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Make constants constexpr, so they can be used at compile time

This commit is contained in:
Carles Fernandez 2020-07-01 19:39:25 +02:00
parent c4652c4593
commit 14d1152eda
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GPG Key ID: 4C583C52B0C3877D
14 changed files with 702 additions and 710 deletions
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10
src/core/system_parameters/Beidou_B1I.h
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@ -30,7 +30,7 @@ const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< B1I [Hz]
const double BEIDOU_B1I_CODE_RATE_CPS = 2.046e6; //!< Beidou B1I code rate [chips/s]
const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< Beidou B1I code length [chips]
const double BEIDOU_B1I_CODE_PERIOD_S = 0.001; //!< Beidou B1I code period [seconds]
const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms]
constexpr uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms]
const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
@ -40,11 +40,11 @@ const uint32_t BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
const uint32_t BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220;
const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
const int32_t BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
const int32_t BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50;
const int32_t BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
constexpr int32_t BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50;
constexpr int32_t BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int32_t BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2;
const int32_t BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
const int32_t BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;
constexpr int32_t BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
constexpr int32_t BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;
#endif // GNSS_SDR_BEIDOU_B1I_H

10
src/core/system_parameters/Beidou_B3I.h
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@ -29,7 +29,7 @@ const double BEIDOU_B3I_FREQ_HZ = 1.268520e9; //!< BeiDou B3I [Hz]
const double BEIDOU_B3I_CODE_RATE_CPS = 10.23e6; //!< BeiDou B3I code rate [chips/s]
const double BEIDOU_B3I_CODE_LENGTH_CHIPS = 10230.0; //!< BeiDou B3I code length [chips]
const double BEIDOU_B3I_CODE_PERIOD_S = 0.001; //!< BeiDou B3I code period [seconds]
const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< BeiDou B3I code period [ms]
constexpr uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< BeiDou B3I code period [ms]
const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
@ -39,11 +39,11 @@ const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_BITS = 11;
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20;
constexpr int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
constexpr int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int32_t BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; // *************
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
constexpr int32_t BEIDOU_B3I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
constexpr int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
#endif // GNSS_SDR_BEIDOU_B3I_H

128
src/core/system_parameters/Beidou_DNAV.h
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@ -26,27 +26,27 @@
#include <utility>
#include <vector>
const double BEIDOU_DNAV_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double BEIDOU_DNAV_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double BEIDOU_DNAV_PI = 3.1415926535898; //!< BeiDou DNAV Pi
const double BEIDOU_DNAV_TWO_PI = 6.2831853071796; //!< BeiDou DNAV 2Pi
const double BEIDOU_DNAV_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000
const double BEIDOU_DNAV_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000
const double BEIDOU_DNAV_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2
constexpr double BEIDOU_DNAV_C_M_S = 299792458.0; //!< The speed of light, [m/s]
constexpr double BEIDOU_DNAV_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double BEIDOU_DNAV_PI = 3.1415926535898; //!< BeiDou DNAV Pi
constexpr double BEIDOU_DNAV_TWO_PI = 6.2831853071796; //!< BeiDou DNAV 2Pi
constexpr double BEIDOU_DNAV_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000
constexpr double BEIDOU_DNAV_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000
constexpr double BEIDOU_DNAV_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
const int32_t BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
const uint32_t BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
const int32_t BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
const uint32_t BEIDOU_DNAV_WORDS_SUBFRAME = 10;
const uint32_t BEIDOU_DNAV_WORD_LENGTH_BITS = 30;
constexpr int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
constexpr int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
constexpr int32_t BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
constexpr uint32_t BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
constexpr int32_t BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
constexpr uint32_t BEIDOU_DNAV_WORDS_SUBFRAME = 10;
constexpr uint32_t BEIDOU_DNAV_WORD_LENGTH_BITS = 30;
const std::string BEIDOU_DNAV_PREAMBLE = "11100010010";
// Number of leap seconds passed from the start of the GPS epoch up to the start of BeiDou epoch
const int32_t BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET = 14;
constexpr int32_t BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET = 14;
// Number of weeks passed from the start of the GPS epoch up to the start of BeiDou epoch
const int32_t BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET = 1356;
constexpr int32_t BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET = 1356;
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
// GENERAL
@ -57,55 +57,55 @@ const std::vector<std::pair<int32_t, int32_t> > D1_PNUM({{44, 7}});
// DNAV SCALE FACTORS
// EPH
const double D1_TOC_LSB = TWO_P3;
const double D1_TGD1_LSB = 0.1e-9;
const double D1_TGD2_LSB = 0.1e-9;
const double D1_ALPHA0_LSB = TWO_N30;
const double D1_ALPHA1_LSB = TWO_N27;
const double D1_ALPHA2_LSB = TWO_N24;
const double D1_ALPHA3_LSB = TWO_N24;
const double D1_BETA0_LSB = TWO_P11;
const double D1_BETA1_LSB = TWO_P14;
const double D1_BETA2_LSB = TWO_P16;
const double D1_BETA3_LSB = TWO_P16;
const double D1_A2_LSB = TWO_N66;
const double D1_A0_LSB = TWO_N33;
const double D1_A1_LSB = TWO_N50;
const double D1_DELTA_N_LSB = PI_TWO_N43;
const double D1_CUC_LSB = TWO_N31;
const double D1_M0_LSB = PI_TWO_N31;
const double D1_E_LSB = TWO_N33;
const double D1_CUS_LSB = TWO_N31;
const double D1_CRC_LSB = TWO_N6;
const double D1_CRS_LSB = TWO_N6;
const double D1_SQRT_A_LSB = TWO_N19;
const double D1_TOE_LSB = TWO_P3;
const double D1_I0_LSB = PI_TWO_N31;
const double D1_CIC_LSB = TWO_N31;
const double D1_OMEGA_DOT_LSB = PI_TWO_N43;
const double D1_CIS_LSB = TWO_N31;
const double D1_IDOT_LSB = PI_TWO_N43;
const double D1_OMEGA0_LSB = PI_TWO_N31;
const double D1_OMEGA_LSB = PI_TWO_N31;
constexpr double D1_TOC_LSB = TWO_P3;
constexpr double D1_TGD1_LSB = 0.1e-9;
constexpr double D1_TGD2_LSB = 0.1e-9;
constexpr double D1_ALPHA0_LSB = TWO_N30;
constexpr double D1_ALPHA1_LSB = TWO_N27;
constexpr double D1_ALPHA2_LSB = TWO_N24;
constexpr double D1_ALPHA3_LSB = TWO_N24;
constexpr double D1_BETA0_LSB = TWO_P11;
constexpr double D1_BETA1_LSB = TWO_P14;
constexpr double D1_BETA2_LSB = TWO_P16;
constexpr double D1_BETA3_LSB = TWO_P16;
constexpr double D1_A2_LSB = TWO_N66;
constexpr double D1_A0_LSB = TWO_N33;
constexpr double D1_A1_LSB = TWO_N50;
constexpr double D1_DELTA_N_LSB = PI_TWO_N43;
constexpr double D1_CUC_LSB = TWO_N31;
constexpr double D1_M0_LSB = PI_TWO_N31;
constexpr double D1_E_LSB = TWO_N33;
constexpr double D1_CUS_LSB = TWO_N31;
constexpr double D1_CRC_LSB = TWO_N6;
constexpr double D1_CRS_LSB = TWO_N6;
constexpr double D1_SQRT_A_LSB = TWO_N19;
constexpr double D1_TOE_LSB = TWO_P3;
constexpr double D1_I0_LSB = PI_TWO_N31;
constexpr double D1_CIC_LSB = TWO_N31;
constexpr double D1_OMEGA_DOT_LSB = PI_TWO_N43;
constexpr double D1_CIS_LSB = TWO_N31;
constexpr double D1_IDOT_LSB = PI_TWO_N43;
constexpr double D1_OMEGA0_LSB = PI_TWO_N31;
constexpr double D1_OMEGA_LSB = PI_TWO_N31;
// ALM
const double D1_SQRT_A_ALMANAC_LSB = TWO_N11;
const double D1_A1_ALMANAC_LSB = TWO_N38;
const double D1_A0_ALMANAC_LSB = TWO_N20;
const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23;
const double D1_E_ALMANAC_LSB = TWO_N21;
const double D1_DELTA_I_LSB = PI_TWO_N19;
const double D1_TOA_LSB = TWO_P12;
const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38;
const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23;
const double D1_M0_ALMANAC_LSB = PI_TWO_N23;
const double D1_A0GPS_LSB = 0.1e-9;
const double D1_A1GPS_LSB = 0.1e-9;
const double D1_A0GAL_LSB = 0.1e-9;
const double D1_A1GAL_LSB = 0.1e-9;
const double D1_A0GLO_LSB = 0.1e-9;
const double D1_A1GLO_LSB = 0.1e-9;
const double D1_A0UTC_LSB = TWO_N30;
const double D1_A1UTC_LSB = TWO_N50;
constexpr double D1_SQRT_A_ALMANAC_LSB = TWO_N11;
constexpr double D1_A1_ALMANAC_LSB = TWO_N38;
constexpr double D1_A0_ALMANAC_LSB = TWO_N20;
constexpr double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23;
constexpr double D1_E_ALMANAC_LSB = TWO_N21;
constexpr double D1_DELTA_I_LSB = PI_TWO_N19;
constexpr double D1_TOA_LSB = TWO_P12;
constexpr double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38;
constexpr double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23;
constexpr double D1_M0_ALMANAC_LSB = PI_TWO_N23;
constexpr double D1_A0GPS_LSB = 0.1e-9;
constexpr double D1_A1GPS_LSB = 0.1e-9;
constexpr double D1_A0GAL_LSB = 0.1e-9;
constexpr double D1_A1GAL_LSB = 0.1e-9;
constexpr double D1_A0GLO_LSB = 0.1e-9;
constexpr double D1_A1GLO_LSB = 0.1e-9;
constexpr double D1_A0UTC_LSB = TWO_N30;
constexpr double D1_A1UTC_LSB = TWO_N50;
// SUBFRAME 1
const std::vector<std::pair<int32_t, int32_t> > D1_SAT_H1({{43, 1}});

130
src/core/system_parameters/GLONASS_L1_L2_CA.h
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@ -31,69 +31,69 @@
// 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-200K
const double GLONASS_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
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, [m^3/s^2]
const double GLONASS_F_M_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[uGal]
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 = 0.000409148809899e3; //!< Mean inclination of ecliptic to equator (23 deg 26 min 33 sec) [rad]
constexpr double GLONASS_C_M_S = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
constexpr double GLONASS_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GLONASS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
constexpr double GLONASS_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
constexpr double GLONASS_OMEGA_EARTH_DOT = 7.292115e-5; //!< Earth rotation rate, [rad/s]
constexpr double GLONASS_GM = 398600.4418e9; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
constexpr double GLONASS_F_M_A = 0.35e9; //!< Gravitational constant of atmosphere [m^3/s^2]
constexpr double GLONASS_SEMI_MAJOR_AXIS = 6378136; //!< Semi-major axis of Earth [m]
constexpr double GLONASS_FLATTENING = 1.0 / 29825784.0; //!< Flattening parameter
constexpr double GLONASS_GRAVITY = 97803284; //!< Equatorial acceleration of gravity [mGal]
constexpr double GLONASS_GRAVITY_CORRECTION = 0.87; //!< Correction to acceleration of gravity at sea-level due to Atmosphere[uGal]
constexpr double GLONASS_J2 = 1082625.75e-9; //!< Second zonal harmonic of the geopotential
constexpr double GLONASS_J4 = -2370.89e-9; //!< Fourth zonal harmonic of the geopotential
constexpr double GLONASS_J6 = 6.08e-9; //!< Sixth zonal harmonic of the geopotential
constexpr double GLONASS_J8 = 1.40e-11; //!< Eighth zonal harmonic of the geopotential
constexpr double GLONASS_U0 = 62636861.4; //!< Normal potential at surface of common terrestrial ellipsoid [m^2/s^2]
constexpr double GLONASS_C20 = -1082.63e-6; //!< Second zonal coefficient of spherical harmonic expansion
constexpr double GLONASS_EARTH_RADIUS = 6378.136; //!< Equatorial radius of Earth [km]
constexpr double GLONASS_EARTH_INCLINATION = 0.000409148809899e3; //!< Mean inclination of ecliptic to equator (23 deg 26 min 33 sec) [rad]
const double GLONASS_TAU_0 = -0.005835151531174e3; //!< (-334 deg 19 min 46.40 sec) [rad];
const double GLONASS_TAU_1 = 0.071018041257371e3; //!< (4069 deg 02 min 02.52 sec) [rad];
constexpr double GLONASS_TAU_0 = -0.005835151531174e3; //!< (-334 deg 19 min 46.40 sec) [rad];
constexpr double GLONASS_TAU_1 = 0.071018041257371e3; //!< (4069 deg 02 min 02.52 sec) [rad];
const double GLONASS_MOON_Q0 = -0.001115184961435e3; //!< (-63 deg 53 min 43.41 sec) [rad]
const double GLONASS_MOON_Q1 = 8.328691103668023e3; //!< (477198 deg 50 min 56.79 sec) [rad]
const double GLONASS_MOON_OMEGA_0 = 0.004523601514852e3; //!< (259 deg 10 min 59.79 sec) [rad]
const double GLONASS_MOON_OMEGA_1 = -0.033757146246552e3; //!< (-1934 deg 08 min 31.23 sec) [rad]
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 = 0.000089803977407e3; //!< Inclination of lunar orbit to ecliptic plane (5 deg 08 min 43.4 sec) [rad]
constexpr double GLONASS_MOON_Q0 = -0.001115184961435e3; //!< (-63 deg 53 min 43.41 sec) [rad]
constexpr double GLONASS_MOON_Q1 = 8.328691103668023e3; //!< (477198 deg 50 min 56.79 sec) [rad]
constexpr double GLONASS_MOON_OMEGA_0 = 0.004523601514852e3; //!< (259 deg 10 min 59.79 sec) [rad]
constexpr double GLONASS_MOON_OMEGA_1 = -0.033757146246552e3; //!< (-1934 deg 08 min 31.23 sec) [rad]
constexpr double GLONASS_MOON_GM = 4902.835; //!< Lunar gravitational constant [km^3/s^2]
constexpr double GLONASS_MOON_SEMI_MAJOR_AXIS = 3.84385243e5; //!< Semi-major axis of lunar orbit [km];
constexpr double GLONASS_MOON_ECCENTRICITY = 0.054900489; //!< Eccentricity of lunar orbit
constexpr double GLONASS_MOON_INCLINATION = 0.000089803977407e3; //!< Inclination of lunar orbit to ecliptic plane (5 deg 08 min 43.4 sec) [rad]
const double GLONASS_SUN_OMEGA = 0.004908229466869e3; //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03 x T sec) [rad]
const double GLONASS_SUN_Q0 = 0.006256583774423e3; //!< (358 deg 28 min 33.04 sec) [rad]
const double GLONASS_SUN_Q1 = 0e3; //!< TODO Why is the value greater than 60?(129596579.10 sec) [rad]
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
constexpr double GLONASS_SUN_OMEGA = 0.004908229466869e3; //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03 x T sec) [rad]
constexpr double GLONASS_SUN_Q0 = 0.006256583774423e3; //!< (358 deg 28 min 33.04 sec) [rad]
constexpr double GLONASS_SUN_Q1 = 0e3; //!< TODO Why is the value greater than 60?(129596579.10 sec) [rad]
constexpr double GLONASS_SUN_GM = 0.1325263e12; //!< Solar gravitational constant [km^3/s^2]
constexpr double GLONASS_SUN_SEMI_MAJOR_AXIS = 1.49598e8; //!< Semi-major axis of solar orbit [km];
constexpr double GLONASS_SUN_ECCENTRICITY = 0.016719; //!< Eccentricity of solar orbit
const double GLONASS_L2_CA_FREQ_HZ = FREQ2_GLO; //!< L2 [Hz]
const double GLONASS_L2_CA_DFREQ_HZ = DFRQ2_GLO; //!< Freq Bias for GLONASS L1 [Hz]
const double GLONASS_L2_CA_CODE_RATE_CPS = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]
const double GLONASS_L2_CA_CODE_LENGTH_CHIPS = 511.0; //!< GLONASS L1 C/A code length [chips]
const double GLONASS_L2_CA_CODE_PERIOD_S = 0.001; //!< GLONASS L1 C/A code period [seconds]
const double GLONASS_L2_CA_CHIP_PERIOD_S = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
const double GLONASS_L2_CA_SYMBOL_RATE_BPS = 1000;
constexpr double GLONASS_L2_CA_FREQ_HZ = FREQ2_GLO; //!< L2 [Hz]
constexpr double GLONASS_L2_CA_DFREQ_HZ = DFRQ2_GLO; //!< Freq Bias for GLONASS L1 [Hz]
constexpr double GLONASS_L2_CA_CODE_RATE_CPS = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]
constexpr double GLONASS_L2_CA_CODE_LENGTH_CHIPS = 511.0; //!< GLONASS L1 C/A code length [chips]
constexpr double GLONASS_L2_CA_CODE_PERIOD_S = 0.001; //!< GLONASS L1 C/A code period [seconds]
constexpr double GLONASS_L2_CA_CHIP_PERIOD_S = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
constexpr double GLONASS_L2_CA_SYMBOL_RATE_BPS = 1000;
const double GLONASS_L1_CA_FREQ_HZ = FREQ1_GLO; //!< L1 [Hz]
const double GLONASS_L1_CA_DFREQ_HZ = DFRQ1_GLO; //!< Freq Bias for GLONASS L1 [Hz]
const double GLONASS_L1_CA_CODE_RATE_CPS = 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_S = 0.001; //!< GLONASS L1 C/A code period [seconds]
const double GLONASS_L1_CA_CHIP_PERIOD_S = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
const double GLONASS_L1_CA_SYMBOL_RATE_BPS = 1000;
constexpr double GLONASS_L1_CA_FREQ_HZ = FREQ1_GLO; //!< L1 [Hz]
constexpr double GLONASS_L1_CA_DFREQ_HZ = DFRQ1_GLO; //!< Freq Bias for GLONASS L1 [Hz]
constexpr double GLONASS_L1_CA_CODE_RATE_CPS = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]
constexpr double GLONASS_L1_CA_CODE_LENGTH_CHIPS = 511.0; //!< GLONASS L1 C/A code length [chips]
constexpr double GLONASS_L1_CA_CODE_PERIOD_S = 0.001; //!< GLONASS L1 C/A code period [seconds]
constexpr double GLONASS_L1_CA_CHIP_PERIOD_S = 1.9569e-06; //!< GLONASS L1 C/A chip period [seconds]
constexpr double GLONASS_L1_CA_SYMBOL_RATE_BPS = 1000;
const int32_t GLONASS_CA_NBR_SATS = 24; // STRING DATA WITHOUT PREAMBLE
constexpr int32_t GLONASS_CA_NBR_SATS = 24; // STRING DATA WITHOUT PREAMBLE
/*!
* \brief Record of leap seconds definition for GLOT to GPST conversion and vice versa
* \details Each entry is defined by an array of 7 elements consisting of yr,month,day,hr,min,sec,utc-gpst
* \note Ideally should use leap seconds definitions of rtklib
*/
const double GLONASS_LEAP_SECONDS[19][7] = {
constexpr double GLONASS_LEAP_SECONDS[19][7] = {
{2017, 1, 1, 0, 0, 0, -18},
{2015, 7, 1, 0, 0, 0, -17},
{2012, 7, 1, 0, 0, 0, -16},
@ -214,28 +214,26 @@ const std::map<uint32_t, int32_t> GLONASS_PRN = {
}, // Plane 3
{24, 2}}; // Plane 3
const double GLONASS_STARTOFFSET_MS = 68.802; // [ms] Initial sign. travel time (this cannot go here)
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int32_t GLONASS_L1_CA_HISTORY_DEEP = 100;
constexpr int32_t GLONASS_L1_CA_HISTORY_DEEP = 100;
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GLONASS_GNAV_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 double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.300;
const int32_t GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
const int32_t GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
const int32_t GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 2000;
const int32_t GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
const int32_t GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
const int32_t GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
const int32_t GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND * GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
const int32_t GLONASS_GNAV_STRING_SYMBOLS = 2000; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
const int32_t GLONASS_GNAV_STRING_BITS = 85; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
const int32_t GLONASS_GNAV_HAMMING_CODE_BITS = 8; //!< Number of bits in hamming code sequence of GNAV message
const int32_t GLONASS_GNAV_DATA_SYMBOLS = 1700; // STRING DATA WITHOUT PREAMBLE
constexpr double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.300;
constexpr int32_t GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
constexpr int32_t GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
constexpr int32_t GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 2000;
constexpr int32_t GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
constexpr int32_t GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
constexpr int32_t GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;
constexpr int32_t GLONASS_GNAV_TELEMETRY_RATE_SYMBOLS_SECOND = GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND * GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
constexpr int32_t GLONASS_GNAV_STRING_SYMBOLS = 2000; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
constexpr int32_t GLONASS_GNAV_STRING_BITS = 85; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
constexpr int32_t GLONASS_GNAV_HAMMING_CODE_BITS = 8; //!< Number of bits in hamming code sequence of GNAV message
constexpr int32_t GLONASS_GNAV_DATA_SYMBOLS = 1700; // STRING DATA WITHOUT PREAMBLE
const std::vector<int32_t> GLONASS_GNAV_CRC_I_INDEX{9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
const std::vector<int32_t> GLONASS_GNAV_CRC_J_INDEX{9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};

98
src/core/system_parameters/GPS_CNAV.h
View File

@ -37,132 +37,132 @@
#define GPS_CNAV_PREAMBLE_STR "10001011"
#define GPS_CNAV_INV_PREAMBLE_STR "01110100"
const int32_t GPS_CNAV_DATA_PAGE_BITS = 300;
constexpr int32_t GPS_CNAV_DATA_PAGE_BITS = 300;
// common to all messages
const std::vector<std::pair<int32_t, int32_t> > CNAV_PRN({{9, 6}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_MSG_TYPE({{15, 6}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOW({{21, 17}}); // GPS Time Of Week in seconds
const int32_t CNAV_TOW_LSB = 6;
constexpr int32_t CNAV_TOW_LSB = 6;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALERT_FLAG({{38, 1}});
// MESSAGE TYPE 10 (Ephemeris 1)
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN({{39, 13}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_HEALTH({{52, 3}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOP1({{55, 11}});
const int32_t CNAV_TOP1_LSB = 300;
constexpr int32_t CNAV_TOP1_LSB = 300;
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA({{66, 5}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOE1({{71, 11}});
const int32_t CNAV_TOE1_LSB = 300;
constexpr int32_t CNAV_TOE1_LSB = 300;
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_A({{82, 26}}); // Relative to AREF = 26,559,710 meters
const double CNAV_DELTA_A_LSB = TWO_N9;
constexpr double CNAV_DELTA_A_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t> > CNAV_A_DOT({{108, 25}});
const double CNAV_A_DOT_LSB = TWO_N21;
constexpr double CNAV_A_DOT_LSB = TWO_N21;
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_N0({{133, 17}});
const double CNAV_DELTA_N0_LSB = TWO_N44 * PI; // semi-circles to radians
constexpr double CNAV_DELTA_N0_LSB = TWO_N44 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_N0_DOT({{150, 23}});
const double CNAV_DELTA_N0_DOT_LSB = TWO_N57 * PI; // semi-circles to radians
constexpr double CNAV_DELTA_N0_DOT_LSB = TWO_N57 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_M0({{173, 33}});
const double CNAV_M0_LSB = TWO_N32 * PI; // semi-circles to radians
constexpr double CNAV_M0_LSB = TWO_N32 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_E_ECCENTRICITY({{206, 33}});
const double CNAV_E_ECCENTRICITY_LSB = TWO_N34;
constexpr double CNAV_E_ECCENTRICITY_LSB = TWO_N34;
const std::vector<std::pair<int32_t, int32_t> > CNAV_OMEGA({{239, 33}});
const double CNAV_OMEGA_LSB = TWO_N32 * PI; // semi-circles to radians
constexpr double CNAV_OMEGA_LSB = TWO_N32 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_INTEGRITY_FLAG({{272, 1}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_L2_PHASING_FLAG({{273, 1}});
// MESSAGE TYPE 11 (Ephemeris 2)
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOE2({{39, 11}});
const int32_t CNAV_TOE2_LSB = 300;
constexpr int32_t CNAV_TOE2_LSB = 300;
const std::vector<std::pair<int32_t, int32_t> > CNAV_OMEGA0({{50, 33}});
const double CNAV_OMEGA0_LSB = TWO_N32 * PI; // semi-circles to radians
constexpr double CNAV_OMEGA0_LSB = TWO_N32 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_I0({{83, 33}});
const double CNAV_I0_LSB = TWO_N32 * PI; // semi-circles to radians
constexpr double CNAV_I0_LSB = TWO_N32 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_OMEGA_DOT({{116, 17}}); // Relative to REF = -2.6 x 10-9 semi-circles/second.
const double CNAV_DELTA_OMEGA_DOT_LSB = TWO_N44 * PI; // semi-circles to radians
constexpr double CNAV_DELTA_OMEGA_DOT_LSB = TWO_N44 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_I0_DOT({{133, 15}});
const double CNAV_I0_DOT_LSB = TWO_N44 * PI; // semi-circles to radians
constexpr double CNAV_I0_DOT_LSB = TWO_N44 * PI; // semi-circles to radians
const std::vector<std::pair<int32_t, int32_t> > CNAV_CIS({{148, 16}});
const double CNAV_CIS_LSB = TWO_N30;
constexpr double CNAV_CIS_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t> > CNAV_CIC({{164, 16}});
const double CNAV_CIC_LSB = TWO_N30;
constexpr double CNAV_CIC_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t> > CNAV_CRS({{180, 24}});
const double CNAV_CRS_LSB = TWO_N8;
constexpr double CNAV_CRS_LSB = TWO_N8;
const std::vector<std::pair<int32_t, int32_t> > CNAV_CRC({{204, 24}});
const double CNAV_CRC_LSB = TWO_N8;
constexpr double CNAV_CRC_LSB = TWO_N8;
const std::vector<std::pair<int32_t, int32_t> > CNAV_CUS({{228, 21}});
const double CNAV_CUS_LSB = TWO_N30;
constexpr double CNAV_CUS_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t> > CNAV_CUC({{249, 21}});
const double CNAV_CUC_LSB = TWO_N30;
constexpr double CNAV_CUC_LSB = TWO_N30;
// MESSAGE TYPE 30 (CLOCK, IONO, GRUP DELAY)
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOP2({{39, 11}});
const int32_t CNAV_TOP2_LSB = 300;
constexpr int32_t CNAV_TOP2_LSB = 300;
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED0({{50, 5}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED1({{55, 3}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED2({{58, 3}});
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOC({{61, 11}});
const int32_t CNAV_TOC_LSB = 300;
constexpr int32_t CNAV_TOC_LSB = 300;
const std::vector<std::pair<int, int> > CNAV_AF0({{72, 26}});
const double CNAV_AF0_LSB = TWO_N35;
constexpr double CNAV_AF0_LSB = TWO_N35;
const std::vector<std::pair<int, int> > CNAV_AF1({{98, 20}});
const double CNAV_AF1_LSB = TWO_N48;
constexpr double CNAV_AF1_LSB = TWO_N48;
const std::vector<std::pair<int, int> > CNAV_AF2({{118, 10}});
const double CNAV_AF2_LSB = TWO_N60;
constexpr double CNAV_AF2_LSB = TWO_N60;
const std::vector<std::pair<int, int> > CNAV_TGD({{128, 13}});
const double CNAV_TGD_LSB = TWO_N35;
constexpr double CNAV_TGD_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL1({{141, 13}});
const double CNAV_ISCL1_LSB = TWO_N35;
constexpr double CNAV_ISCL1_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL2({{154, 13}});
const double CNAV_ISCL2_LSB = TWO_N35;
constexpr double CNAV_ISCL2_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL5I({{167, 13}});
const double CNAV_ISCL5I_LSB = TWO_N35;
constexpr double CNAV_ISCL5I_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL5Q({{180, 13}});
const double CNAV_ISCL5Q_LSB = TWO_N35;
constexpr double CNAV_ISCL5Q_LSB = TWO_N35;
// Ionospheric parameters
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA0({{193, 8}});
const double CNAV_ALPHA0_LSB = TWO_N30;
constexpr double CNAV_ALPHA0_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA1({{201, 8}});
const double CNAV_ALPHA1_LSB = TWO_N27;
constexpr double CNAV_ALPHA1_LSB = TWO_N27;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA2({{209, 8}});
const double CNAV_ALPHA2_LSB = TWO_N24;
constexpr double CNAV_ALPHA2_LSB = TWO_N24;
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA3({{217, 8}});
const double CNAV_ALPHA3_LSB = TWO_N24;
constexpr double CNAV_ALPHA3_LSB = TWO_N24;
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA0({{225, 8}});
const double CNAV_BETA0_LSB = TWO_P11;
constexpr double CNAV_BETA0_LSB = TWO_P11;
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA1({{233, 8}});
const double CNAV_BETA1_LSB = TWO_P14;
constexpr double CNAV_BETA1_LSB = TWO_P14;
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA2({{241, 8}});
const double CNAV_BETA2_LSB = TWO_P16;
constexpr double CNAV_BETA2_LSB = TWO_P16;
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA3({{249, 8}});
const double CNAV_BETA3_LSB = TWO_P16;
constexpr double CNAV_BETA3_LSB = TWO_P16;
const std::vector<std::pair<int32_t, int32_t> > CNAV_WNOP({{257, 8}});
// MESSAGE TYPE 33 (CLOCK and UTC)
const std::vector<std::pair<int32_t, int32_t> > CNAV_A0({{128, 16}});
const double CNAV_A0_LSB = TWO_N35;
constexpr double CNAV_A0_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t> > CNAV_A1({{144, 13}});
const double CNAV_A1_LSB = TWO_N51;
constexpr double CNAV_A1_LSB = TWO_N51;
const std::vector<std::pair<int32_t, int32_t> > CNAV_A2({{157, 7}});
const double CNAV_A2_LSB = TWO_N68;
constexpr double CNAV_A2_LSB = TWO_N68;
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_TLS({{164, 8}});
const int32_t CNAV_DELTA_TLS_LSB = 1;
constexpr int32_t CNAV_DELTA_TLS_LSB = 1;
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOT({{172, 16}});
const int32_t CNAV_TOT_LSB = TWO_P4;
constexpr int32_t CNAV_TOT_LSB = TWO_P4;
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN_OT({{188, 13}});
const int32_t CNAV_WN_OT_LSB = 1;
constexpr int32_t CNAV_WN_OT_LSB = 1;
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN_LSF({{201, 13}});
const int32_t CNAV_WN_LSF_LSB = 1;
constexpr int32_t CNAV_WN_LSF_LSB = 1;
const std::vector<std::pair<int32_t, int32_t> > CNAV_DN({{214, 4}});
const int32_t CNAV_DN_LSB = 1;
constexpr int32_t CNAV_DN_LSB = 1;
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_TLSF({{218, 8}});
const int32_t CNAV_DELTA_TLSF_LSB = 1;
constexpr int32_t CNAV_DELTA_TLSF_LSB = 1;
// TODO: Add more frames (Almanac, etc...)

141
src/core/system_parameters/GPS_L1_CA.h
View File

@ -30,26 +30,26 @@
// Physical constants
const double GPS_C_M_S = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
const double GPS_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
const double GPS_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
const double OMEGA_EARTH_DOT = DEFAULT_OMEGA_EARTH_DOT; //!< Earth rotation rate, [rad/s]
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
constexpr double GPS_C_M_S = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
constexpr double GPS_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
constexpr double GPS_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
constexpr double OMEGA_EARTH_DOT = DEFAULT_OMEGA_EARTH_DOT; //!< Earth rotation rate, [rad/s]
constexpr double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
constexpr double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GPS_L1_FREQ_HZ = FREQ1; //!< L1 [Hz]
const double GPS_L1_CA_CODE_RATE_CPS = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
const double GPS_L1_CA_CODE_PERIOD_S = 0.001; //!< GPS L1 C/A code period [seconds]
const uint32_t GPS_L1_CA_CODE_PERIOD_MS = 1U; //!< GPS L1 C/A code period [ms]
const uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [ms]
const double GPS_L1_CA_CHIP_PERIOD_S = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
constexpr double GPS_L1_FREQ_HZ = FREQ1; //!< L1 [Hz]
constexpr double GPS_L1_CA_CODE_RATE_CPS = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
constexpr double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
constexpr double GPS_L1_CA_CODE_PERIOD_S = 0.001; //!< GPS L1 C/A code period [seconds]
constexpr uint32_t GPS_L1_CA_CODE_PERIOD_MS = 1U; //!< GPS L1 C/A code period [ms]
constexpr uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [ms]
constexpr double GPS_L1_CA_CHIP_PERIOD_S = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
// optimum parameters
const uint32_t GPS_L1_CA_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GPS_L1_CA_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
/*!
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
@ -59,12 +59,12 @@ const uint32_t GPS_L1_CA_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that
* [1] J. Bao-Yen Tsui, Fundamentals of Global Positioning System Receivers. A Software Approach, John Wiley & Sons,
* Inc., Hoboken, NJ, 2nd edition, 2005.
*/
const double MAX_TOA_DELAY_MS = 20;
constexpr double MAX_TOA_DELAY_MS = 20;
const double GPS_STARTOFFSET_MS = 68.802; // [ms] Initial signal travel time (only for old ls_pvt implementation)
constexpr double GPS_STARTOFFSET_MS = 68.802; // [ms] Initial signal travel time (only for old ls_pvt implementation)
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int32_t GPS_L1_CA_HISTORY_DEEP = 100;
constexpr int32_t GPS_L1_CA_HISTORY_DEEP = 100;
// NAVIGATION MESSAGE DEMODULATION AND DECODING
@ -74,19 +74,19 @@ const int32_t GPS_L1_CA_HISTORY_DEEP = 100;
}
const std::string GPS_CA_PREAMBLE = {"10001011"};
const std::string GPS_CA_PREAMBLE_SYMBOLS_STR = {"1111111111111111111100000000000000000000000000000000000000000000000000000000000011111111111111111111000000000000000000001111111111111111111111111111111111111111"};
const int32_t GPS_CA_PREAMBLE_LENGTH_BITS = 8;
const int32_t GPS_CA_PREAMBLE_LENGTH_SYMBOLS = 160;
const double GPS_CA_PREAMBLE_DURATION_S = 0.160;
const int32_t GPS_CA_PREAMBLE_DURATION_MS = 160;
const int32_t GPS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
const int32_t GPS_CA_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int32_t GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
const int32_t GPS_WORD_LENGTH = 4; //!< CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
const int32_t GPS_SUBFRAME_LENGTH = 40; //!< GPS_WORD_LENGTH x 10 = 40 bytes
const int32_t GPS_SUBFRAME_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
const int32_t GPS_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
const int32_t GPS_SUBFRAME_MS = 6000; //!< Subframe duration [seconds]
const int32_t GPS_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
constexpr int32_t GPS_CA_PREAMBLE_LENGTH_BITS = 8;
constexpr int32_t GPS_CA_PREAMBLE_LENGTH_SYMBOLS = 160;
constexpr double GPS_CA_PREAMBLE_DURATION_S = 0.160;
constexpr int32_t GPS_CA_PREAMBLE_DURATION_MS = 160;
constexpr int32_t GPS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
constexpr int32_t GPS_CA_TELEMETRY_SYMBOLS_PER_BIT = 20;
constexpr int32_t GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
constexpr int32_t GPS_WORD_LENGTH = 4; //!< CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
constexpr int32_t GPS_SUBFRAME_LENGTH = 40; //!< GPS_WORD_LENGTH x 10 = 40 bytes
constexpr int32_t GPS_SUBFRAME_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
constexpr int32_t GPS_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
constexpr int32_t GPS_SUBFRAME_MS = 6000; //!< Subframe duration [seconds]
constexpr int32_t GPS_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
// GPS NAVIGATION MESSAGE STRUCTURE
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200K Appendix II)
@ -106,58 +106,57 @@ const std::vector<std::pair<int32_t, int32_t>> SV_ACCURACY({{73, 4}});
const std::vector<std::pair<int32_t, int32_t>> SV_HEALTH({{77, 6}});
const std::vector<std::pair<int32_t, int32_t>> L2_P_DATA_FLAG({{91, 1}});
const std::vector<std::pair<int32_t, int32_t>> T_GD({{197, 8}});
const double T_GD_LSB = TWO_N31;
constexpr double T_GD_LSB = TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> IODC({{83, 2}, {211, 8}});
const std::vector<std::pair<int32_t, int32_t>> T_OC({{219, 16}});
const int32_t T_OC_LSB = static_cast<int32_t>(TWO_P4);
constexpr int32_t T_OC_LSB = static_cast<int32_t>(TWO_P4);
const std::vector<std::pair<int32_t, int32_t>> A_F2({{241, 8}});
const double A_F2_LSB = TWO_N55;
constexpr double A_F2_LSB = TWO_N55;
const std::vector<std::pair<int32_t, int32_t>> A_F1({{249, 16}});
const double A_F1_LSB = TWO_N43;
constexpr double A_F1_LSB = TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> A_F0({{271, 22}});
const double A_F0_LSB = TWO_N31;
constexpr double A_F0_LSB = TWO_N31;
// SUBFRAME 2
const std::vector<std::pair<int32_t, int32_t>> IODE_SF2({{61, 8}});
const std::vector<std::pair<int32_t, int32_t>> C_RS({{69, 16}});
const double C_RS_LSB = TWO_N5;
constexpr double C_RS_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> DELTA_N({{91, 16}});
const double DELTA_N_LSB = PI_TWO_N43;
constexpr double DELTA_N_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> M_0({{107, 8}, {121, 24}});
const double M_0_LSB = PI_TWO_N31;
constexpr double M_0_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> C_UC({{151, 16}});
const double C_UC_LSB = TWO_N29;
constexpr double C_UC_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> ECCENTRICITY({{167, 8}, {181, 24}});
const double ECCENTRICITY_LSB = TWO_N33;
constexpr double ECCENTRICITY_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> C_US({{211, 16}});
const double C_US_LSB = TWO_N29;
constexpr double C_US_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> SQRT_A({{227, 8}, {241, 24}});
const double SQRT_A_LSB = TWO_N19;
constexpr double SQRT_A_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> T_OE({{271, 16}});
const int32_t T_OE_LSB = static_cast<int32_t>(TWO_P4);
constexpr int32_t T_OE_LSB = static_cast<int32_t>(TWO_P4);
const std::vector<std::pair<int32_t, int32_t>> FIT_INTERVAL_FLAG({{271, 1}});
const std::vector<std::pair<int32_t, int32_t>> AODO({{272, 5}});
const int32_t AODO_LSB = 900;
constexpr int32_t AODO_LSB = 900;
// SUBFRAME 3
const std::vector<std::pair<int32_t, int32_t>> C_IC({{61, 16}});
const double C_IC_LSB = TWO_N29;
constexpr double C_IC_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_0({{77, 8}, {91, 24}});
const double OMEGA_0_LSB = PI_TWO_N31;
constexpr double OMEGA_0_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> C_IS({{121, 16}});
const double C_IS_LSB = TWO_N29;
constexpr double C_IS_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> I_0({{137, 8}, {151, 24}});
const double I_0_LSB = PI_TWO_N31;
constexpr double I_0_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> C_RC({{181, 16}});
const double C_RC_LSB = TWO_N5;
constexpr double C_RC_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> OMEGA({{197, 8}, {211, 24}});
const double OMEGA_LSB = PI_TWO_N31;
constexpr double OMEGA_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT({{241, 24}});
const double OMEGA_DOT_LSB = PI_TWO_N43;
constexpr double OMEGA_DOT_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> IODE_SF3({{271, 8}});
const std::vector<std::pair<int32_t, int32_t>> I_DOT({{279, 14}});
const double I_DOT_LSB = PI_TWO_N43;
constexpr double I_DOT_LSB = PI_TWO_N43;
// SUBFRAME 4-5
const std::vector<std::pair<int32_t, int32_t>> SV_DATA_ID({{61, 2}});
@ -167,37 +166,37 @@ const std::vector<std::pair<int32_t, int32_t>> SV_PAGE({{63, 6}});
//! \todo read all pages of subframe 4
// Page 18 - Ionospheric and UTC data
const std::vector<std::pair<int32_t, int32_t>> ALPHA_0({{69, 8}});
const double ALPHA_0_LSB = TWO_N30;
constexpr double ALPHA_0_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t>> ALPHA_1({{77, 8}});
const double ALPHA_1_LSB = TWO_N27;
constexpr double ALPHA_1_LSB = TWO_N27;
const std::vector<std::pair<int32_t, int32_t>> ALPHA_2({{91, 8}});
const double ALPHA_2_LSB = TWO_N24;
constexpr double ALPHA_2_LSB = TWO_N24;
const std::vector<std::pair<int32_t, int32_t>> ALPHA_3({{99, 8}});
const double ALPHA_3_LSB = TWO_N24;
constexpr double ALPHA_3_LSB = TWO_N24;
const std::vector<std::pair<int32_t, int32_t>> BETA_0({{107, 8}});
const double BETA_0_LSB = TWO_P11;
constexpr double BETA_0_LSB = TWO_P11;
const std::vector<std::pair<int32_t, int32_t>> BETA_1({{121, 8}});
const double BETA_1_LSB = TWO_P14;
constexpr double BETA_1_LSB = TWO_P14;
const std::vector<std::pair<int32_t, int32_t>> BETA_2({{129, 8}});
const double BETA_2_LSB = TWO_P16;
constexpr double BETA_2_LSB = TWO_P16;
const std::vector<std::pair<int32_t, int32_t>> BETA_3({{137, 8}});
const double BETA_3_LSB = TWO_P16;
constexpr double BETA_3_LSB = TWO_P16;
const std::vector<std::pair<int32_t, int32_t>> A_1({{151, 24}});
const double A_1_LSB = TWO_N50;
constexpr double A_1_LSB = TWO_N50;
const std::vector<std::pair<int32_t, int32_t>> A_0({{181, 24}, {211, 8}});
const double A_0_LSB = TWO_N30;
constexpr double A_0_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t>> T_OT({{219, 8}});
const double T_OT_LSB = TWO_P12;
constexpr double T_OT_LSB = TWO_P12;
const std::vector<std::pair<int32_t, int32_t>> WN_T({{227, 8}});
const double WN_T_LSB = 1;
constexpr double WN_T_LSB = 1;
const std::vector<std::pair<int32_t, int32_t>> DELTAT_LS({{241, 8}});
const double DELTAT_LS_LSB = 1;
constexpr double DELTAT_LS_LSB = 1;
const std::vector<std::pair<int32_t, int32_t>> WN_LSF({{249, 8}});
const double WN_LSF_LSB = 1;
constexpr double WN_LSF_LSB = 1;
const std::vector<std::pair<int32_t, int32_t>> DN({{257, 8}});
const double DN_LSB = 1;
constexpr double DN_LSB = 1;
const std::vector<std::pair<int32_t, int32_t>> DELTAT_LSF({{271, 8}});
const double DELTAT_LSF_LSB = 1;
constexpr double DELTAT_LSF_LSB = 1;
// Page 25 - Antispoofing, SV config and SV health (PRN 25 -32)
const std::vector<std::pair<int32_t, int32_t>> HEALTH_SV25({{229, 6}});
@ -215,7 +214,7 @@ const std::vector<std::pair<int32_t, int32_t>> HEALTH_SV32({{283, 6}});
// page 25 - Health (PRN 1 - 24)
const std::vector<std::pair<int32_t, int32_t>> T_OA({{69, 8}});
const int32_t T_OA_LSB = TWO_P12;
constexpr int32_t T_OA_LSB = TWO_P12;
const std::vector<std::pair<int32_t, int32_t>> WN_A({{77, 8}});
const std::vector<std::pair<int32_t, int32_t>> HEALTH_SV1({{91, 6}});
const std::vector<std::pair<int32_t, int32_t>> HEALTH_SV2({{97, 6}});

44
src/core/system_parameters/GPS_L2C.h
View File

@ -31,32 +31,32 @@
// Physical constants
const double GPS_L2_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L2_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_L2_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
const double GPS_L2_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
const double GPS_L2_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GPS_L2_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double GPS_L2_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
constexpr double GPS_L2_C_M_S = 299792458.0; //!< The speed of light, [m/s]
constexpr double GPS_L2_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GPS_L2_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
constexpr double GPS_L2_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
constexpr double GPS_L2_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
constexpr double GPS_L2_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
constexpr double GPS_L2_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GPS_L2_FREQ_HZ = FREQ2; //!< L2 [Hz]
constexpr double GPS_L2_FREQ_HZ = FREQ2; //!< L2 [Hz]
const double GPS_L2_M_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 M code rate [chips/s]
const int32_t GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]
const double GPS_L2_M_PERIOD_S = 0.02; //!< GPS L2 M code period [seconds]
constexpr double GPS_L2_M_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 M code rate [chips/s]
constexpr int32_t GPS_L2_M_CODE_LENGTH_CHIPS = 10230; //!< GPS L2 M code length [chips]
constexpr double GPS_L2_M_PERIOD_S = 0.02; //!< GPS L2 M code period [seconds]
const double GPS_L2_L_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 L code rate [chips/s]
const int32_t GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chips]
const double GPS_L2_L_PERIOD_S = 1.5; //!< GPS L2 L code period [seconds]
constexpr double GPS_L2_L_CODE_RATE_CPS = 0.5115e6; //!< GPS L2 L code rate [chips/s]
constexpr int32_t GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chips]
constexpr double GPS_L2_L_PERIOD_S = 1.5; //!< GPS L2 L code period [seconds]
const int32_t GPS_L2C_HISTORY_DEEP = 5;
constexpr int32_t GPS_L2C_HISTORY_DEEP = 5;
// optimum parameters
const uint32_t GPS_L2C_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GPS_L2C_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
const int32_t GPS_L2C_M_INIT_REG[115] =
constexpr int32_t GPS_L2C_M_INIT_REG[115] =
{0742417664, 0756014035, 0002747144, 0066265724, // 1:4
0601403471, 0703232733, 0124510070, 0617316361, // 5:8
0047541621, 0733031046, 0713512145, 0024437606,
@ -87,10 +87,10 @@ const int32_t GPS_L2C_M_INIT_REG[115] =
0706202440, 0705056276, 0020373522, 0746013617,
0132720621, 0434015513, 0566721727, 0140633660};
const int32_t GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
const int32_t GPS_L2_SYMBOLS_PER_BIT = 2;
const int32_t GPS_L2_SAMPLES_PER_SYMBOL = 1;
const int32_t GPS_L2_CNAV_DATA_PAGE_SYMBOLS = 600;
const int32_t GPS_L2_CNAV_DATA_PAGE_DURATION_S = 12;
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
constexpr int32_t GPS_L2_SYMBOLS_PER_BIT = 2;
constexpr int32_t GPS_L2_SAMPLES_PER_SYMBOL = 1;
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_SYMBOLS = 600;
constexpr int32_t GPS_L2_CNAV_DATA_PAGE_DURATION_S = 12;
#endif // GNSS_SDR_GPS_L2C_H

60
src/core/system_parameters/GPS_L5.h
View File

@ -29,34 +29,34 @@
// Physical constants
const double GPS_L5_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L5_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_L5_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
const double GPS_L5_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
const double GPS_L5_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GPS_L5_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
constexpr double GPS_L5_C_M_S = 299792458.0; //!< The speed of light, [m/s]
constexpr double GPS_L5_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GPS_L5_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200K
constexpr double GPS_L5_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200K
constexpr double GPS_L5_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
constexpr double GPS_L5_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
constexpr double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
constexpr double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
const double GPS_L5I_CODE_RATE_CPS = 10.23e6; //!< GPS L5i code rate [chips/s]
const int32_t GPS_L5I_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5I_PERIOD_S = 0.001; //!< GPS L5 code period [seconds]
const int32_t GPS_L5I_PERIOD_MS = 1; //!< GPS L5 code period [ms]
const double GPS_L5I_SYMBOL_PERIOD_S = 0.01; //!< GPS L5 symbol period [seconds]
const int32_t GPS_L5I_SYMBOL_PERIOD_MS = 10; //!< GPS L5 symbol period [ms]
constexpr double GPS_L5I_CODE_RATE_CPS = 10.23e6; //!< GPS L5i code rate [chips/s]
constexpr int32_t GPS_L5I_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
constexpr double GPS_L5I_PERIOD_S = 0.001; //!< GPS L5 code period [seconds]
constexpr int32_t GPS_L5I_PERIOD_MS = 1; //!< GPS L5 code period [ms]
constexpr double GPS_L5I_SYMBOL_PERIOD_S = 0.01; //!< GPS L5 symbol period [seconds]
constexpr int32_t GPS_L5I_SYMBOL_PERIOD_MS = 10; //!< GPS L5 symbol period [ms]
const double GPS_L5Q_CODE_RATE_CPS = 10.23e6; //!< GPS L5i code rate [chips/s]
const int32_t GPS_L5Q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5Q_PERIOD_S = 0.001; //!< GPS L5 code period [seconds]
constexpr double GPS_L5Q_CODE_RATE_CPS = 10.23e6; //!< GPS L5i code rate [chips/s]
constexpr int32_t GPS_L5Q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
constexpr double GPS_L5Q_PERIOD_S = 0.001; //!< GPS L5 code period [seconds]
const int32_t GPS_L5_HISTORY_DEEP = 5;
constexpr int32_t GPS_L5_HISTORY_DEEP = 5;
// optimum parameters
const uint32_t GPS_L5_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GPS_L5_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
const int32_t GPS_L5I_INIT_REG[210] =
constexpr int32_t GPS_L5I_INIT_REG[210] =
{266, 365, 804, 1138,
1509, 1559, 1756, 2084,
2170, 2303, 2527, 2687,
@ -113,7 +113,7 @@ const int32_t GPS_L5I_INIT_REG[210] =
5950, 5521, 1515};
const int32_t GPS_L5Q_INIT_REG[210] =
constexpr int32_t GPS_L5Q_INIT_REG[210] =
{
1701, 323, 5292, 2020,
5429, 7136, 1041, 5947,
@ -170,16 +170,16 @@ const int32_t GPS_L5Q_INIT_REG[210] =
2765, 37, 1943, 7977,
2512, 4451, 4071};
const int32_t GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits]
const int32_t GPS_L5_SYMBOLS_PER_BIT = 2;
const int32_t GPS_L5_SAMPLES_PER_SYMBOL = 10;
const int32_t GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
const int32_t GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;
const int32_t GPS_L5I_NH_CODE_LENGTH = 10;
const int32_t GPS_L5I_NH_CODE[10] = {0, 0, 0, 0, 1, 1, 0, 1, 0, 1};
constexpr int32_t GPS_L5_CNAV_DATA_PAGE_BITS = 300; //!< GPS L5 CNAV page length, including preamble and CRC [bits]
constexpr int32_t GPS_L5_SYMBOLS_PER_BIT = 2;
constexpr int32_t GPS_L5_SAMPLES_PER_SYMBOL = 10;
constexpr int32_t GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
constexpr int32_t GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;
constexpr int32_t GPS_L5I_NH_CODE_LENGTH = 10;
constexpr int32_t GPS_L5I_NH_CODE[10] = {0, 0, 0, 0, 1, 1, 0, 1, 0, 1};
const std::string GPS_L5I_NH_CODE_STR = "0000110101";
const int32_t GPS_L5Q_NH_CODE_LENGTH = 20;
const int32_t GPS_L5Q_NH_CODE[20] = {0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0};
constexpr int32_t GPS_L5Q_NH_CODE_LENGTH = 20;
constexpr int32_t GPS_L5Q_NH_CODE[20] = {0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0};
const std::string GPS_L5Q_NH_CODE_STR = "00000100110101001110";
#endif // GNSS_SDR_GPS_L5_H

194
src/core/system_parameters/Galileo_E1.h
View File

@ -31,57 +31,53 @@
// Physical constants
const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
const double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD
const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
const double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
constexpr double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
constexpr double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD
constexpr double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
constexpr double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
constexpr double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s]
constexpr double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GALILEO_E1_FREQ_HZ = FREQ1; //!< Galileo E1 carrier frequency [Hz]
const double GALILEO_E1_CODE_CHIP_RATE_CPS = 1.023e6; //!< Galileo E1 code rate [chips/s]
const double GALILEO_E1_CODE_PERIOD_S = 0.004; //!< Galileo E1 code period [s]
const int32_t GALILEO_E1_CODE_PERIOD_MS = 4; //!< Galileo E1 code period [ms]
const double GALILEO_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-carrier 'a' rate [Hz]
const double GALILEO_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6; //!< Galileo E1 sub-carrier 'b' rate [Hz]
const double GALILEO_E1_B_CODE_LENGTH_CHIPS = 4092.0; //!< Galileo E1-B code length [chips]
const double GALILEO_E1_B_SYMBOL_RATE_BPS = 250.0; //!< Galileo E1-B symbol rate [bits/second]
const int32_t GALILEO_E1_B_SAMPLES_PER_SYMBOL = 1; //!< (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS) / Galileo_E1_B_SYMBOL_RATE_BPS
const int32_t GALILEO_E1_C_SECONDARY_CODE_LENGTH = 25; //!< Galileo E1-C secondary code length [chips]
const int32_t GALILEO_E1_NUMBER_OF_CODES = 50;
constexpr double GALILEO_E1_FREQ_HZ = FREQ1; //!< Galileo E1 carrier frequency [Hz]
constexpr double GALILEO_E1_CODE_CHIP_RATE_CPS = 1.023e6; //!< Galileo E1 code rate [chips/s]
constexpr double GALILEO_E1_CODE_PERIOD_S = 0.004; //!< Galileo E1 code period [s]
constexpr int32_t GALILEO_E1_CODE_PERIOD_MS = 4; //!< Galileo E1 code period [ms]
constexpr double GALILEO_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-carrier 'a' rate [Hz]
constexpr double GALILEO_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6; //!< Galileo E1 sub-carrier 'b' rate [Hz]
constexpr double GALILEO_E1_B_CODE_LENGTH_CHIPS = 4092.0; //!< Galileo E1-B code length [chips]
constexpr double GALILEO_E1_B_SYMBOL_RATE_BPS = 250.0; //!< Galileo E1-B symbol rate [bits/second]
constexpr int32_t GALILEO_E1_B_SAMPLES_PER_SYMBOL = 1; //!< (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS) / Galileo_E1_B_SYMBOL_RATE_BPS
constexpr int32_t GALILEO_E1_C_SECONDARY_CODE_LENGTH = 25; //!< Galileo E1-C secondary code length [chips]
constexpr int32_t GALILEO_E1_NUMBER_OF_CODES = 50;
// optimum parameters
const uint32_t GALILEO_E1_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GALILEO_E1_OPT_ACQ_FS_SPS = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
const double GALILEO_STARTOFFSET_MS = 68.802; // [ms] Initial sign. travel time (this cannot go here)
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int32_t GALILEO_E1_HISTORY_DEEP = 100;
constexpr int32_t GALILEO_E1_HISTORY_DEEP = 100; //!< Observable history length for interpotalion
// Galileo INAV Telemetry structure
const std::string GALILEO_INAV_PREAMBLE = {"0101100000"};
const int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
const double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.0 + GALILEO_INAV_PREAMBLE_LENGTH_BITS * GALILEO_E1_CODE_PERIOD_S;
const int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
const int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
const int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
const int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
const int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
const int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
const int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
const int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
const int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
const int32_t GALILEO_PAGE_TYPE_BITS = 6;
const int32_t GALILEO_DATA_JK_BITS = 128;
const int32_t GALILEO_DATA_FRAME_BITS = 196;
const int32_t GALILEO_DATA_FRAME_BYTES = 25;
constexpr int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
constexpr double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.0 + GALILEO_INAV_PREAMBLE_LENGTH_BITS * GALILEO_E1_CODE_PERIOD_S;
constexpr int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
constexpr int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
constexpr int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
constexpr int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
constexpr int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
constexpr int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
constexpr int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
constexpr int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
constexpr int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
constexpr int32_t GALILEO_PAGE_TYPE_BITS = 6;
constexpr int32_t GALILEO_DATA_JK_BITS = 128;
constexpr int32_t GALILEO_DATA_FRAME_BITS = 196;
constexpr int32_t GALILEO_DATA_FRAME_BYTES = 25;
const std::vector<std::pair<int32_t, int32_t>> TYPE({{1, 6}});
const std::vector<std::pair<int32_t, int32_t>> PAGE_TYPE_BIT({{1, 6}});
@ -89,43 +85,43 @@ const std::vector<std::pair<int32_t, int32_t>> PAGE_TYPE_BIT({{1, 6}});
/* Page 1 - Word type 1: Ephemeris (1/4) */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_1_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> T0_E_1_BIT({{17, 14}});
const int32_t T0E_1_LSB = 60;
constexpr int32_t T0E_1_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> M0_1_BIT({{31, 32}});
const double M0_1_LSB = PI_TWO_N31;
constexpr double M0_1_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> E_1_BIT({{63, 32}});
const double E_1_LSB = TWO_N33;
constexpr double E_1_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> A_1_BIT({{95, 32}});
const double A_1_LSB_GAL = TWO_N19;
constexpr double A_1_LSB_GAL = TWO_N19;
// last two bits are reserved
/* Page 2 - Word type 2: Ephemeris (2/4) */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_2_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA_0_2_BIT({{17, 32}});
const double OMEGA_0_2_LSB = PI_TWO_N31;
constexpr double OMEGA_0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> I_0_2_BIT({{49, 32}});
const double I_0_2_LSB = PI_TWO_N31;
constexpr double I_0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_2_BIT({{81, 32}});
const double OMEGA_2_LSB = PI_TWO_N31;
constexpr double OMEGA_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> I_DOT_2_BIT({{113, 14}});
const double I_DOT_2_LSB = PI_TWO_N43;
constexpr double I_DOT_2_LSB = PI_TWO_N43;
// last two bits are reserved
/* Word type 3: Ephemeris (3/4) and SISA */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_3_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_3_BIT({{17, 24}});
const double OMEGA_DOT_3_LSB = PI_TWO_N43;
constexpr double OMEGA_DOT_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> DELTA_N_3_BIT({{41, 16}});
const double DELTA_N_3_LSB = PI_TWO_N43;
constexpr double DELTA_N_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> C_UC_3_BIT({{57, 16}});
const double C_UC_3_LSB = TWO_N29;
constexpr double C_UC_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_US_3_BIT({{73, 16}});
const double C_US_3_LSB = TWO_N29;
constexpr double C_US_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_RC_3_BIT({{89, 16}});
const double C_RC_3_LSB = TWO_N5;
constexpr double C_RC_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> C_RS_3_BIT({{105, 16}});
const double C_RS_3_LSB = TWO_N5;
constexpr double C_RS_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
@ -133,17 +129,17 @@ const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_4_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> SV_ID_PRN_4_BIT({{17, 6}});
const std::vector<std::pair<int32_t, int32_t>> C_IC_4_BIT({{23, 16}});
const double C_IC_4_LSB = TWO_N29;
constexpr double C_IC_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_IS_4_BIT({{39, 16}});
const double C_IS_4_LSB = TWO_N29;
constexpr double C_IS_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> T0C_4_BIT({{55, 14}}); //
const int32_t T0C_4_LSB = 60;
constexpr int32_t T0C_4_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> AF0_4_BIT({{69, 31}}); //
const double AF0_4_LSB = TWO_N34;
constexpr double AF0_4_LSB = TWO_N34;
const std::vector<std::pair<int32_t, int32_t>> AF1_4_BIT({{100, 21}}); //
const double AF1_4_LSB = TWO_N46;
constexpr double AF1_4_LSB = TWO_N46;
const std::vector<std::pair<int32_t, int32_t>> AF2_4_BIT({{121, 6}});
const double AF2_4_LSB = TWO_N59;
constexpr double AF2_4_LSB = TWO_N59;
const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
// last two bits are reserved
@ -152,11 +148,11 @@ const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
/* Ionospheric correction */
/* Az */
const std::vector<std::pair<int32_t, int32_t>> AI0_5_BIT({{7, 11}}); //
const double AI0_5_LSB = TWO_N2;
constexpr double AI0_5_LSB = TWO_N2;
const std::vector<std::pair<int32_t, int32_t>> AI1_5_BIT({{18, 11}}); //
const double AI1_5_LSB = TWO_N8;
constexpr double AI1_5_LSB = TWO_N8;
const std::vector<std::pair<int32_t, int32_t>> AI2_5_BIT({{29, 14}}); //
const double AI2_5_LSB = TWO_N15;
constexpr double AI2_5_LSB = TWO_N15;
/* Ionospheric disturbance flag */
const std::vector<std::pair<int32_t, int32_t>> REGION1_5_BIT({{43, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> REGION2_5_BIT({{44, 1}}); //
@ -164,9 +160,9 @@ const std::vector<std::pair<int32_t, int32_t>> REGION3_5_BIT({{45, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> REGION4_5_BIT({{46, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> REGION5_5_BIT({{47, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5A_5_BIT({{48, 10}}); //
const double BGD_E1_E5A_5_LSB = TWO_N32;
constexpr double BGD_E1_E5A_5_LSB = TWO_N32;
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5B_5_BIT({{58, 10}}); //
const double BGD_E1_E5B_5_LSB = TWO_N32;
constexpr double BGD_E1_E5B_5_LSB = TWO_N32;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_5_BIT({{68, 2}}); //
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_5_BIT({{70, 2}}); //
const std::vector<std::pair<int32_t, int32_t>> E5B_DVS_5_BIT({{72, 1}}); //
@ -179,12 +175,12 @@ const std::vector<std::pair<int32_t, int32_t>> SPARE_5_BIT({{106, 23}});
/* Page 6 */
const std::vector<std::pair<int32_t, int32_t>> A0_6_BIT({{7, 32}});
const double A0_6_LSB = TWO_N30;
constexpr double A0_6_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t>> A1_6_BIT({{39, 24}});
const double A1_6_LSB = TWO_N50;
constexpr double A1_6_LSB = TWO_N50;
const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LS_6_BIT({{63, 8}});
const std::vector<std::pair<int32_t, int32_t>> T0T_6_BIT({{71, 8}});
const int32_t T0T_6_LSB = 3600;
constexpr int32_t T0T_6_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> W_NOT_6_BIT({{79, 8}});
const std::vector<std::pair<int32_t, int32_t>> WN_LSF_6_BIT({{87, 8}});
const std::vector<std::pair<int32_t, int32_t>> DN_6_BIT({{95, 3}});
@ -196,91 +192,91 @@ const std::vector<std::pair<int32_t, int32_t>> TOW_6_BIT({{106, 20}});
const std::vector<std::pair<int32_t, int32_t>> IOD_A_7_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> WN_A_7_BIT({{11, 2}});
const std::vector<std::pair<int32_t, int32_t>> T0A_7_BIT({{13, 10}});
const int32_t T0A_7_LSB = 600;
constexpr int32_t T0A_7_LSB = 600;
const std::vector<std::pair<int32_t, int32_t>> SVI_D1_7_BIT({{23, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_7_BIT({{29, 13}});
const double DELTA_A_7_LSB = TWO_N9;
constexpr double DELTA_A_7_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_7_BIT({{42, 11}});
const double E_7_LSB = TWO_N16;
constexpr double E_7_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_7_BIT({{53, 16}});
const double OMEGA_7_LSB = TWO_N15;
constexpr double OMEGA_7_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_7_BIT({{69, 11}});
const double DELTA_I_7_LSB = TWO_N14;
constexpr double DELTA_I_7_LSB = TWO_N14;
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_7_BIT({{80, 16}});
const double OMEGA0_7_LSB = TWO_N15;
constexpr double OMEGA0_7_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_7_BIT({{96, 11}});
const double OMEGA_DOT_7_LSB = TWO_N33;
constexpr double OMEGA_DOT_7_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> M0_7_BIT({{107, 16}});
const double M0_7_LSB = TWO_N15;
constexpr double M0_7_LSB = TWO_N15;
/* Page 8 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_8_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> AF0_8_BIT({{11, 16}});
const double AF0_8_LSB = TWO_N19;
constexpr double AF0_8_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_8_BIT({{27, 13}});
const double AF1_8_LSB = TWO_N38;
constexpr double AF1_8_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_8_BIT({{40, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_8_BIT({{42, 2}});
const std::vector<std::pair<int32_t, int32_t>> SVI_D2_8_BIT({{44, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_8_BIT({{50, 13}});
const double DELTA_A_8_LSB = TWO_N9;
constexpr double DELTA_A_8_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_8_BIT({{63, 11}});
const double E_8_LSB = TWO_N16;
constexpr double E_8_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_8_BIT({{74, 16}});
const double OMEGA_8_LSB = TWO_N15;
constexpr double OMEGA_8_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_8_BIT({{90, 11}});
const double DELTA_I_8_LSB = TWO_N14;
constexpr double DELTA_I_8_LSB = TWO_N14;
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_8_BIT({{101, 16}});
const double OMEGA0_8_LSB = TWO_N15;
constexpr double OMEGA0_8_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_8_BIT({{117, 11}});
const double OMEGA_DOT_8_LSB = TWO_N33;
constexpr double OMEGA_DOT_8_LSB = TWO_N33;
/* Page 9 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_9_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> WN_A_9_BIT({{11, 2}});
const std::vector<std::pair<int32_t, int32_t>> T0A_9_BIT({{13, 10}});
const int32_t T0A_9_LSB = 600;
constexpr int32_t T0A_9_LSB = 600;
const std::vector<std::pair<int32_t, int32_t>> M0_9_BIT({{23, 16}});
const double M0_9_LSB = TWO_N15;
constexpr double M0_9_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> AF0_9_BIT({{39, 16}});
const double AF0_9_LSB = TWO_N19;
constexpr double AF0_9_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_9_BIT({{55, 13}});
const double AF1_9_LSB = TWO_N38;
constexpr double AF1_9_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_9_BIT({{68, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_9_BIT({{70, 2}});
const std::vector<std::pair<int32_t, int32_t>> SVI_D3_9_BIT({{72, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_9_BIT({{78, 13}});
const double DELTA_A_9_LSB = TWO_N9;
constexpr double DELTA_A_9_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_9_BIT({{91, 11}});
const double E_9_LSB = TWO_N16;
constexpr double E_9_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_9_BIT({{102, 16}});
const double OMEGA_9_LSB = TWO_N15;
constexpr double OMEGA_9_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_9_BIT({{118, 11}});
const double DELTA_I_9_LSB = TWO_N14;
constexpr double DELTA_I_9_LSB = TWO_N14;
/* Page 10 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_10_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_10_BIT({{11, 16}});
const double OMEGA0_10_LSB = TWO_N15;
constexpr double OMEGA0_10_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_10_BIT({{27, 11}});
const double OMEGA_DOT_10_LSB = TWO_N33;
constexpr double OMEGA_DOT_10_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> M0_10_BIT({{38, 16}});
const double M0_10_LSB = TWO_N15;
constexpr double M0_10_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> AF0_10_BIT({{54, 16}});
const double AF0_10_LSB = TWO_N19;
constexpr double AF0_10_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_10_BIT({{70, 13}});
const double AF1_10_LSB = TWO_N38;
constexpr double AF1_10_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_10_BIT({{83, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_10_BIT({{85, 2}});
const std::vector<std::pair<int32_t, int32_t>> A_0_G_10_BIT({{87, 16}});
const double A_0G_10_LSB = TWO_N35;
constexpr double A_0G_10_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t>> A_1_G_10_BIT({{103, 12}});
const double A_1G_10_LSB = TWO_N51;
constexpr double A_1G_10_LSB = TWO_N51;
const std::vector<std::pair<int32_t, int32_t>> T_0_G_10_BIT({{115, 8}});
const int32_t T_0_G_10_LSB = 3600;
constexpr int32_t T_0_G_10_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> WN_0_G_10_BIT({{123, 6}});

130
src/core/system_parameters/Galileo_E5a.h
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@ -29,42 +29,42 @@
// Carrier and code frequencies
const double GALILEO_E5A_FREQ_HZ = FREQ5; //!< Galileo E5a carrier frequency [Hz]
const double GALILEO_E5A_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5a code rate [chips/s]
const double GALILEO_E5A_I_TIERED_CODE_PERIOD_S = 0.020; //!< Galileo E5a-I tiered code period [s]
const double GALILEO_E5A_Q_TIERED_CODE_PERIOD_S = 0.100; //!< Galileo E5a-Q tiered code period [s]
const int32_t GALILEO_E5A_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5a primary code length [chips]
const int32_t GALILEO_E5A_I_SECONDARY_CODE_LENGTH = 20; //!< Galileo E5a-I secondary code length [chips]
const int32_t GALILEO_E5A_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5a-Q secondary code length [chips]
const double GALILEO_E5A_CODE_PERIOD_S = 0.001; //!< Galileo E1 primary code period [s]
const int32_t GALILEO_E5A_CODE_PERIOD_MS = 1; //!< Galileo E1 primary code period [ms]
const int32_t GALILEO_E5A_SYMBOL_RATE_BPS = 50; //!< Galileo E5a symbol rate [bits/second]
const int32_t GALILEO_E5A_NUMBER_OF_CODES = 50;
constexpr double GALILEO_E5A_FREQ_HZ = FREQ5; //!< Galileo E5a carrier frequency [Hz]
constexpr double GALILEO_E5A_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5a code rate [chips/s]
constexpr double GALILEO_E5A_I_TIERED_CODE_PERIOD_S = 0.020; //!< Galileo E5a-I tiered code period [s]
constexpr double GALILEO_E5A_Q_TIERED_CODE_PERIOD_S = 0.100; //!< Galileo E5a-Q tiered code period [s]
constexpr int32_t GALILEO_E5A_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5a primary code length [chips]
constexpr int32_t GALILEO_E5A_I_SECONDARY_CODE_LENGTH = 20; //!< Galileo E5a-I secondary code length [chips]
constexpr int32_t GALILEO_E5A_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5a-Q secondary code length [chips]
constexpr double GALILEO_E5A_CODE_PERIOD_S = 0.001; //!< Galileo E1 primary code period [s]
constexpr int32_t GALILEO_E5A_CODE_PERIOD_MS = 1; //!< Galileo E1 primary code period [ms]
constexpr int32_t GALILEO_E5A_SYMBOL_RATE_BPS = 50; //!< Galileo E5a symbol rate [bits/second]
constexpr int32_t GALILEO_E5A_NUMBER_OF_CODES = 50;
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION AND CRC ERROR LIMIT
const int32_t GALILEO_E5A_HISTORY_DEEP = 20;
const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
constexpr int32_t GALILEO_E5A_HISTORY_DEEP = 20;
constexpr int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
// optimum parameters
const uint32_t GALILEO_E5A_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GALILEO_E5A_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
// F/NAV message structure
const int32_t GALILEO_FNAV_PREAMBLE_LENGTH_BITS = 12;
constexpr int32_t GALILEO_FNAV_PREAMBLE_LENGTH_BITS = 12;
const std::string GALILEO_FNAV_PREAMBLE = {"101101110000"};
const int32_t GALILEO_FNAV_CODES_PER_SYMBOL = 20; // (chip rate/ code length)/telemetry bps
const int32_t GALILEO_FNAV_CODES_PER_PREAMBLE = 240; // bits preamble * codes/symbol
const int32_t GALILEO_FNAV_SYMBOLS_PER_PAGE = 500; // Total symbols per page including preamble. See Galileo ICD 4.2.2
const int32_t GALILEO_FNAV_SECONDS_PER_PAGE = 10;
const int32_t GALILEO_FNAV_CODES_PER_PAGE = 10000; // symbols * codes/symbol, where code stands for primary code
constexpr int32_t GALILEO_FNAV_CODES_PER_SYMBOL = 20; // (chip rate/ code length)/telemetry bps
constexpr int32_t GALILEO_FNAV_CODES_PER_PREAMBLE = 240; // bits preamble * codes/symbol
constexpr int32_t GALILEO_FNAV_SYMBOLS_PER_PAGE = 500; // Total symbols per page including preamble. See Galileo ICD 4.2.2
constexpr int32_t GALILEO_FNAV_SECONDS_PER_PAGE = 10;
constexpr int32_t GALILEO_FNAV_CODES_PER_PAGE = 10000; // symbols * codes/symbol, where code stands for primary code
const int32_t GALILEO_FNAV_INTERLEAVER_ROWS = 8;
const int32_t GALILEO_FNAV_INTERLEAVER_COLS = 61;
const int32_t GALILEO_FNAV_PAGE_TYPE_BITS = 6;
constexpr int32_t GALILEO_FNAV_INTERLEAVER_ROWS = 8;
constexpr int32_t GALILEO_FNAV_INTERLEAVER_COLS = 61;
constexpr int32_t GALILEO_FNAV_PAGE_TYPE_BITS = 6;
const int32_t GALILEO_FNAV_DATA_FRAME_BITS = 214;
const int32_t GALILEO_FNAV_DATA_FRAME_BYTES = 27;
constexpr int32_t GALILEO_FNAV_DATA_FRAME_BITS = 214;
constexpr int32_t GALILEO_FNAV_DATA_FRAME_BYTES = 27;
const std::vector<std::pair<int32_t, int32_t>> FNAV_PAGE_TYPE_BIT({{1, 6}});
@ -72,27 +72,27 @@ const std::vector<std::pair<int32_t, int32_t>> FNAV_PAGE_TYPE_BIT({{1, 6}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_SV_ID_PRN_1_BIT({{7, 6}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_IO_DNAV_1_BIT({{13, 10}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_T0C_1_BIT({{23, 14}});
const int32_t FNAV_T0C_1_LSB = 60;
constexpr int32_t FNAV_T0C_1_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AF0_1_BIT({{37, 31}});
const double FNAV_AF0_1_LSB = TWO_N34;
constexpr double FNAV_AF0_1_LSB = TWO_N34;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AF1_1_BIT({{68, 21}});
const double FNAV_AF1_1_LSB = TWO_N46;
constexpr double FNAV_AF1_1_LSB = TWO_N46;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AF2_1_BIT({{89, 6}});
const double FNAV_AF2_1_LSB = TWO_N59;
constexpr double FNAV_AF2_1_LSB = TWO_N59;
const std::vector<std::pair<int32_t, int32_t>> FNAV_SISA_1_BIT({{95, 8}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_AI0_1_BIT({{103, 11}});
const double FNAV_AI0_1_LSB = TWO_N2;
constexpr double FNAV_AI0_1_LSB = TWO_N2;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AI1_1_BIT({{114, 11}});
const double FNAV_AI1_1_LSB = TWO_N8;
constexpr double FNAV_AI1_1_LSB = TWO_N8;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AI2_1_BIT({{125, 14}});
const double FNAV_AI2_1_LSB = TWO_N15;
constexpr double FNAV_AI2_1_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> FNAV_REGION1_1_BIT({{139, 1}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_REGION2_1_BIT({{140, 1}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_REGION3_1_BIT({{141, 1}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_REGION4_1_BIT({{142, 1}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_REGION5_1_BIT({{143, 1}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_BGD_1_BIT({{144, 10}});
const double FNAV_BGD_1_LSB = TWO_N32;
constexpr double FNAV_BGD_1_LSB = TWO_N32;
const std::vector<std::pair<int32_t, int32_t>> FNAV_E5AHS_1_BIT({{154, 2}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_WN_1_BIT({{156, 12}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_TOW_1_BIT({{168, 20}});
@ -101,64 +101,64 @@ const std::vector<std::pair<int32_t, int32_t>> FNAV_E5ADVS_1_BIT({{188, 1}});
// WORD 2 Ephemeris (1/3)
const std::vector<std::pair<int32_t, int32_t>> FNAV_IO_DNAV_2_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_M0_2_BIT({{17, 32}});
const double FNAV_M0_2_LSB = PI_TWO_N31;
constexpr double FNAV_M0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> FNAV_OMEGADOT_2_BIT({{49, 24}});
const double FNAV_OMEGADOT_2_LSB = PI_TWO_N43;
constexpr double FNAV_OMEGADOT_2_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> FNAV_E_2_BIT({{73, 32}});
const double FNAV_E_2_LSB = TWO_N33;
constexpr double FNAV_E_2_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> FNAV_A12_2_BIT({{105, 32}});
const double FNAV_A12_2_LSB = TWO_N19;
constexpr double FNAV_A12_2_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> FNAV_OMEGA0_2_BIT({{137, 32}});
const double FNAV_OMEGA0_2_LSB = PI_TWO_N31;
constexpr double FNAV_OMEGA0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> FNAV_IDOT_2_BIT({{169, 14}});
const double FNAV_IDOT_2_LSB = PI_TWO_N43;
constexpr double FNAV_IDOT_2_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> FNAV_WN_2_BIT({{183, 12}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_TOW_2_BIT({{195, 20}});
// WORD 3 Ephemeris (2/3)
const std::vector<std::pair<int32_t, int32_t>> FNAV_IO_DNAV_3_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_I0_3_BIT({{17, 32}});
const double FNAV_I0_3_LSB = PI_TWO_N31;
constexpr double FNAV_I0_3_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_3_BIT({{49, 32}});
const double FNAV_W_3_LSB = PI_TWO_N31;
constexpr double FNAV_W_3_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTAN_3_BIT({{81, 16}});
const double FNAV_DELTAN_3_LSB = PI_TWO_N43;
constexpr double FNAV_DELTAN_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> FNAV_CUC_3_BIT({{97, 16}});
const double FNAV_CUC_3_LSB = TWO_N29;
constexpr double FNAV_CUC_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> FNAV_CUS_3_BIT({{113, 16}});
const double FNAV_CUS_3_LSB = TWO_N29;
constexpr double FNAV_CUS_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> FNAV_CRC_3_BIT({{129, 16}});
const double FNAV_CRC_3_LSB = TWO_N5;
constexpr double FNAV_CRC_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> FNAV_CRS_3_BIT({{145, 16}});
const double FNAV_CRS_3_LSB = TWO_N5;
constexpr double FNAV_CRS_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> FNAV_T0E_3_BIT({{161, 14}});
const int32_t FNAV_T0E_3_LSB = 60;
constexpr int32_t FNAV_T0E_3_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> FNAV_WN_3_BIT({{175, 12}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_TOW_3_BIT({{187, 20}});
// WORD 4 Ephemeris (3/3)
const std::vector<std::pair<int32_t, int32_t>> FNAV_IO_DNAV_4_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_CIC_4_BIT({{17, 16}});
const double FNAV_CIC_4_LSB = TWO_N29;
constexpr double FNAV_CIC_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> FNAV_CIS_4_BIT({{33, 16}});
const double FNAV_CIS_4_LSB = TWO_N29;
constexpr double FNAV_CIS_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> FNAV_A0_4_BIT({{49, 32}});
const double FNAV_A0_4_LSB = TWO_N30;
constexpr double FNAV_A0_4_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t>> FNAV_A1_4_BIT({{81, 24}});
const double FNAV_A1_4_LSB = TWO_N50;
constexpr double FNAV_A1_4_LSB = TWO_N50;
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTATLS_4_BIT({{105, 8}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_T0T_4_BIT({{113, 8}});
const int32_t FNAV_T0T_4_LSB = 3600;
constexpr int32_t FNAV_T0T_4_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_NOT_4_BIT({{121, 8}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_NLSF_4_BIT({{129, 8}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_DN_4_BIT({{137, 3}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTATLSF_4_BIT({{140, 8}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_T0G_4_BIT({{148, 8}});
const int32_t FNAV_T0G_4_LSB = 3600;
constexpr int32_t FNAV_T0G_4_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> FNAV_A0G_4_BIT({{156, 16}});
const double FNAV_A0G_4_LSB = TWO_N35;
constexpr double FNAV_A0G_4_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t>> FNAV_A1G_4_BIT({{172, 12}});
const double FNAV_A1G_4_LSB = TWO_N51;
constexpr double FNAV_A1G_4_LSB = TWO_N51;
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_N0G_4_BIT({{184, 6}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_TOW_4_BIT({{190, 20}});
@ -166,26 +166,26 @@ const std::vector<std::pair<int32_t, int32_t>> FNAV_TOW_4_BIT({{190, 20}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_IO_DA_5_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_NA_5_BIT({{11, 2}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_T0A_5_BIT({{13, 10}});
const int32_t FNAV_T0A_5_LSB = 600;
constexpr int32_t FNAV_T0A_5_LSB = 600;
const std::vector<std::pair<int32_t, int32_t>> FNAV_SVI_D1_5_BIT({{23, 6}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTAA12_1_5_BIT({{29, 13}});
const double FNAV_DELTAA12_5_LSB = TWO_N9;
constexpr double FNAV_DELTAA12_5_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> FNAV_E_1_5_BIT({{42, 11}});
const double FNAV_E_5_LSB = TWO_N16;
constexpr double FNAV_E_5_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> FNAV_W_1_5_BIT({{53, 16}});
const double FNAV_W_5_LSB = TWO_N15;
constexpr double FNAV_W_5_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTAI_1_5_BIT({{69, 11}});
const double FNAV_DELTAI_5_LSB = TWO_N14;
constexpr double FNAV_DELTAI_5_LSB = TWO_N14;
const std::vector<std::pair<int32_t, int32_t>> FNAV_OMEGA0_1_5_BIT({{80, 16}});
const double FNAV_OMEGA0_5_LSB = TWO_N15;
constexpr double FNAV_OMEGA0_5_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> FNAV_OMEGADOT_1_5_BIT({{96, 11}});
const double FNAV_OMEGADOT_5_LSB = TWO_N33;
constexpr double FNAV_OMEGADOT_5_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> FNAV_M0_1_5_BIT({{107, 16}});
const double FNAV_M0_5_LSB = TWO_N15;
constexpr double FNAV_M0_5_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AF0_1_5_BIT({{123, 16}});
const double FNAV_AF0_5_LSB = TWO_N19;
constexpr double FNAV_AF0_5_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> FNAV_AF1_1_5_BIT({{139, 13}});
const double FNAV_AF1_5_LSB = TWO_N38;
constexpr double FNAV_AF1_5_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> FNAV_E5AHS_1_5_BIT({{152, 2}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_SVI_D2_5_BIT({{154, 6}});
const std::vector<std::pair<int32_t, int32_t>> FNAV_DELTAA12_2_5_BIT({{160, 13}});

186
src/core/system_parameters/Galileo_E5b.h
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@ -30,50 +30,50 @@
// Physical constants
const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
const double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD
const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
const double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
constexpr double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
constexpr double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD
constexpr double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
constexpr double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
constexpr double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s]
constexpr double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
constexpr double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
// Carrier and code frequencies
const double GALILEO_E5B_FREQ_HZ = FREQ7; //!< Galileo E5b carrier frequency [Hz]
const double GALILEO_E5B_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5b code rate [chips/s]
const double GALILEO_E5B_I_TIERED_CODE_PERIOD_S = 0.004; //!< Galileo E5b-I tiered code period [s]
const double GALILEO_E5B_Q_TIERED_CODE_PERIOD_S = 0.100; //!< Galileo E5b-Q tiered code period [s]
const int32_t GALILEO_E5B_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5b primary code length [chips]
const int32_t GALILEO_E5B_I_SECONDARY_CODE_LENGTH = 4; //!< Galileo E5b-I secondary code length [chips]
const int32_t GALILEO_E5B_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5b-Q secondary code length [chips]
const int32_t GALILEO_E5B_SYMBOL_RATE_BPS = 250; //!< Galileo E5b symbol rate [bits/second]
const int32_t GALILEO_E5B_NUMBER_OF_CODES = 50;
constexpr double GALILEO_E5B_FREQ_HZ = FREQ7; //!< Galileo E5b carrier frequency [Hz]
constexpr double GALILEO_E5B_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5b code rate [chips/s]
constexpr double GALILEO_E5B_I_TIERED_CODE_PERIOD_S = 0.004; //!< Galileo E5b-I tiered code period [s]
constexpr double GALILEO_E5B_Q_TIERED_CODE_PERIOD_S = 0.100; //!< Galileo E5b-Q tiered code period [s]
constexpr int32_t GALILEO_E5B_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5b primary code length [chips]
constexpr int32_t GALILEO_E5B_I_SECONDARY_CODE_LENGTH = 4; //!< Galileo E5b-I secondary code length [chips]
constexpr int32_t GALILEO_E5B_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5b-Q secondary code length [chips]
constexpr int32_t GALILEO_E5B_SYMBOL_RATE_BPS = 250; //!< Galileo E5b symbol rate [bits/second]
constexpr int32_t GALILEO_E5B_NUMBER_OF_CODES = 50;
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int32_t GALILEO_E5B_HISTORY_DEEP = 100;
constexpr int32_t GALILEO_E5B_HISTORY_DEEP = 100;
// optimum parameters
const uint32_t GALILEO_E5B_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
constexpr uint32_t GALILEO_E5B_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
// Galileo I/NAV message structure
const std::string GALILEO_INAV_PREAMBLE = {"0101100000"};
const int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
const double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.04; //!< Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds))
const int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
const int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
const int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
const int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
const int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
const int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
const int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
const int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
const int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
const int32_t GALILEO_PAGE_TYPE_BITS = 6;
const int32_t GALILEO_DATA_JK_BITS = 128;
const int32_t GALILEO_DATA_FRAME_BITS = 196;
const int32_t GALILEO_DATA_FRAME_BYTES = 25;
constexpr int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
constexpr double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.04; //!< Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds))
constexpr int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
constexpr int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
constexpr int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
constexpr int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
constexpr int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
constexpr int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
constexpr int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
constexpr int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
constexpr int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
constexpr int32_t GALILEO_PAGE_TYPE_BITS = 6;
constexpr int32_t GALILEO_DATA_JK_BITS = 128;
constexpr int32_t GALILEO_DATA_FRAME_BITS = 196;
constexpr int32_t GALILEO_DATA_FRAME_BYTES = 25;
const std::vector<std::pair<int32_t, int32_t>> TYPE({{1, 6}});
const std::vector<std::pair<int32_t, int32_t>> PAGE_TYPE_BIT({{1, 6}});
@ -87,43 +87,43 @@ const std::vector<std::pair<int32_t, int32_t>> TOW_0_BIT({{109, 20}});
/* Page 1 - Word type 1: Ephemeris (1/4) */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_1_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> T0_E_1_BIT({{17, 14}});
const int32_t T0E_1_LSB = 60;
constexpr int32_t T0E_1_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> M0_1_BIT({{31, 32}});
const double M0_1_LSB = PI_TWO_N31;
constexpr double M0_1_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> E_1_BIT({{63, 32}});
const double E_1_LSB = TWO_N33;
constexpr double E_1_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> A_1_BIT({{95, 32}});
const double A_1_LSB_GAL = TWO_N19;
constexpr double A_1_LSB_GAL = TWO_N19;
// last two bits are reserved
/* Page 2 - Word type 2: Ephemeris (2/4) */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_2_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA_0_2_BIT({{17, 32}});
const double OMEGA_0_2_LSB = PI_TWO_N31;
constexpr double OMEGA_0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> I_0_2_BIT({{49, 32}});
const double I_0_2_LSB = PI_TWO_N31;
constexpr double I_0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_2_BIT({{81, 32}});
const double OMEGA_2_LSB = PI_TWO_N31;
constexpr double OMEGA_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int32_t, int32_t>> I_DOT_2_BIT({{113, 14}});
const double I_DOT_2_LSB = PI_TWO_N43;
constexpr double I_DOT_2_LSB = PI_TWO_N43;
// last two bits are reserved
/* Word type 3: Ephemeris (3/4) and SISA */
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_3_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_3_BIT({{17, 24}});
const double OMEGA_DOT_3_LSB = PI_TWO_N43;
constexpr double OMEGA_DOT_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> DELTA_N_3_BIT({{41, 16}});
const double DELTA_N_3_LSB = PI_TWO_N43;
constexpr double DELTA_N_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int32_t, int32_t>> C_UC_3_BIT({{57, 16}});
const double C_UC_3_LSB = TWO_N29;
constexpr double C_UC_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_US_3_BIT({{73, 16}});
const double C_US_3_LSB = TWO_N29;
constexpr double C_US_3_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_RC_3_BIT({{89, 16}});
const double C_RC_3_LSB = TWO_N5;
constexpr double C_RC_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> C_RS_3_BIT({{105, 16}});
const double C_RS_3_LSB = TWO_N5;
constexpr double C_RS_3_LSB = TWO_N5;
const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
@ -131,17 +131,17 @@ const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_4_BIT({{7, 10}});
const std::vector<std::pair<int32_t, int32_t>> SV_ID_PRN_4_BIT({{17, 6}});
const std::vector<std::pair<int32_t, int32_t>> C_IC_4_BIT({{23, 16}});
const double C_IC_4_LSB = TWO_N29;
constexpr double C_IC_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> C_IS_4_BIT({{39, 16}});
const double C_IS_4_LSB = TWO_N29;
constexpr double C_IS_4_LSB = TWO_N29;
const std::vector<std::pair<int32_t, int32_t>> T0C_4_BIT({{55, 14}}); //
const int32_t T0C_4_LSB = 60;
constexpr int32_t T0C_4_LSB = 60;
const std::vector<std::pair<int32_t, int32_t>> AF0_4_BIT({{69, 31}}); //
const double AF0_4_LSB = TWO_N34;
constexpr double AF0_4_LSB = TWO_N34;
const std::vector<std::pair<int32_t, int32_t>> AF1_4_BIT({{100, 21}}); //
const double AF1_4_LSB = TWO_N46;
constexpr double AF1_4_LSB = TWO_N46;
const std::vector<std::pair<int32_t, int32_t>> AF2_4_BIT({{121, 6}});
const double AF2_4_LSB = TWO_N59;
constexpr double AF2_4_LSB = TWO_N59;
const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
// last two bits are reserved
@ -150,11 +150,11 @@ const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
/* Ionospheric correction */
/* Az */
const std::vector<std::pair<int32_t, int32_t>> AI0_5_BIT({{7, 11}}); //
const double AI0_5_LSB = TWO_N2;
constexpr double AI0_5_LSB = TWO_N2;
const std::vector<std::pair<int32_t, int32_t>> AI1_5_BIT({{18, 11}}); //
const double AI1_5_LSB = TWO_N8;
constexpr double AI1_5_LSB = TWO_N8;
const std::vector<std::pair<int32_t, int32_t>> AI2_5_BIT({{29, 14}}); //
const double AI2_5_LSB = TWO_N15;
constexpr double AI2_5_LSB = TWO_N15;
/* Ionospheric disturbance flag */
@ -164,9 +164,9 @@ const std::vector<std::pair<int32_t, int32_t>> REGION3_5_BIT({{45, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> REGION4_5_BIT({{46, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> REGION5_5_BIT({{47, 1}}); //
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5A_5_BIT({{48, 10}}); //
const double BGD_E1_E5A_5_LSB = TWO_N32;
constexpr double BGD_E1_E5A_5_LSB = TWO_N32;
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5B_5_BIT({{58, 10}}); //
const double BGD_E1_E5B_5_LSB = TWO_N32;
constexpr double BGD_E1_E5B_5_LSB = TWO_N32;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_5_BIT({{68, 2}}); //
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_5_BIT({{70, 2}}); //
const std::vector<std::pair<int32_t, int32_t>> E5B_DVS_5_BIT({{72, 1}}); //
@ -181,12 +181,12 @@ const std::vector<std::pair<int32_t, int32_t>> SPARE_5_BIT({{106, 23}});
/* Page 6 */
const std::vector<std::pair<int32_t, int32_t>> A0_6_BIT({{7, 32}});
const double A0_6_LSB = TWO_N30;
constexpr double A0_6_LSB = TWO_N30;
const std::vector<std::pair<int32_t, int32_t>> A1_6_BIT({{39, 24}});
const double A1_6_LSB = TWO_N50;
constexpr double A1_6_LSB = TWO_N50;
const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LS_6_BIT({{63, 8}});
const std::vector<std::pair<int32_t, int32_t>> T0T_6_BIT({{71, 8}});
const int32_t T0T_6_LSB = 3600;
constexpr int32_t T0T_6_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> W_NOT_6_BIT({{79, 8}});
const std::vector<std::pair<int32_t, int32_t>> WN_LSF_6_BIT({{87, 8}});
const std::vector<std::pair<int32_t, int32_t>> DN_6_BIT({{95, 3}});
@ -198,91 +198,91 @@ const std::vector<std::pair<int32_t, int32_t>> TOW_6_BIT({{106, 20}});
const std::vector<std::pair<int32_t, int32_t>> IOD_A_7_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> WN_A_7_BIT({{11, 2}});
const std::vector<std::pair<int32_t, int32_t>> T0A_7_BIT({{13, 10}});
const int32_t T0A_7_LSB = 600;
constexpr int32_t T0A_7_LSB = 600;
const std::vector<std::pair<int32_t, int32_t>> SVI_D1_7_BIT({{23, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_7_BIT({{29, 13}});
const double DELTA_A_7_LSB = TWO_N9;
constexpr double DELTA_A_7_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_7_BIT({{42, 11}});
const double E_7_LSB = TWO_N16;
constexpr double E_7_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_7_BIT({{53, 16}});
const double OMEGA_7_LSB = TWO_N15;
constexpr double OMEGA_7_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_7_BIT({{69, 11}});
const double DELTA_I_7_LSB = TWO_N14;
constexpr double DELTA_I_7_LSB = TWO_N14;
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_7_BIT({{80, 16}});
const double OMEGA0_7_LSB = TWO_N15;
constexpr double OMEGA0_7_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_7_BIT({{96, 11}});
const double OMEGA_DOT_7_LSB = TWO_N33;
constexpr double OMEGA_DOT_7_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> M0_7_BIT({{107, 16}});
const double M0_7_LSB = TWO_N15;
constexpr double M0_7_LSB = TWO_N15;
/* Page 8 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_8_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> AF0_8_BIT({{11, 16}});
const double AF0_8_LSB = TWO_N19;
constexpr double AF0_8_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_8_BIT({{27, 13}});
const double AF1_8_LSB = TWO_N38;
constexpr double AF1_8_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_8_BIT({{40, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_8_BIT({{42, 2}});
const std::vector<std::pair<int32_t, int32_t>> SVI_D2_8_BIT({{44, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_8_BIT({{50, 13}});
const double DELTA_A_8_LSB = TWO_N9;
constexpr double DELTA_A_8_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_8_BIT({{63, 11}});
const double E_8_LSB = TWO_N16;
constexpr double E_8_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_8_BIT({{74, 16}});
const double OMEGA_8_LSB = TWO_N15;
constexpr double OMEGA_8_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_8_BIT({{90, 11}});
const double DELTA_I_8_LSB = TWO_N14;
constexpr double DELTA_I_8_LSB = TWO_N14;
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_8_BIT({{101, 16}});
const double OMEGA0_8_LSB = TWO_N15;
constexpr double OMEGA0_8_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_8_BIT({{117, 11}});
const double OMEGA_DOT_8_LSB = TWO_N33;
constexpr double OMEGA_DOT_8_LSB = TWO_N33;
/* Page 9 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_9_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> WN_A_9_BIT({{11, 2}});
const std::vector<std::pair<int32_t, int32_t>> T0A_9_BIT({{13, 10}});
const int32_t T0A_9_LSB = 600;
constexpr int32_t T0A_9_LSB = 600;
const std::vector<std::pair<int32_t, int32_t>> M0_9_BIT({{23, 16}});
const double M0_9_LSB = TWO_N15;
constexpr double M0_9_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> AF0_9_BIT({{39, 16}});
const double AF0_9_LSB = TWO_N19;
constexpr double AF0_9_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_9_BIT({{55, 13}});
const double AF1_9_LSB = TWO_N38;
constexpr double AF1_9_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_9_BIT({{68, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_9_BIT({{70, 2}});
const std::vector<std::pair<int32_t, int32_t>> SVI_D3_9_BIT({{72, 6}});
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_9_BIT({{78, 13}});
const double DELTA_A_9_LSB = TWO_N9;
constexpr double DELTA_A_9_LSB = TWO_N9;
const std::vector<std::pair<int32_t, int32_t>> E_9_BIT({{91, 11}});
const double E_9_LSB = TWO_N16;
constexpr double E_9_LSB = TWO_N16;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_9_BIT({{102, 16}});
const double OMEGA_9_LSB = TWO_N15;
constexpr double OMEGA_9_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_9_BIT({{118, 11}});
const double DELTA_I_9_LSB = TWO_N14;
constexpr double DELTA_I_9_LSB = TWO_N14;
/* Page 10 */
const std::vector<std::pair<int32_t, int32_t>> IOD_A_10_BIT({{7, 4}});
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_10_BIT({{11, 16}});
const double OMEGA0_10_LSB = TWO_N15;
constexpr double OMEGA0_10_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_10_BIT({{27, 11}});
const double OMEGA_DOT_10_LSB = TWO_N33;
constexpr double OMEGA_DOT_10_LSB = TWO_N33;
const std::vector<std::pair<int32_t, int32_t>> M0_10_BIT({{38, 16}});
const double M0_10_LSB = TWO_N15;
constexpr double M0_10_LSB = TWO_N15;
const std::vector<std::pair<int32_t, int32_t>> AF0_10_BIT({{54, 16}});
const double AF0_10_LSB = TWO_N19;
constexpr double AF0_10_LSB = TWO_N19;
const std::vector<std::pair<int32_t, int32_t>> AF1_10_BIT({{70, 13}});
const double AF1_10_LSB = TWO_N38;
constexpr double AF1_10_LSB = TWO_N38;
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_10_BIT({{83, 2}});
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_10_BIT({{85, 2}});
const std::vector<std::pair<int32_t, int32_t>> A_0_G_10_BIT({{87, 16}});
const double A_0G_10_LSB = TWO_N35;
constexpr double A_0G_10_LSB = TWO_N35;
const std::vector<std::pair<int32_t, int32_t>> A_1_G_10_BIT({{103, 12}});
const double A_1G_10_LSB = TWO_N51;
constexpr double A_1G_10_LSB = TWO_N51;
const std::vector<std::pair<int32_t, int32_t>> T_0_G_10_BIT({{115, 8}});
const int32_t T_0_G_10_LSB = 3600;
constexpr int32_t T_0_G_10_LSB = 3600;
const std::vector<std::pair<int32_t, int32_t>> WN_0_G_10_BIT({{123, 6}});

137
src/core/system_parameters/MATH_CONSTANTS.h
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@ -32,80 +32,79 @@
ONE_PI_TWO_PX = (1/Pi)*2^X
*/
const double HALF_PI = 1.570796326794897; //!< pi/2
const double PI = 3.1415926535897932; //!< pi
const double PI_2 = 2.0 * PI; //!< 2 * pi
constexpr double HALF_PI = 1.570796326794897; //!< pi/2
constexpr double PI = 3.1415926535897932; //!< pi
constexpr double PI_2 = 2.0 * PI; //!< 2 * pi
const double TWO_P3 = (8); //!< 2^3
const double TWO_P4 = (16); //!< 2^4
const double TWO_P11 = (2048); //!< 2^11
const double TWO_P12 = (4096); //!< 2^12
const double TWO_P14 = (16384); //!< 2^14
const double TWO_P16 = (65536); //!< 2^16
const double TWO_P19 = (524288); //!< 2^19
const double TWO_P31 = (2147483648.0); //!< 2^31
const double TWO_P32 = (4294967296.0); //!< 2^32 this is too big for an int so add the x.0
const double TWO_P56 = (7.205759403792794e+016); //!< 2^56
const double TWO_P57 = (1.441151880758559e+017); //!< 2^57
constexpr double TWO_P3 = (8); //!< 2^3
constexpr double TWO_P4 = (16); //!< 2^4
constexpr double TWO_P11 = (2048); //!< 2^11
constexpr double TWO_P12 = (4096); //!< 2^12
constexpr double TWO_P14 = (16384); //!< 2^14
constexpr double TWO_P16 = (65536); //!< 2^16
constexpr double TWO_P19 = (524288); //!< 2^19
constexpr double TWO_P31 = (2147483648.0); //!< 2^31
constexpr double TWO_P32 = (4294967296.0); //!< 2^32 this is too big for an int so add the x.0
constexpr double TWO_P56 = (7.205759403792794e+016); //!< 2^56
constexpr double TWO_P57 = (1.441151880758559e+017); //!< 2^57
const double TWO_N2 = (0.25); //!< 2^-2
const double TWO_N5 = (0.03125); //!< 2^-5
const double TWO_N6 = (0.015625); //!< 2^-6
const double TWO_N8 = (0.00390625); //!< 2^-8
const double TWO_N9 = (0.001953125); //!< 2^-9
const double TWO_N10 = (0.0009765625); //!< 2^-10
const double TWO_N11 = (4.882812500000000e-004); //!< 2^-11
const double TWO_N14 = (0.00006103515625); //!< 2^-14
const double TWO_N15 = (0.00003051757813); //!< 2^-15
const double TWO_N16 = (0.0000152587890625); //!< 2^-16
const double TWO_N17 = (7.629394531250000e-006); //!< 2^-17
const double TWO_N18 = (3.814697265625000e-006); //!< 2^-18
const double TWO_N19 = (1.907348632812500e-006); //!< 2^-19
const double TWO_N20 = (9.536743164062500e-007); //!< 2^-20
const double TWO_N21 = (4.768371582031250e-007); //!< 2^-21
const double TWO_N23 = (1.192092895507810e-007); //!< 2^-23
const double TWO_N24 = (5.960464477539063e-008); //!< 2^-24
const double TWO_N25 = (2.980232238769531e-008); //!< 2^-25
const double TWO_N27 = (7.450580596923828e-009); //!< 2^-27
const double TWO_N29 = (1.862645149230957e-009); //!< 2^-29
const double TWO_N30 = (9.313225746154785e-010); //!< 2^-30
const double TWO_N31 = (4.656612873077393e-010); //!< 2^-31
const double TWO_N32 = (2.328306436538696e-010); //!< 2^-32
const double TWO_N33 = (1.164153218269348e-010); //!< 2^-33
const double TWO_N34 = (5.82076609134674e-011); //!< 2^-34
const double TWO_N35 = (2.91038304567337e-011); //!< 2^-35
const double TWO_N38 = (3.637978807091713e-012); //!< 2^-38
const double TWO_N39 = (1.818989403545856e-012); //!< 2^-39
const double TWO_N40 = (9.094947017729280e-013); //!< 2^-40
const double TWO_N43 = (1.136868377216160e-013); //!< 2^-43
const double TWO_N44 = (5.684341886080802e-14); //!< 2^-44
const double TWO_N46 = (1.4210854715202e-014); //!< 2^-46
const double TWO_N48 = (3.552713678800501e-15); //!< 2^-46
constexpr double TWO_N2 = (0.25); //!< 2^-2
constexpr double TWO_N5 = (0.03125); //!< 2^-5
constexpr double TWO_N6 = (0.015625); //!< 2^-6
constexpr double TWO_N8 = (0.00390625); //!< 2^-8
constexpr double TWO_N9 = (0.001953125); //!< 2^-9
constexpr double TWO_N10 = (0.0009765625); //!< 2^-10
constexpr double TWO_N11 = (4.882812500000000e-004); //!< 2^-11
constexpr double TWO_N14 = (0.00006103515625); //!< 2^-14
constexpr double TWO_N15 = (0.00003051757813); //!< 2^-15
constexpr double TWO_N16 = (0.0000152587890625); //!< 2^-16
constexpr double TWO_N17 = (7.629394531250000e-006); //!< 2^-17
constexpr double TWO_N18 = (3.814697265625000e-006); //!< 2^-18
constexpr double TWO_N19 = (1.907348632812500e-006); //!< 2^-19
constexpr double TWO_N20 = (9.536743164062500e-007); //!< 2^-20
constexpr double TWO_N21 = (4.768371582031250e-007); //!< 2^-21
constexpr double TWO_N23 = (1.192092895507810e-007); //!< 2^-23
constexpr double TWO_N24 = (5.960464477539063e-008); //!< 2^-24
constexpr double TWO_N25 = (2.980232238769531e-008); //!< 2^-25
constexpr double TWO_N27 = (7.450580596923828e-009); //!< 2^-27
constexpr double TWO_N29 = (1.862645149230957e-009); //!< 2^-29
constexpr double TWO_N30 = (9.313225746154785e-010); //!< 2^-30
constexpr double TWO_N31 = (4.656612873077393e-010); //!< 2^-31
constexpr double TWO_N32 = (2.328306436538696e-010); //!< 2^-32
constexpr double TWO_N33 = (1.164153218269348e-010); //!< 2^-33
constexpr double TWO_N34 = (5.82076609134674e-011); //!< 2^-34
constexpr double TWO_N35 = (2.91038304567337e-011); //!< 2^-35
constexpr double TWO_N38 = (3.637978807091713e-012); //!< 2^-38
constexpr double TWO_N39 = (1.818989403545856e-012); //!< 2^-39
constexpr double TWO_N40 = (9.094947017729280e-013); //!< 2^-40
constexpr double TWO_N43 = (1.136868377216160e-013); //!< 2^-43
constexpr double TWO_N44 = (5.684341886080802e-14); //!< 2^-44
constexpr double TWO_N46 = (1.4210854715202e-014); //!< 2^-46
constexpr double TWO_N48 = (3.552713678800501e-15); //!< 2^-46
const double TWO_N50 = (8.881784197001252e-016); //!< 2^-50
const double TWO_N51 = (4.44089209850063e-016); //!< 2^-51
const double TWO_N55 = (2.775557561562891e-017); //!< 2^-55
const double TWO_N57 = (6.938893903907228e-18); //!< 2^-57
const double TWO_N59 = (1.73472347597681e-018); //!< 2^-59
const double TWO_N60 = (8.673617379884036e-19); //!< 2^-60
const double TWO_N66 = (1.3552527156068805425093160010874271392822265625e-20); //!< 2^-66
const double TWO_N68 = (3.388131789017201e-21); //!< 2^-68
constexpr double TWO_N50 = (8.881784197001252e-016); //!< 2^-50
constexpr double TWO_N51 = (4.44089209850063e-016); //!< 2^-51
constexpr double TWO_N55 = (2.775557561562891e-017); //!< 2^-55
constexpr double TWO_N57 = (6.938893903907228e-18); //!< 2^-57
constexpr double TWO_N59 = (1.73472347597681e-018); //!< 2^-59
constexpr double TWO_N60 = (8.673617379884036e-19); //!< 2^-60
constexpr double TWO_N66 = (1.3552527156068805425093160010874271392822265625e-20); //!< 2^-66
constexpr double TWO_N68 = (3.388131789017201e-21); //!< 2^-68
constexpr double PI_TWO_N19 = (5.992112452678286e-006); //!< Pi*2^-19
constexpr double PI_TWO_N43 = (3.571577341960839e-013); //!< Pi*2^-43
constexpr double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
constexpr double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
constexpr double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
const double PI_TWO_N19 = (5.992112452678286e-006); //!< Pi*2^-19
const double PI_TWO_N43 = (3.571577341960839e-013); //!< Pi*2^-43
const double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
constexpr double D2R = (PI / 180.0); //!< deg to rad
constexpr double R2D = (180.0 / PI); //!< rad to deg
constexpr double SC2RAD = 3.1415926535898; //!< semi-circle to radian (IS-GPS)
constexpr double AS2R = (D2R / 3600.0); //!< arc sec to radian
const double D2R = (PI / 180.0); //!< deg to rad
const double R2D = (180.0 / PI); //!< rad to deg
const double SC2RAD = 3.1415926535898; //!< semi-circle to radian (IS-GPS)
const double AS2R = (D2R / 3600.0); //!< arc sec to radian
const double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Default Earth rotation rate, [rad/s]
const double SPEED_OF_LIGHT = 299792458.0; //!< [m/s]
const double SPEED_OF_LIGHT_MS = 299792.4580; //!< [m/ms]
const double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun.
constexpr double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Default Earth rotation rate, [rad/s]
constexpr double SPEED_OF_LIGHT = 299792458.0; //!< [m/s]
constexpr double SPEED_OF_LIGHT_MS = 299792.4580; //!< [m/ms]
constexpr double AU = 149597870691.0; //!< 1 Astronomical Unit AU (m) distance from Earth to the Sun.
#endif // GNSS_SDR_MATH_CONSTANTS_H

30
src/core/system_parameters/gnss_frequencies.h
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@ -22,20 +22,20 @@
#ifndef GNSS_SDR_GNSS_FREQUENCIES_H
#define GNSS_SDR_GNSS_FREQUENCIES_H
const double FREQ1 = 1.57542e9; //!< L1/E1 frequency (Hz)
const double FREQ2 = 1.22760e9; //!< L2 frequency (Hz)
const double FREQ5 = 1.17645e9; //!< L5/E5a frequency (Hz)
const double FREQ6 = 1.27875e9; //!< E6/LEX frequency (Hz)
const double FREQ7 = 1.20714e9; //!< E5b frequency (Hz)
const double FREQ8 = 1.191795e9; //!< E5a+b frequency (Hz)
const double FREQ9 = 2.492028e9; //!< S frequency (Hz)
const double FREQ1_GLO = 1.60200e9; //!< GLONASS G1 base frequency (Hz)
const double DFRQ1_GLO = 0.56250e6; //!< GLONASS G1 bias frequency (Hz/n)
const double FREQ2_GLO = 1.24600e9; //!< GLONASS G2 base frequency (Hz)
const double DFRQ2_GLO = 0.43750e6; //!< GLONASS G2 bias frequency (Hz/n)
const double FREQ3_GLO = 1.202025e9; //!< GLONASS G3 frequency (Hz)
const double FREQ1_BDS = 1.561098e9; //!< BeiDou B1 frequency (Hz)
const double FREQ2_BDS = 1.20714e9; //!< BeiDou B2 frequency (Hz)
const double FREQ3_BDS = 1.26852e9; //!< BeiDou B3 frequency (Hz)
constexpr double FREQ1 = 1.57542e9; //!< L1/E1 frequency (Hz)
constexpr double FREQ2 = 1.22760e9; //!< L2 frequency (Hz)
constexpr double FREQ5 = 1.17645e9; //!< L5/E5a frequency (Hz)
constexpr double FREQ6 = 1.27875e9; //!< E6/LEX frequency (Hz)
constexpr double FREQ7 = 1.20714e9; //!< E5b frequency (Hz)
constexpr double FREQ8 = 1.191795e9; //!< E5a+b frequency (Hz)
constexpr double FREQ9 = 2.492028e9; //!< S frequency (Hz)
constexpr double FREQ1_GLO = 1.60200e9; //!< GLONASS G1 base frequency (Hz)
constexpr double DFRQ1_GLO = 0.56250e6; //!< GLONASS G1 bias frequency (Hz/n)
constexpr double FREQ2_GLO = 1.24600e9; //!< GLONASS G2 base frequency (Hz)
constexpr double DFRQ2_GLO = 0.43750e6; //!< GLONASS G2 bias frequency (Hz/n)
constexpr double FREQ3_GLO = 1.202025e9; //!< GLONASS G3 frequency (Hz)
constexpr double FREQ1_BDS = 1.561098e9; //!< BeiDou B1 frequency (Hz)
constexpr double FREQ2_BDS = 1.20714e9; //!< BeiDou B2 frequency (Hz)
constexpr double FREQ3_BDS = 1.26852e9; //!< BeiDou B3 frequency (Hz)
#endif

114
src/core/system_parameters/gnss_obs_codes.h
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@ -24,63 +24,63 @@
#include <cstdint>
const uint32_t CODE_NONE = 0; //!< obs code: none or unknown
const uint32_t CODE_L1C = 1; //!< obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS)
const uint32_t CODE_L1P = 2; //!< obs code: L1P,G1P (GPS,GLO)
const uint32_t CODE_L1W = 3; //!< obs code: L1 Z-track (GPS)
const uint32_t CODE_L1Y = 4; //!< obs code: L1Y (GPS)
const uint32_t CODE_L1M = 5; //!< obs code: L1M (GPS)
const uint32_t CODE_L1N = 6; //!< obs code: L1codeless (GPS)
const uint32_t CODE_L1S = 7; //!< obs code: L1C(D) (GPS,QZS)
const uint32_t CODE_L1L = 8; //!< obs code: L1C(P) (GPS,QZS)
const uint32_t CODE_L1E = 9; //!< (not used)
const uint32_t CODE_L1A = 10; //!< obs code: E1A (GAL)
const uint32_t CODE_L1B = 11; //!< obs code: E1B (GAL)
const uint32_t CODE_L1X = 12; //!< obs code: E1B+C,L1C(D+P) (GAL,QZS)
const uint32_t CODE_L1Z = 13; //!< obs code: E1A+B+C,L1SAIF (GAL,QZS)
const uint32_t CODE_L2C = 14; //!< obs code: L2C/A,G1C/A (GPS,GLO)
const uint32_t CODE_L2D = 15; //!< obs code: L2 L1C/A-(P2-P1) (GPS)
const uint32_t CODE_L2S = 16; //!< obs code: L2C(M) (GPS,QZS)
const uint32_t CODE_L2L = 17; //!< obs code: L2C(L) (GPS,QZS)
const uint32_t CODE_L2X = 18; //!< obs code: L2C(M+L),B1I+Q (GPS,QZS,BDS)
const uint32_t CODE_L2P = 19; //!< obs code: L2P,G2P (GPS,GLO)
const uint32_t CODE_L2W = 20; //!< obs code: L2 Z-track (GPS)
const uint32_t CODE_L2Y = 21; //!< obs code: L2Y (GPS)
const uint32_t CODE_L2M = 22; //!< obs code: L2M (GPS)
const uint32_t CODE_L2N = 23; //!< obs code: L2codeless (GPS)
const uint32_t CODE_L5I = 24; //!< obs code: L5/E5aI (GPS,GAL,QZS,SBS)
const uint32_t CODE_L5Q = 25; //!< obs code: L5/E5aQ (GPS,GAL,QZS,SBS)
const uint32_t CODE_L5X = 26; //!< obs code: L5/E5aI+Q/L5B+C (GPS,GAL,QZS,IRN,SBS)
const uint32_t CODE_L7I = 27; //!< obs code: E5bI,B2I (GAL,BDS)
const uint32_t CODE_L7Q = 28; //!< obs code: E5bQ,B2Q (GAL,BDS)
const uint32_t CODE_L7X = 29; //!< obs code: E5bI+Q,B2I+Q (GAL,BDS)
const uint32_t CODE_L6A = 30; //!< obs code: E6A (GAL)
const uint32_t CODE_L6B = 31; //!< obs code: E6B (GAL)
const uint32_t CODE_L6C = 32; //!< obs code: E6C (GAL)
const uint32_t CODE_L6X = 33; //!< obs code: E6B+C,LEXS+L,B3I+Q (GAL,QZS,BDS)
const uint32_t CODE_L6Z = 34; //!< obs code: E6A+B+C (GAL)
const uint32_t CODE_L6S = 35; //!< obs code: LEXS (QZS)
const uint32_t CODE_L6L = 36; //!< obs code: LEXL (QZS)
const uint32_t CODE_L8I = 37; //!< obs code: E5(a+b)I (GAL)
const uint32_t CODE_L8Q = 38; //!< obs code: E5(a+b)Q (GAL)
const uint32_t CODE_L8X = 39; //!< obs code: E5(a+b)I+Q (GAL)
const uint32_t CODE_L2I = 40; //!< obs code: B1I (BDS)
const uint32_t CODE_L2Q = 41; //!< obs code: B1Q (BDS)
const uint32_t CODE_L6I = 42; //!< obs code: B3I (BDS)
const uint32_t CODE_L6Q = 43; //!< obs code: B3Q (BDS)
const uint32_t CODE_L3I = 44; //!< obs code: G3I (GLO)
const uint32_t CODE_L3Q = 45; //!< obs code: G3Q (GLO)
const uint32_t CODE_L3X = 46; //!< obs code: G3I+Q (GLO)
const uint32_t CODE_L1I = 47; //!< obs code: B1I (BDS)
const uint32_t CODE_L1Q = 48; //!< obs code: B1Q (BDS)
const uint32_t CODE_L5A = 49; //!< obs code: L5A SPS (IRN)
const uint32_t CODE_L5B = 50; //!< obs code: L5B RS(D) (IRN)
const uint32_t CODE_L5C = 51; //!< obs code: L5C RS(P) (IRN)
const uint32_t CODE_L9A = 52; //!< obs code: SA SPS (IRN)
const uint32_t CODE_L9B = 53; //!< obs code: SB RS(D) (IRN)
const uint32_t CODE_L9C = 54; //!< obs code: SC RS(P) (IRN)
const uint32_t CODE_L9X = 55; //!< obs code: SB+C (IRN)
const int32_t MAXCODE = 55; //!< max number of obs code
constexpr uint32_t CODE_NONE = 0; //!< obs code: none or unknown
constexpr uint32_t CODE_L1C = 1; //!< obs code: L1C/A,G1C/A,E1C (GPS,GLO,GAL,QZS,SBS)
constexpr uint32_t CODE_L1P = 2; //!< obs code: L1P,G1P (GPS,GLO)
constexpr uint32_t CODE_L1W = 3; //!< obs code: L1 Z-track (GPS)
constexpr uint32_t CODE_L1Y = 4; //!< obs code: L1Y (GPS)
constexpr uint32_t CODE_L1M = 5; //!< obs code: L1M (GPS)
constexpr uint32_t CODE_L1N = 6; //!< obs code: L1codeless (GPS)
constexpr uint32_t CODE_L1S = 7; //!< obs code: L1C(D) (GPS,QZS)
constexpr uint32_t CODE_L1L = 8; //!< obs code: L1C(P) (GPS,QZS)
constexpr uint32_t CODE_L1E = 9; //!< (not used)
constexpr uint32_t CODE_L1A = 10; //!< obs code: E1A (GAL)
constexpr uint32_t CODE_L1B = 11; //!< obs code: E1B (GAL)
constexpr uint32_t CODE_L1X = 12; //!< obs code: E1B+C,L1C(D+P) (GAL,QZS)
constexpr uint32_t CODE_L1Z = 13; //!< obs code: E1A+B+C,L1SAIF (GAL,QZS)
constexpr uint32_t CODE_L2C = 14; //!< obs code: L2C/A,G1C/A (GPS,GLO)
constexpr uint32_t CODE_L2D = 15; //!< obs code: L2 L1C/A-(P2-P1) (GPS)
constexpr uint32_t CODE_L2S = 16; //!< obs code: L2C(M) (GPS,QZS)
constexpr uint32_t CODE_L2L = 17; //!< obs code: L2C(L) (GPS,QZS)
constexpr uint32_t CODE_L2X = 18; //!< obs code: L2C(M+L),B1I+Q (GPS,QZS,BDS)
constexpr uint32_t CODE_L2P = 19; //!< obs code: L2P,G2P (GPS,GLO)
constexpr uint32_t CODE_L2W = 20; //!< obs code: L2 Z-track (GPS)
constexpr uint32_t CODE_L2Y = 21; //!< obs code: L2Y (GPS)
constexpr uint32_t CODE_L2M = 22; //!< obs code: L2M (GPS)
constexpr uint32_t CODE_L2N = 23; //!< obs code: L2codeless (GPS)
constexpr uint32_t CODE_L5I = 24; //!< obs code: L5/E5aI (GPS,GAL,QZS,SBS)
constexpr uint32_t CODE_L5Q = 25; //!< obs code: L5/E5aQ (GPS,GAL,QZS,SBS)
constexpr uint32_t CODE_L5X = 26; //!< obs code: L5/E5aI+Q/L5B+C (GPS,GAL,QZS,IRN,SBS)
constexpr uint32_t CODE_L7I = 27; //!< obs code: E5bI,B2I (GAL,BDS)
constexpr uint32_t CODE_L7Q = 28; //!< obs code: E5bQ,B2Q (GAL,BDS)
constexpr uint32_t CODE_L7X = 29; //!< obs code: E5bI+Q,B2I+Q (GAL,BDS)
constexpr uint32_t CODE_L6A = 30; //!< obs code: E6A (GAL)
constexpr uint32_t CODE_L6B = 31; //!< obs code: E6B (GAL)
constexpr uint32_t CODE_L6C = 32; //!< obs code: E6C (GAL)
constexpr uint32_t CODE_L6X = 33; //!< obs code: E6B+C,LEXS+L,B3I+Q (GAL,QZS,BDS)
constexpr uint32_t CODE_L6Z = 34; //!< obs code: E6A+B+C (GAL)
constexpr uint32_t CODE_L6S = 35; //!< obs code: LEXS (QZS)
constexpr uint32_t CODE_L6L = 36; //!< obs code: LEXL (QZS)
constexpr uint32_t CODE_L8I = 37; //!< obs code: E5(a+b)I (GAL)
constexpr uint32_t CODE_L8Q = 38; //!< obs code: E5(a+b)Q (GAL)
constexpr uint32_t CODE_L8X = 39; //!< obs code: E5(a+b)I+Q (GAL)
constexpr uint32_t CODE_L2I = 40; //!< obs code: B1I (BDS)
constexpr uint32_t CODE_L2Q = 41; //!< obs code: B1Q (BDS)
constexpr uint32_t CODE_L6I = 42; //!< obs code: B3I (BDS)
constexpr uint32_t CODE_L6Q = 43; //!< obs code: B3Q (BDS)
constexpr uint32_t CODE_L3I = 44; //!< obs code: G3I (GLO)
constexpr uint32_t CODE_L3Q = 45; //!< obs code: G3Q (GLO)
constexpr uint32_t CODE_L3X = 46; //!< obs code: G3I+Q (GLO)
constexpr uint32_t CODE_L1I = 47; //!< obs code: B1I (BDS)
constexpr uint32_t CODE_L1Q = 48; //!< obs code: B1Q (BDS)
constexpr uint32_t CODE_L5A = 49; //!< obs code: L5A SPS (IRN)
constexpr uint32_t CODE_L5B = 50; //!< obs code: L5B RS(D) (IRN)
constexpr uint32_t CODE_L5C = 51; //!< obs code: L5C RS(P) (IRN)
constexpr uint32_t CODE_L9A = 52; //!< obs code: SA SPS (IRN)
constexpr uint32_t CODE_L9B = 53; //!< obs code: SB RS(D) (IRN)
constexpr uint32_t CODE_L9C = 54; //!< obs code: SC RS(P) (IRN)
constexpr uint32_t CODE_L9X = 55; //!< obs code: SB+C (IRN)
constexpr int32_t MAXCODE = 55; //!< max number of obs code
#endif