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Use naming as in HAS SIS ICD 1.0, document sources

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Carles Fernandez 2022-05-15 13:43:59 +02:00
parent 3013ce1e1d
commit 0dbecdaa80
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GPG Key ID: 4C583C52B0C3877D
7 changed files with 156 additions and 153 deletions
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22
src/algorithms/PVT/libs/has_simple_printer.cc
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@ -249,9 +249,9 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << '\n'; d_has_file << '\n';
d_has_file << indent << indent << "Clock Full-set Corrections Block\n"; d_has_file << indent << indent << "Clock Full-set Corrections Block\n";
d_has_file << indent << indent << "--------------------------------\n"; d_has_file << indent << indent << "--------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_fullset_corrections) << '\n'; d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_fullset_corrections) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier) << '\n'; d_has_file << indent << indent << "Delta Clock Multiplier: " << print_vector(has_data->delta_clock_multiplier) << '\n';
d_has_file << indent << indent << "Delta Clock C0 [m]: " << print_vector(has_data->delta_clock_c0, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR) << '\n'; d_has_file << indent << indent << "Delta Clock Correction [m]: " << print_vector(has_data->delta_clock_correction, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR) << '\n';
} }
if (has_data->header.clock_subset_flag == true) if (has_data->header.clock_subset_flag == true)
@ -260,12 +260,12 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Clock Subset Corrections Block\n"; d_has_file << indent << indent << "Clock Subset Corrections Block\n";
d_has_file << indent << indent << "------------------------------\n"; d_has_file << indent << indent << "------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_subset_corrections) << '\n'; d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_subset_corrections) << '\n';
d_has_file << indent << indent << "Nsysprime: " << static_cast<float>(has_data->Nsysprime) << '\n'; d_has_file << indent << indent << "Nsys_sub: " << static_cast<float>(has_data->Nsys_sub) << '\n';
d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_clock_subset) << '\n'; d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_clock_subset) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier_clock_subset) << '\n'; d_has_file << indent << indent << "Delta Clock Multiplier: " << print_vector(has_data->delta_clock_multiplier_clock_subset) << '\n';
d_has_file << indent << indent << "Satellite sub-mask: "; d_has_file << indent << indent << "Satellite sub-mask: ";
int Nsatprime = 0; int Nsat_sub = 0;
for (uint8_t k = 0; k < has_data->Nsysprime; k++) for (uint8_t k = 0; k < has_data->Nsys_sub; k++)
{ {
auto it = std::find(has_data->gnss_id_mask.begin(), has_data->gnss_id_mask.end(), has_data->gnss_id_clock_subset[k]); auto it = std::find(has_data->gnss_id_mask.begin(), has_data->gnss_id_mask.end(), has_data->gnss_id_clock_subset[k]);
if (it != has_data->gnss_id_mask.end()) if (it != has_data->gnss_id_mask.end())
@ -290,14 +290,14 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
mask <<= 1; mask <<= 1;
} }
d_has_file << binary << " "; d_has_file << binary << " ";
Nsatprime += std::count(binary.begin(), binary.end(), '1'); Nsat_sub += std::count(binary.begin(), binary.end(), '1');
} }
} }
d_has_file << '\n'; d_has_file << '\n';
d_has_file << " Nsat in subset = " << Nsatprime << '\n'; d_has_file << " Nsat in subset = " << Nsat_sub << '\n';
const std::string text("Delta Clock C0 [m]: "); const std::string text("Delta Clock Correction [m]: ");
const std::string filler(indent.length() * 2 + text.length(), ' '); const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << indent << indent << text << print_matrix(has_data->delta_clock_c0_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR); d_has_file << indent << indent << text << print_matrix(has_data->delta_clock_correction_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
} }
if (has_data->header.code_bias_flag == true) if (has_data->header.code_bias_flag == true)

4
src/algorithms/PVT/libs/rtcm.cc
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@ -3553,7 +3553,7 @@ std::string Rtcm::get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index); std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index); std::vector<float> delta_clock_c0 = has_data.get_delta_clock_correction_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system); std::vector<float> delta_clock_c1(num_sats_in_this_system);
std::vector<float> delta_clock_c2(num_sats_in_this_system); std::vector<float> delta_clock_c2(num_sats_in_this_system);
@ -3629,7 +3629,7 @@ std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index); std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index); std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index); std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index); std::vector<float> delta_clock_c0 = has_data.get_delta_clock_correction_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system); std::vector<float> delta_clock_c1(num_sats_in_this_system);
std::vector<float> delta_clock_c2(num_sats_in_this_system); std::vector<float> delta_clock_c2(num_sats_in_this_system);

56
src/core/libs/galileo_e6_has_msg_receiver.cc
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@ -634,22 +634,22 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH)); d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.delta_clock_c0_multiplier = std::vector<uint8_t>(d_HAS_data.Nsys); d_HAS_data.delta_clock_multiplier = std::vector<uint8_t>(d_HAS_data.Nsys);
for (uint8_t i = 0; i < d_HAS_data.Nsys; i++) for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
{ {
d_HAS_data.delta_clock_c0_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH)) + 1; // b00 means x1, b01 means x2, etc d_HAS_data.delta_clock_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH)) + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH, message.end());
} }
d_HAS_data.delta_clock_c0 = std::vector<int16_t>(Nsat); d_HAS_data.delta_clock_correction = std::vector<int16_t>(Nsat);
for (int i = 0; i < Nsat; i++) for (int i = 0; i < Nsat; i++)
{ {
d_HAS_data.delta_clock_c0[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_LENGTH)); d_HAS_data.delta_clock_correction[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH, message.end());
} }
DLOG(INFO) << debug_print_vector("delta_clock_c0_multiplier", d_HAS_data.delta_clock_c0_multiplier); DLOG(INFO) << debug_print_vector("delta_clock_multiplier", d_HAS_data.delta_clock_multiplier);
DLOG(INFO) << debug_print_vector("delta_clock_c0", d_HAS_data.delta_clock_c0); DLOG(INFO) << debug_print_vector("delta_clock_correction", d_HAS_data.delta_clock_correction);
} }
if (d_HAS_data.header.clock_subset_flag && have_mask) if (d_HAS_data.header.clock_subset_flag && have_mask)
@ -658,28 +658,28 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.validity_interval_index_clock_subset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH)); d_HAS_data.validity_interval_index_clock_subset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.Nsysprime = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYSPRIME_LENGTH)); d_HAS_data.Nsys_sub = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_SUB_LENGTH));
message = std::string(message.begin() + HAS_MSG_NSYSPRIME_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_NSYS_SUB_LENGTH, message.end());
if (d_HAS_data.Nsysprime == 0) if (d_HAS_data.Nsys_sub == 0)
{ {
// wrong data format, aborting // wrong data format, aborting
have_mask = false; have_mask = false;
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = 0; d_nsat_in_mask_id[d_HAS_data.header.mask_id] = 0;
} }
d_HAS_data.gnss_id_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime); d_HAS_data.gnss_id_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsys_sub);
d_HAS_data.delta_clock_c0_multiplier_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime); d_HAS_data.delta_clock_multiplier_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsys_sub);
d_HAS_data.satellite_submask = std::vector<uint64_t>(d_HAS_data.Nsysprime); d_HAS_data.satellite_submask = std::vector<uint64_t>(d_HAS_data.Nsys_sub);
d_HAS_data.delta_clock_c0_clock_subset = std::vector<std::vector<int16_t>>(d_HAS_data.Nsysprime, std::vector<int16_t>()); d_HAS_data.delta_clock_correction_clock_subset = std::vector<std::vector<int16_t>>(d_HAS_data.Nsys_sub, std::vector<int16_t>());
for (uint8_t i = 0; i < d_HAS_data.Nsysprime; i++) for (uint8_t i = 0; i < d_HAS_data.Nsys_sub; i++)
{ {
d_HAS_data.gnss_id_clock_subset[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_CLOCK_SUBSET_LENGTH)); d_HAS_data.gnss_id_clock_subset[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_CLOCK_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_ID_CLOCK_SUBSET_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_ID_CLOCK_SUBSET_LENGTH, message.end());
uint8_t clock_multiplier = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH)); uint8_t clock_multiplier = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH));
d_HAS_data.delta_clock_c0_multiplier_clock_subset[i] = clock_multiplier + 1; // b00 means x1, b01 means x2, etc d_HAS_data.delta_clock_multiplier_clock_subset[i] = clock_multiplier + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH, message.end());
// find the satellite mask corresponding to this GNSS ID // find the satellite mask corresponding to this GNSS ID
@ -711,22 +711,22 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
} }
aux <<= 1; aux <<= 1;
} }
int Nsatprime = std::count(binary.begin(), binary.end(), '1'); int Nsat_sub = std::count(binary.begin(), binary.end(), '1');
d_HAS_data.delta_clock_c0_clock_subset[i].reserve(Nsatprime); d_HAS_data.delta_clock_correction_clock_subset[i].reserve(Nsat_sub);
// Read Nsatprime values of delta_clock_c0_clock_subset // Read Nsat_sub values of delta_clock_correction_clock_subset
for (int j = 0; j < Nsatprime; j++) for (int j = 0; j < Nsat_sub; j++)
{ {
d_HAS_data.delta_clock_c0_clock_subset[i][j] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH)); d_HAS_data.delta_clock_correction_clock_subset[i][j] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH, message.end());
} }
} }
DLOG(INFO) << "Nsysprime: " << static_cast<float>(d_HAS_data.Nsysprime); DLOG(INFO) << "Nsys_sub: " << static_cast<float>(d_HAS_data.Nsys_sub);
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("gnss_id_clock_subset", d_HAS_data.gnss_id_clock_subset)); DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("gnss_id_clock_subset", d_HAS_data.gnss_id_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("delta_clock_c0_multiplier_clock_subset", d_HAS_data.delta_clock_c0_multiplier_clock_subset)); DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("delta_clock_multiplier_clock_subset", d_HAS_data.delta_clock_multiplier_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("satellite_submask", d_HAS_data.satellite_submask)); DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("satellite_submask", d_HAS_data.satellite_submask));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_matrix("delta_clock_c0_clock_subset", d_HAS_data.delta_clock_c0_clock_subset)); DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_matrix("delta_clock_correction_clock_subset", d_HAS_data.delta_clock_correction_clock_subset));
} }
if (d_HAS_data.header.code_bias_flag && have_mask) if (d_HAS_data.header.code_bias_flag && have_mask)

121
src/core/system_parameters/Galileo_CNAV.h
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@ -29,73 +29,74 @@
/** \addtogroup System_Parameters /** \addtogroup System_Parameters
* \{ */ * \{ */
// Galileo CNAV message structure
constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; //!< Total numer of symbols per HAS page including the sync pattern
constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; //!< Duration in ms of a CNAV page
constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8;
constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123;
constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448;
constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14;
constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58;
constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24;
constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424;
constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24;
constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16;
constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255;
constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32;
constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53;
constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32;
constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000";
// Galileo HAS message field lengths // Galileo HAS message field lengths
constexpr size_t HAS_MSG_NSYS_LENGTH = 4; constexpr size_t HAS_MSG_NSYS_LENGTH = 4; // HAS SIS ICD 1.0 Table 15
constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4; constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40; constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16; constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3; constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6; constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6; // HAS SIS ICD 1.0 Table 15
constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4; constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4; // HAS SIS ICD 1.0 Table 22
constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8; constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8; // HAS SIS ICD 1.0 Table 26
constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10; constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10; // HAS SIS ICD 1.0 Table 26
constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 13; constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 13; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_IN_TRACK_LENGTH = 12; constexpr size_t HAS_MSG_DELTA_IN_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12; constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH = 2; constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH = 2; // HAS SIS ICD 1.0 Table 28
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_LENGTH = 13; constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH = 13; // HAS SIS ICD 1.0 Table 31
constexpr size_t HAS_MSG_NSYSPRIME_LENGTH = 4; constexpr size_t HAS_MSG_NSYS_SUB_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4; constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2; constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2; // HAS SIS ICD 1.0 Table 33
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH = 13; constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH = 13; // HAS SIS ICD 1.0 Table 34
constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11; constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 37
constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11; constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 40
constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2; constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2; // HAS SIS ICD 1.0 Table 40
constexpr uint64_t MAX_SECONDS_REMEMBERING_MID = 100; constexpr uint64_t MAX_SECONDS_REMEMBERING_MID = 150; // HAS SIS ICD 1.0 Section 6.4.1 HAS Message Completion Time-out
constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32; // Galileo CNAV message structure
constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; // Total numer of symbols per HAS page including the sync pattern
constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32; constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; // Duration in ms of a CNAV page
constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8; // HAS SIS ICD 1.0 Table 4
constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123; // HAS SIS ICD 1.0 Table 4
constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58; // ceil(462 / 8)
constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424; // HAS SIS ICD 1.0 Table 6
constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24; // HAS SIS ICD 1.0 Table 6
constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32; // HAS SIS ICD 1.0 Table 11
constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53; // HAS SIS ICD 1.0 Section 6.3 HAS Encoding and Transmission
constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025; constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
constexpr float HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR = 0.008;
constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008;
constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025;
constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02;
constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01;
constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32; // HAS SIS ICD 1.0 Table 13
constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; // HAS SIS ICD 1.0 Table 18
constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32; // HAS SIS ICD 1.0 Table 8
constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; // HAS SIS ICD 1.0 Table 19
constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; // HAS SIS ICD 1.0 Table 20
constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // HAS SIS ICD v1.0 Table 18 constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 25
constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // HAS SIS ICD v1.0 Table 18 constexpr float HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 31
constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02; // HAS SIS ICD 1.0 Table 37
constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01; // HAS SIS ICD 1.0 Table 40
constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; // HAS SIS ICD 1.0 Table 13
constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // HAS SIS ICD 1.0 Table 18
constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // HAS SIS ICD 1.0 Table 18
constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255; constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255;
// HAS SIS ICD v1.0 Table 7 constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000"; // HAS SIS ICD 1.0 Section 2.3.1
// HAS SIS ICD 1.0 Table 7
const std::pair<int32_t, int32_t> GALILEO_HAS_STATUS({1, 2}); const std::pair<int32_t, int32_t> GALILEO_HAS_STATUS({1, 2});
const std::pair<int32_t, int32_t> GALILEO_HAS_RESERVED({3, 2}); const std::pair<int32_t, int32_t> GALILEO_HAS_RESERVED({3, 2});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_TYPE({5, 2}); const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_TYPE({5, 2});
@ -103,7 +104,7 @@ const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_ID({7, 5});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_SIZE({12, 5}); const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_SIZE({12, 5});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_PAGE_ID({17, 8}); const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_PAGE_ID({17, 8});
// HAS SIS ICD v1.0 Table 12 // HAS SIS ICD 1.0 Table 12
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_TOH({1, 12}); const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_TOH({1, 12});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_FLAG({13, 1}); const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_FLAG({13, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG({14, 1}); const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG({14, 1});

32
src/core/system_parameters/galileo_has_data.cc
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@ -593,28 +593,28 @@ std::vector<float> Galileo_HAS_data::get_delta_cross_track_m(uint8_t nsys) const
} }
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m() const std::vector<float> Galileo_HAS_data::get_delta_clock_correction_m() const
{ {
std::vector<float> delta_clock_c0_m; std::vector<float> delta_clock_correction_m;
delta_clock_c0_m.reserve(this->delta_clock_c0.size()); delta_clock_correction_m.reserve(this->delta_clock_correction.size());
for (const auto& d : this->delta_clock_c0) for (const auto& d : this->delta_clock_correction)
{ {
delta_clock_c0_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CLOCK_SCALE_FACTOR); delta_clock_correction_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
} }
return delta_clock_c0_m; return delta_clock_correction_m;
} }
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m(uint8_t nsys) const std::vector<float> Galileo_HAS_data::get_delta_clock_correction_m(uint8_t nsys) const
{ {
std::vector<float> delta_clock_c0_m = this->get_delta_clock_c0_m(); std::vector<float> delta_clock_correction_m = this->get_delta_clock_correction_m();
if (nsys >= this->Nsys) if (nsys >= this->Nsys)
{ {
return delta_clock_c0_m; return delta_clock_correction_m;
} }
std::vector<float> delta_clock_c0_m_aux; std::vector<float> delta_clock_correction_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys]; uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_clock_c0_m_aux.reserve(num_sats_in_this_system); delta_clock_correction_m_aux.reserve(num_sats_in_this_system);
size_t index = 0; size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++) for (uint8_t sys = 0; sys <= nsys; sys++)
@ -628,12 +628,12 @@ std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m(uint8_t nsys) const
{ {
for (uint8_t sat = 0; sat < num_sats_in_system; sat++) for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{ {
delta_clock_c0_m_aux.push_back(delta_clock_c0_m[index]); delta_clock_correction_m_aux.push_back(delta_clock_correction_m[index]);
index++; index++;
} }
} }
} }
return delta_clock_c0_m_aux; return delta_clock_correction_m_aux;
} }
@ -762,8 +762,8 @@ std::vector<std::string> Galileo_HAS_data::get_systems_string() const
} }
uint16_t Galileo_HAS_data::get_nsatprime() const uint16_t Galileo_HAS_data::get_nsat_sub() const
{ {
auto Nsatprime = static_cast<uint16_t>(this->delta_clock_c0_clock_subset.size()); auto Nsat_sub = static_cast<uint16_t>(this->delta_clock_correction_clock_subset.size());
return Nsatprime; return Nsat_sub;
} }

70
src/core/system_parameters/galileo_has_data.h
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@ -44,7 +44,8 @@ struct mt1_header
/*! /*!
* \brief This class is a storage for Galileo HAS message type 1, as defined in * \brief This class is a storage for Galileo HAS message type 1, as defined in
* Galileo High Accuracy Service Signal-In-Space Interface Control Document * Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022 * (HAS SIS ICD) Issue 1.0, May 2022.
* See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_HAS_SIS_ICD_v1.0.pdf
*/ */
class Galileo_HAS_data class Galileo_HAS_data
{ {
@ -61,59 +62,60 @@ public:
std::vector<float> get_delta_in_track_m(uint8_t nsys) const; //!< Get delta in-track corrections in [m] for system nsys, with 0 <= nsys < Nsys std::vector<float> get_delta_in_track_m(uint8_t nsys) const; //!< Get delta in-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_cross_track_m() const; //!< Get Nsat delta cross-track corrections in [m] std::vector<float> get_delta_cross_track_m() const; //!< Get Nsat delta cross-track corrections in [m]
std::vector<float> get_delta_cross_track_m(uint8_t nsys) const; //!< Get delta cross-track corrections in [m] for system nsys, with 0 <= nsys < Nsys std::vector<float> get_delta_cross_track_m(uint8_t nsys) const; //!< Get delta cross-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_clock_c0_m() const; //!< Get Nsat delta clock C0 corrections in [m] std::vector<float> get_delta_clock_correction_m() const; //!< Get Nsat delta clock C0 corrections in [m]
std::vector<float> get_delta_clock_c0_m(uint8_t nsys) const; //!< Get delta clock C0 corrections in [m] for system nsys, with 0 <= nsys < Nsys std::vector<float> get_delta_clock_correction_m(uint8_t nsys) const; //!< Get delta clock C0 corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_mask(uint8_t nsys) const; //!< Get PRNs in mask for system nsys, with 0 <= nsys < Nsys std::vector<int> get_PRNs_in_mask(uint8_t nsys) const; //!< Get PRNs in mask for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_submask(uint8_t nsys) const; //!< Get PRNs in submask for system nsys, with 0 <= nsys < Nsys std::vector<int> get_PRNs_in_submask(uint8_t nsys) const; //!< Get PRNs in submask for system nsys, with 0 <= nsys < Nsys
std::vector<uint16_t> get_gnss_iod(uint8_t nsys) const; //!< Get GNSS IODs for for system nsys, with 0 <= nsys < Nsys std::vector<uint16_t> get_gnss_iod(uint8_t nsys) const; //!< Get GNSS IODs for for system nsys, with 0 <= nsys < Nsys
std::vector<uint8_t> get_num_satellites() const; //!< Get Nsys number of satellites std::vector<uint8_t> get_num_satellites() const; //!< Get Nsys number of satellites
uint16_t get_nsat() const; //!< Get total number of satellites with corrections uint16_t get_nsat() const; //!< Get total number of satellites with corrections
uint16_t get_nsatprime() const; //!< Get number of satellites in clock subset corrections uint16_t get_nsat_sub() const; //!< Get number of satellites in clock subset corrections
uint16_t get_validity_interval_s(uint8_t validity_interval_index) const; //!< Get validity interbal in [s] from the validity_interval_index uint16_t get_validity_interval_s(uint8_t validity_interval_index) const; //!< Get validity interval in [s] from the validity_interval_index
uint8_t get_gnss_id(int nsat) const; //!< Get GNSS ID from the nsat satellite uint8_t get_gnss_id(int nsat) const; //!< Get GNSS ID from the nsat satellite
// Mask // Mask
std::vector<uint8_t> gnss_id_mask; std::vector<uint8_t> gnss_id_mask; //!< GNSS ID. See HAS SIS ICD 1.0 Section 5.2.1.1
std::vector<uint64_t> satellite_mask; std::vector<uint64_t> satellite_mask; //!< SatM - Satellite Mask. See HAS SIS ICD 1.0 Section 5.2.1.2
std::vector<uint16_t> signal_mask; std::vector<uint16_t> signal_mask; //!< SigM - Signal Mask. See HAS SIS ICD 1.0 Section 5.2.1.3
std::vector<bool> cell_mask_availability_flag; std::vector<bool> cell_mask_availability_flag; //!< CMAF - Cell Mask Availability Flag. See HAS SIS ICD 1.0 Section 5.2.1.4
std::vector<std::vector<std::vector<bool>>> cell_mask; std::vector<std::vector<std::vector<bool>>> cell_mask; //!< CM - Cell Mask. See HAS SIS ICD 1.0 Section 5.2.1.5
std::vector<uint8_t> nav_message; std::vector<uint8_t> nav_message; //!< NM - Navigation Message Index. See HAS SIS ICD 1.0 Section 5.2.1.6
// Orbit corrections // Orbit corrections
std::vector<uint16_t> gnss_iod; std::vector<uint16_t> gnss_iod; //!< IODref - Reference Issue of Data. See HAS SIS ICD 1.0 Table 26
std::vector<int16_t> delta_radial; std::vector<int16_t> delta_radial; //!< DR - Delta Radial Correction. See HAS SIS ICD 1.0 Table 25
std::vector<int16_t> delta_in_track; std::vector<int16_t> delta_in_track; //!< DIT - Delta In-Track Correction. See HAS SIS ICD 1.0 Table 25
std::vector<int16_t> delta_cross_track; std::vector<int16_t> delta_cross_track; //!< DCT - Delta Cross Correction. See HAS SIS ICD 1.0 Table 25
// Clock full-set corrections // Clock full-set corrections
std::vector<uint8_t> delta_clock_c0_multiplier; std::vector<uint8_t> delta_clock_multiplier; //!< DCM - Delta Clock Multipliers. See HAS SIS ICD 1.0 Section 5.2.3.1
std::vector<int16_t> delta_clock_c0; std::vector<int16_t> delta_clock_correction; //!< DCC - Delta Clock Corrections. See HAS SIS ICD 1.0 Section 5.2.3.2
// Clock subset corrections // Clock subset corrections
std::vector<uint8_t> gnss_id_clock_subset; std::vector<uint8_t> gnss_id_clock_subset; //!< GNSS ID. Specific GNSS to which the corrections refer. See HAS SIS ICD 1.0 Section 5.2.1.1
std::vector<uint8_t> delta_clock_c0_multiplier_clock_subset; std::vector<uint8_t> delta_clock_multiplier_clock_subset; //!< DCM. Multiplier for all Delta Clock corrections. See HAS SIS ICD 1.0 Section 5.2.3.1
std::vector<uint64_t> satellite_submask; std::vector<uint64_t> satellite_submask; //!< SatMsub - Satellite Subset Mask. See HAS SIS ICD 1.0 Section 5.2.4.1
std::vector<std::vector<int16_t>> delta_clock_c0_clock_subset; std::vector<std::vector<int16_t>> delta_clock_correction_clock_subset; //!< DCCsub - Delta Clock Subset Corrections. See HAS SIS ICD 1.0 Section 5.2.4.1
// Code bias // Code bias
std::vector<std::vector<int16_t>> code_bias; std::vector<std::vector<int16_t>> code_bias; //!< CB - Code bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.5
// Phase bias // Phase bias
std::vector<std::vector<int16_t>> phase_bias; std::vector<std::vector<int16_t>> phase_bias; //!< PB - Phase bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.6
std::vector<std::vector<uint8_t>> phase_discontinuity_indicator; std::vector<std::vector<uint8_t>> phase_discontinuity_indicator; //!< PDI - Phase Discontinuity Indicator. See HAS SIS ICD 1.0 Section 5.2.6.
mt1_header header; mt1_header header; //!< MT1 Header parameters. See HAS SIS ICD 1.0 Section 5.1.1
uint8_t has_status; uint8_t has_status; //!< HASS - HAS Status (from HAS page header). See HAS SIS ICD 1.0 Section 3.1.1
uint8_t message_id; uint8_t message_id; //!< MID - Message ID (from HAS page header). See HAS SIS ICD 1.0 Section 3.1
uint8_t Nsys; //!< Number of GNSS for which corrections are provided uint8_t Nsys; //!< Number of GNSS for which corrections are provided. See HAS SIS ICD 1.0 Setion 5.2.1
uint8_t validity_interval_index_orbit_corrections; // in Orbit corrections uint8_t Nsys_sub; //!< Number of GNSS for which corrections are provided in clock subset corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_clock_fullset_corrections; // in Clock full-set corrections
uint8_t validity_interval_index_clock_subset_corrections; // in Clock subset corrections uint8_t validity_interval_index_orbit_corrections; //!< VI - Validity Interval Index for Orbit corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t Nsysprime; // in Clock subset corrections uint8_t validity_interval_index_clock_fullset_corrections; //!< VI - Validity Interval Index for Clock full-set corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_code_bias_corrections; // in Code bias uint8_t validity_interval_index_clock_subset_corrections; //!< VI - Validity Interval Index for Clock subset corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_phase_bias_corrections; // in Phase bias uint8_t validity_interval_index_code_bias_corrections; //!< VI - Validity Interval Index for Code bias. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_phase_bias_corrections; //!< VI - Validity Interval Index for Phase bias. See HAS SIS ICD 1.0 Section 5.2.2.1
}; };

4
src/tests/unit-tests/system-parameters/has_decoding_test.cc
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@ -204,8 +204,8 @@ private:
std::ifstream indata; std::ifstream indata;
std::string sat_id; std::string sat_id;
std::string page_content; std::string page_content;
int time_instant; int time_instant{};
bool known_test_data; bool known_test_data{};
}; };