-08 12:44:21 +00:00
177 lines
9.7 KiB
C
177 lines
9.7 KiB
C
|
/*!
|
|||
|
|
* \file GLONASS_L1_CA.h
|
|||
|
|
* \brief Defines system parameters for GLONASS L1 C/A signal and NAV data
|
|||
|
|
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
|
|||
|
|
*
|
|||
|
|
* -------------------------------------------------------------------------
|
|||
|
|
*
|
|||
|
|
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
|||
|
|
*
|
|||
|
|
* GNSS-SDR is a software defined Global Navigation
|
|||
|
|
* Satellite Systems receiver
|
|||
|
|
*
|
|||
|
|
* This file is part of GNSS-SDR.
|
|||
|
|
*
|
|||
|
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|||
|
|
* it under the terms of the GNU General Public License as published by
|
|||
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|||
|
|
* (at your option) any later version.
|
|||
|
|
*
|
|||
|
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
|||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|||
|
|
* GNU General Public License for more details.
|
|||
|
|
*
|
|||
|
|
* You should have received a copy of the GNU General Public License
|
|||
|
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
|||
|
|
*
|
|||
|
|
* -------------------------------------------------------------------------
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
|
|||
|
|
#ifndef GNSS_SDR_GLONASS_L1_CA_H_
|
|||
|
|
#define GNSS_SDR_GLONASS_L1_CA_H_
|
|||
|
|
|
|||
|
|
#include <vector>
|
|||
|
|
#include <utility> // std::pair
|
|||
|
|
#include "MATH_CONSTANTS.h"
|
|||
|
|
#include "gnss_frequencies.h"
|
|||
|
|
|
|||
|
|
// Physical constants
|
|||
|
|
const double GLONASS_C_m_s = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
|
|||
|
|
const double GLONASS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
|
|||
|
|
const double GLONASS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
|
|||
|
|
const double GLONASS_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200E
|
|||
|
|
const double GLONASS_OMEGA_EARTH_DOT = 7.292115e-5; //!< Earth rotation rate, [rad/s]
|
|||
|
|
const double GLONASS_GM = 398600.4418e9; //!< Universal gravitational constant times the mass of the Earth, [km^3/s^2]
|
|||
|
|
const double GLONASS_fM_a = 0.35e9; //!< Gravitational constant of atmosphere [m^3/s^2]
|
|||
|
|
const double GLONASS_SEMI_MAJOR_AXIS = 6378136; //!< Semi-major axis of Earth [m]
|
|||
|
|
const double GLONASS_FLATTENING = 1/29825784; //!< Flattening parameter
|
|||
|
|
const double GLONASS_GRAVITY = 97803284; //!< Equatorial acceleration of gravity [mGal]
|
|||
|
|
const double GLONASS_GRAVITY_CORRECTION = 0.87; //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
|
|||
|
|
const double GLONASS_J2 = 1082625.75e-9; //!< Second zonal harmonic of the geopotential
|
|||
|
|
const double GLONASS_J4 = -2370.89e-9; //!<Fourth zonal harmonic of the geopotential
|
|||
|
|
const double GLONASS_J6 = 6.08e-9; //!< Sixth zonal harmonic of the geopotential
|
|||
|
|
const double GLONASS_J8 = 1.40e-11; //!< Eighth zonal harmonic of the geopotential
|
|||
|
|
const double GLONASS_U0 = 62636861.4; //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
|
|||
|
|
const double GLONASS_C20 = -1082.63e-6; //!< Second zonal coefficient of spherical harmonic expansion
|
|||
|
|
const double GLONASS_EARTH_RADIUS = 6378.136; //!< Equatorial radius of Earth [km]
|
|||
|
|
const double GLONASS_EARTH_INCLINATION = 23°26'33'' //!< Mean inclination of ecliptic to equator (23°26'33'').
|
|||
|
|
|
|||
|
|
const double GLONASS_TAU_0 = -334°19′46′′,40;
|
|||
|
|
const double GLONASS_TAU_1 = 4069°02′02′′,52;
|
|||
|
|
|
|||
|
|
const double GLONASS_MOON_Q0 = -63°53′43′′,41;
|
|||
|
|
const double GLONASS_MOON_Q1 = 477198°50′56′′,79;
|
|||
|
|
const double GLONASS_MOON_OMEGA_0 = 259°10′59′′,79;
|
|||
|
|
const double GLONASS_MOON_OMEGA_1 = -1934°08′31′′,23;
|
|||
|
|
const double GLONASS_MOON_GM = 4902.835; //!< Lunar gravitational constant [km^3/s^2]
|
|||
|
|
const double GLONASS_MOON_SEMI_MAJOR_AXIS = 3.84385243e5; //!< Semi-major axis of lunar orbit [km];
|
|||
|
|
const double GLONASS_MOON_ECCENTRICITY = 0.054900489; //!< Eccentricity of lunar orbit
|
|||
|
|
const double GLONASS_MOON_INCLINATION = 5°08'43.4'' //!< Inclination of lunar orbit to ecliptic plane (5°08'43.4'')
|
|||
|
|
|
|||
|
|
const double GLONASS_SUN_OMEGA = 281°13′15′′,0 + 6189′′, 03Т;
|
|||
|
|
const double GLONASS_SUN_Q0 = 358°28′33′′,04;
|
|||
|
|
const double GLONASS_SUN_Q1 = 129596579′′,10;
|
|||
|
|
const double GLONASS_SUN_GM = 0.1325263e12; //!< Solar gravitational constant [km^3/s^2]
|
|||
|
|
const double GLONASS_SUN_SEMI_MAJOR_AXIS = 1.49598e8; //!< Semi-major axis of solar orbit [km];
|
|||
|
|
const double GLONASS_SUN_ECCENTRICITY = 0.016719; //!< Eccentricity of solar orbit
|
|||
|
|
|
|||
|
|
// carrier and code frequencies
|
|||
|
|
const double GLONASS_L1_FREQ_HZ = FREQ1_GLO; //!< L1 [Hz]
|
|||
|
|
const double GLONASS_L1_DFREQ_HZ = DFRQ1_GLO; //!< Freq Bias for GLONASS L1 [Hz]
|
|||
|
|
const double GLONASS_L1_CA_CODE_RATE_HZ = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]
|
|||
|
|
const double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0; //!< GLONASS L1 C/A code length [chips]
|
|||
|
|
const double GLONASS_L1_CA_CODE_PERIOD = 0.001; //!< GLONASS L1 C/A code period [seconds]
|
|||
|
|
const double GLONASS_L1_CA_CHIP_PERIOD = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
|
|||
|
|
|
|||
|
|
const double GLONASS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
|
|||
|
|
|
|||
|
|
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
|
|||
|
|
const int GLONASS_L1_CA_HISTORY_DEEP = 100;
|
|||
|
|
|
|||
|
|
// NAVIGATION MESSAGE DEMODULATION AND DECODING
|
|||
|
|
|
|||
|
|
#define GLONASS_CA_PREAMBLE {1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0}
|
|||
|
|
const int GLONASS_CA_PREAMBLE_LENGTH_BITS = 30;
|
|||
|
|
const int GLONASS_CA_PREAMBLE_LENGTH_SYMBOLS = 300;
|
|||
|
|
const double GLONASS_CA_PREAMBLE_DURATION_S = 0.3;
|
|||
|
|
const int GLONASS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
|
|||
|
|
const int GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT = 10;
|
|||
|
|
const int GLONASS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_CA_TELEMETRY_RATE_BITS_SECOND*GLONASS_CA_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
|
|||
|
|
|
|||
|
|
const int GLONASS_GNAV_WORD_LENGTH = 4; //!< \TODO cHECK this, size is not integer bte size
|
|||
|
|
const int GLONASS_GNAV_FRAME_LENGTH = 40; //!< \TODO GPS_WORD_LENGTH x 10 = 40 bytes
|
|||
|
|
const int GLONASS_GNAV_FRAME_BITS = 1725; //!< Number of chips per frame in the GNAV message 15 strings*(85 data bits + 30 time mark bits)[bits]
|
|||
|
|
const int GLONASS_GNAV_FRAME_SECONDS = 30; //!< Subframe duration [seconds]
|
|||
|
|
const int GLONASS_GNAV_FRAME_MS = 30000; //!< Subframe duration [seconds]
|
|||
|
|
const int GLONASS_GNAV_STRING_BITS = 115; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
|
|||
|
|
|
|||
|
|
// GLONASS GNAV NAVIGATION MESSAGE STRUCTURE
|
|||
|
|
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)
|
|||
|
|
|
|||
|
|
// FRAME 1-4
|
|||
|
|
// COMMON FIELDS
|
|||
|
|
const std::vector<std::pair<int,int>> STRING_ID({{2,4}});
|
|||
|
|
const std::vector<std::pair<int,int>> KX({{78,8}});
|
|||
|
|
//STRING 1
|
|||
|
|
const std::vector<std::pair<int,int>> P1({{8,2}});
|
|||
|
|
const std::vector<std::pair<int,int>> T_K({{10,12}});
|
|||
|
|
const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
|
|||
|
|
const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> X_N({{51,27}});
|
|||
|
|
|
|||
|
|
//STRING 2
|
|||
|
|
const std::vector<std::pair<int,int>> B_N({{6,3}});
|
|||
|
|
const std::vector<std::pair<int,int>> P2({{9,1}});
|
|||
|
|
const std::vector<std::pair<int,int>> T_B({{10,7}});
|
|||
|
|
const std::vector<std::pair<int,int>> Y_N_DOT ({{22,24}});
|
|||
|
|
const std::vector<std::pair<int,int>> Y_N_DOT_DOT ({{46,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> Y_N({{51,27}});
|
|||
|
|
|
|||
|
|
//STRING 3
|
|||
|
|
const std::vector<std::pair<int,int>> P3({{6,1}});
|
|||
|
|
const std::vector<std::pair<int,int>> GAMMA_N({{7,11}});
|
|||
|
|
const std::vector<std::pair<int,int>> P({{19,2}});
|
|||
|
|
const std::vector<std::pair<int,int>> L_N({{21,1}});
|
|||
|
|
const std::vector<std::pair<int,int>> Z_N_DOT ({{22,24}});
|
|||
|
|
const std::vector<std::pair<int,int>> Z_N_DOT_DOT ({{46,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> Z_N({{51,27}});
|
|||
|
|
|
|||
|
|
// STRING 4
|
|||
|
|
const std::vector<std::pair<int,int>> TAU_N({{6,22}});
|
|||
|
|
const std::vector<std::pair<int,int>> DELTA_TAU_N({{28,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> E_N({{33,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> P4 ({{52,1}});
|
|||
|
|
const std::vector<std::pair<int,int>> F_T ({{53,4}});
|
|||
|
|
const std::vector<std::pair<int,int>> N_T({{60,11}});
|
|||
|
|
const std::vector<std::pair<int,int>> N({{71,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> M({{76,2}});
|
|||
|
|
|
|||
|
|
// STRING 5
|
|||
|
|
const std::vector<std::pair<int,int>> N_A({{6,11}});
|
|||
|
|
const std::vector<std::pair<int,int>> TAU_C({{17,32}});
|
|||
|
|
const std::vector<std::pair<int,int>> N_4({{50,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> TAU_GPS({{55,22}});
|
|||
|
|
const std::vector<std::pair<int,int>> L_N({{77,1}});
|
|||
|
|
|
|||
|
|
// STRING 6, 8, 10, 12, 14
|
|||
|
|
const std::vector<std::pair<int,int>> C_N({{6,1}});
|
|||
|
|
const std::vector<std::pair<int,int>> M_N_A({{7,2}});
|
|||
|
|
const std::vector<std::pair<int,int>> n_A({{9,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> TAU_N_A({{14,10}});
|
|||
|
|
const std::vector<std::pair<int,int>> LAMBDA_N_A({{24,21}});
|
|||
|
|
const std::vector<std::pair<int,int>> DELTA_I_N_A({{45,18}});
|
|||
|
|
const std::vector<std::pair<int,int>> EPSILON_N_A({{63,15}});
|
|||
|
|
|
|||
|
|
//STRING 7, 9, 11, 13, 15
|
|||
|
|
const std::vector<std::pair<int,int>> OMEGA_N_A({{6,16}});
|
|||
|
|
const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
|
|||
|
|
const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
|
|||
|
|
const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
|
|||
|
|
const std::vector<std::pair<int,int>> H_N_A({{72,5}});
|
|||
|
|
const std::vector<std::pair<int,int>> L_N({{77,1}});
|
|||
|
|
|
|||
|
|
|
|||
|
|
#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */
|