mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-16 04:05:46 +00:00
bds_b1i: Adding pvt computation with BeiDou B1I satellites
This commit is contained in:
Damian Miralles
parent
7cef679744
commit
2865e97b84
@ -1638,6 +1638,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- Line 5 system time correction
|
||||
line.clear();
|
||||
line += std::string("BDUT");
|
||||
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
|
||||
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
|
||||
@ -3770,7 +3771,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
|
||||
std::string minutes(timestring, 11, 2);
|
||||
std::string seconds(timestring, 13, 2);
|
||||
|
||||
line += satelliteSystem["BDS"];
|
||||
line += satelliteSystem["Beidou"];
|
||||
if (bds_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0");
|
||||
line += boost::lexical_cast<std::string>(bds_ephemeris_iter->second.i_satellite_PRN);
|
||||
std::string year(timestring, 0, 4);
|
||||
@ -3813,7 +3814,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
|
||||
line += std::string(5, ' ');
|
||||
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_Cuc, 18, 2);
|
||||
line += std::string(1, ' ');
|
||||
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_e_eccentricity, 18, 2);
|
||||
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_eccentricity, 18, 2);
|
||||
line += std::string(1, ' ');
|
||||
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_Cus, 18, 2);
|
||||
line += std::string(1, ' ');
|
||||
@ -7204,7 +7205,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
|
||||
}
|
||||
|
||||
|
||||
void Rinex_Printer::Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
|
||||
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
|
||||
{
|
||||
std::string line;
|
||||
version = 3;
|
||||
@ -7214,7 +7215,7 @@ void Rinex_Printer::Rinex_Printer::rinex_obs_header(std::fstream& out, const Bei
|
||||
line += "3.02";
|
||||
line += std::string(11, ' ');
|
||||
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
|
||||
line += satelliteSystem["BeiDou "];
|
||||
line += satelliteSystem["Beidou"];
|
||||
line += std::string(19, ' ');
|
||||
line += std::string("RINEX VERSION / TYPE");
|
||||
Rinex_Printer::lengthCheck(line);
|
||||
@ -10414,8 +10415,6 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
|
||||
|
||||
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string bds_bands)
|
||||
{
|
||||
// RINEX observations timestamps are Galileo timestamps.
|
||||
// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
|
||||
std::string line;
|
||||
|
||||
boost::posix_time::ptime p_bds_time = Rinex_Printer::compute_BDS_time(eph, obs_time);
|
||||
@ -10468,11 +10467,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
|
||||
{
|
||||
std::string system_(&observables_iter->second.System, 1);
|
||||
std::string sig_(observables_iter->second.Signal);
|
||||
if ((system_.compare("C") == 0) && (sig_.compare("B1") == 0))
|
||||
if ((system_ == "C") && (sig_ == "B1"))
|
||||
{
|
||||
observablesB1I.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
|
||||
}
|
||||
if ((system_.compare("C") == 0) && (sig_.compare("B3") == 0))
|
||||
if ((system_ == "C") && (sig_ == "B3"))
|
||||
{
|
||||
observablesB3I.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
|
||||
}
|
||||
|
||||
@ -406,7 +406,7 @@ public:
|
||||
|
||||
void update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model);
|
||||
|
||||
std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
|
||||
std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Beidou
|
||||
std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
|
||||
std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
|
||||
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
|
||||
|
||||
@ -255,12 +255,12 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
|
||||
rtklib_sat.omg = bei_eph.d_OMEGA;
|
||||
rtklib_sat.i0 = bei_eph.d_i_0;
|
||||
rtklib_sat.idot = bei_eph.d_IDOT;
|
||||
rtklib_sat.e = bei_eph.d_e_eccentricity;
|
||||
rtklib_sat.e = bei_eph.d_eccentricity;
|
||||
rtklib_sat.Adot = 0; //only in CNAV;
|
||||
rtklib_sat.ndot = 0; //only in CNAV;
|
||||
|
||||
rtklib_sat.code = 1; /*B1I data*/
|
||||
rtklib_sat.flag = 1; /*MEO/IGSO satellite*/
|
||||
rtklib_sat.code = bei_eph.i_sig_type; /*B1I data*/
|
||||
rtklib_sat.flag = bei_eph.i_nav_type; /*MEO/IGSO satellite*/
|
||||
rtklib_sat.iode=(int32_t)bei_eph.d_AODE; /* AODE */
|
||||
rtklib_sat.iodc=(int32_t)bei_eph.d_AODC; /* AODC */
|
||||
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
* \file beidou_b1i_telemetry_decoder.h
|
||||
* \brief Interface of an adapter of a Beidou B1I NAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Damian Miralles, 2018. dmiralles2009@gmail.com
|
||||
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
|
||||
@ -68,97 +68,56 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite "<< this->d_satellite;
|
||||
|
||||
// GEO Satellites (PRN 1 to 5) use D2 NAV message
|
||||
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
|
||||
{
|
||||
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
||||
d_secondary_code_symbols = nullptr;
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
|
||||
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
||||
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
|
||||
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
|
||||
// Setting samples of preamble code
|
||||
int32_t n = 0;
|
||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||
{
|
||||
int32_t m = 0;
|
||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = 1;
|
||||
n++;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = -1;
|
||||
n++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
}
|
||||
else // MEO/IGSO Satellites (PRN 6 to 37) use D1 NAV message
|
||||
// Setting samples of secondary code
|
||||
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
|
||||
{
|
||||
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
||||
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
|
||||
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
|
||||
// Setting samples of secondary code
|
||||
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
|
||||
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
|
||||
{
|
||||
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
|
||||
{
|
||||
d_secondary_code_symbols[i] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_secondary_code_symbols[i] = -1;
|
||||
}
|
||||
d_secondary_code_symbols[i] = 1;
|
||||
}
|
||||
|
||||
// Setting samples of preamble code
|
||||
int32_t n = 0;
|
||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||
else
|
||||
{
|
||||
int32_t m = 0;
|
||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = d_secondary_code_symbols[m];
|
||||
n++;
|
||||
m++;
|
||||
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = -d_secondary_code_symbols[m];
|
||||
n++;
|
||||
m++;
|
||||
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
d_secondary_code_symbols[i] = -1;
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
}
|
||||
|
||||
// Setting samples of preamble code
|
||||
int32_t n = 0;
|
||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||
{
|
||||
int32_t m = 0;
|
||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = d_secondary_code_symbols[m];
|
||||
n++;
|
||||
m++;
|
||||
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = -d_secondary_code_symbols[m];
|
||||
n++;
|
||||
m++;
|
||||
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
|
||||
// Generic settings
|
||||
d_sample_counter = 0;
|
||||
@ -309,8 +268,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
|
||||
if (d_nav.have_new_ephemeris() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
d_nav.i_satellite_PRN = d_satellite.get_PRN();
|
||||
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
|
||||
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
|
||||
std::cout << "New BEIDOU B1I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
|
||||
@ -329,7 +287,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
|
||||
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
|
||||
std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
|
||||
std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << std::endl;
|
||||
}
|
||||
if (d_nav.have_new_almanac() == true)
|
||||
{
|
||||
@ -344,9 +302,57 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
|
||||
|
||||
void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
|
||||
{
|
||||
uint32_t sat_prn = 0;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||
|
||||
// Update satellite information for DNAV decoder
|
||||
sat_prn = d_satellite.get_PRN();
|
||||
d_nav.i_satellite_PRN = sat_prn;
|
||||
|
||||
// Update tel dec parameters for D2 NAV Messages
|
||||
if ( sat_prn > 0 and sat_prn < 6 )
|
||||
{
|
||||
// Clear values from previous declaration
|
||||
volk_gnsssdr_free(d_preamble_samples);
|
||||
volk_gnsssdr_free(d_secondary_code_symbols);
|
||||
volk_gnsssdr_free(d_subframe_symbols);
|
||||
|
||||
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
||||
d_secondary_code_symbols = nullptr;
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
|
||||
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
|
||||
// Setting samples of preamble code
|
||||
int32_t n = 0;
|
||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||
{
|
||||
int32_t m = 0;
|
||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = 1;
|
||||
n++;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = -1;
|
||||
n++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/*!
|
||||
* \file beidou_b1I.h
|
||||
* \brief Defines system parameters for BeiDou B1I signal and D1 NAV data
|
||||
* \brief Defines system parameters for BeiDou B1I signal and DNAV data
|
||||
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
*
|
||||
* \author Damian Miralles, 2018. dmiralles2009@gmail.com
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
@ -114,8 +114,8 @@ const std::vector<std::pair<int,int> > D1_PNUM( { {44,7} } );
|
||||
// DNAV SCALE FACTORS
|
||||
// EPH
|
||||
const double D1_TOC_LSB = TWO_P3;
|
||||
const double D1_TGD1_LSB = 0.1;
|
||||
const double D1_TGD2_LSB = 0.1;
|
||||
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;
|
||||
@ -299,7 +299,7 @@ const std::vector<std::pair<int,int> > D2_A0( { {101,12},{121,12} } );
|
||||
const std::vector<std::pair<int,int> > D2_A1_MSB( { {133,4} } );
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 4
|
||||
const std::vector<std::pair<int,int> > D2_A1_LSB( { {47,6}, {121, 12} } );
|
||||
const std::vector<std::pair<int,int> > D2_A1_LSB( { {47,6}, {61, 12} } );
|
||||
const std::vector<std::pair<int,int> > D2_A2( { {73,10}, {91,1} } );
|
||||
const std::vector<std::pair<int,int> > D2_AODE( { {92,5} } );
|
||||
const std::vector<std::pair<int,int> > D2_DELTA_N( { {97,16} } );
|
||||
|
||||
@ -44,7 +44,7 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
|
||||
d_Delta_n = 0;
|
||||
d_M_0 = 0;
|
||||
d_Cuc = 0;
|
||||
d_e_eccentricity = 0;
|
||||
d_eccentricity = 0;
|
||||
d_Cus = 0;
|
||||
d_sqrt_A = 0;
|
||||
d_Toe = 0;
|
||||
@ -70,6 +70,9 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
|
||||
d_spare1 = 0;
|
||||
d_spare2 = 0;
|
||||
|
||||
i_sig_type = 0;
|
||||
i_nav_type = 0;
|
||||
|
||||
d_A_f0 = 0; // Coefficient 0 of code phase offset model [s]
|
||||
d_A_f1 = 0; // Coefficient 1 of code phase offset model [s/s]
|
||||
d_A_f2 = 0; // Coefficient 2 of code phase offset model [s/s^2]
|
||||
@ -164,7 +167,7 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
|
||||
for (int ii = 1; ii < 20; ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + d_e_eccentricity * sin(E);
|
||||
E = M + d_eccentricity * sin(E);
|
||||
dE = fmod(E - E_old, 2.0 * BEIDOU_PI);
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
@ -174,7 +177,7 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
|
||||
}
|
||||
|
||||
// Compute relativistic correction term
|
||||
d_dtr = BEIDOU_F * d_e_eccentricity * d_sqrt_A * sin(E);
|
||||
d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E);
|
||||
return d_dtr;
|
||||
}
|
||||
|
||||
@ -223,7 +226,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
|
||||
for (int ii = 1; ii < 20; ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + d_e_eccentricity * sin(E);
|
||||
E = M + d_eccentricity * sin(E);
|
||||
dE = fmod(E - E_old, 2.0 * BEIDOU_PI);
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
@ -233,8 +236,8 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
|
||||
}
|
||||
|
||||
// Compute the true anomaly
|
||||
double tmp_Y = sqrt(1.0 - d_e_eccentricity * d_e_eccentricity) * sin(E);
|
||||
double tmp_X = cos(E) - d_e_eccentricity;
|
||||
double tmp_Y = sqrt(1.0 - d_eccentricity * d_eccentricity) * sin(E);
|
||||
double tmp_X = cos(E) - d_eccentricity;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
|
||||
// Compute angle phi (argument of Latitude)
|
||||
@ -247,7 +250,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
|
||||
u = phi + d_Cuc * cos(2.0 * phi) + d_Cus * sin(2.0 * phi);
|
||||
|
||||
// Correct radius
|
||||
r = a * (1.0 - d_e_eccentricity*cos(E)) + d_Crc * cos(2.0 * phi) + d_Crs * sin(2.0 * phi);
|
||||
r = a * (1.0 - d_eccentricity*cos(E)) + d_Crc * cos(2.0 * phi) + d_Crs * sin(2.0 * phi);
|
||||
|
||||
// Correct inclination
|
||||
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2.0 * phi) + d_Cis * sin(2.0 * phi);
|
||||
@ -275,7 +278,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
|
||||
double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
|
||||
|
||||
/* relativity correction */
|
||||
dtr_s -= 2.0 * sqrt(BEIDOU_GM * a) * d_e_eccentricity * sin(E) / (BEIDOU_C_m_s * BEIDOU_C_m_s);
|
||||
dtr_s -= 2.0 * sqrt(BEIDOU_GM * a) * d_eccentricity * sin(E) / (BEIDOU_C_m_s * BEIDOU_C_m_s);
|
||||
|
||||
return dtr_s;
|
||||
}
|
||||
|
||||
@ -63,7 +63,7 @@ public:
|
||||
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
|
||||
@ -85,6 +85,9 @@ public:
|
||||
double d_AODE; //!< Age of Data, Ephemeris
|
||||
int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
int i_sig_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */
|
||||
int i_nav_type; //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */
|
||||
|
||||
bool b_fit_interval_flag;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
@ -93,8 +96,6 @@ public:
|
||||
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
// Flags
|
||||
|
||||
/*! \brief If true, enhanced level of integrity assurance.
|
||||
*
|
||||
* If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
|
||||
@ -142,7 +143,7 @@ public:
|
||||
archive & make_nvp("d_Delta_n", d_Delta_n); //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
||||
archive & make_nvp("d_M_0", d_M_0); //!< Mean Anomaly at Reference Time [semi-circles]
|
||||
archive & make_nvp("d_Cuc", d_Cuc); //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
archive & make_nvp("d_e_eccentricity", d_e_eccentricity); //!< Eccentricity [dimensionless]
|
||||
archive & make_nvp("d_e_eccentricity", d_eccentricity); //!< Eccentricity [dimensionless]
|
||||
archive & make_nvp("d_Cus", d_Cus); //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
archive & make_nvp("d_sqrt_A", d_sqrt_A); //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
archive & make_nvp("d_Toe", d_Toe); //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
|
||||
|
||||
@ -3,7 +3,7 @@ m * \file beidou_navigation_message.cc
|
||||
* \brief Implementation of a BeiDou D1 NAV Data message decoder as described in BeiDou ICD Version 2.1
|
||||
*
|
||||
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
*
|
||||
* \author Damian Miralles, 2018. dmiralles2009@gmail.com
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
@ -59,8 +59,8 @@ void Beidou_Dnav_Navigation_Message::reset()
|
||||
flag_sf1_p10 = false;
|
||||
|
||||
// D2 NAV Decoding UNique Attributes
|
||||
d_a1_msb = 0;
|
||||
d_a1_lsb = 0;
|
||||
d_A_f1_msb = 0;
|
||||
d_A_f1_lsb = 0;
|
||||
d_Cuc_msb = 0;
|
||||
d_Cuc_lsb = 0;
|
||||
d_eccentricity_msb = 0;
|
||||
@ -187,9 +187,9 @@ void Beidou_Dnav_Navigation_Message::reset()
|
||||
d_M0_ALMANAC = 0;
|
||||
almanac_WN = 0;
|
||||
d_toa2 = 0;
|
||||
d_a0 = 0;
|
||||
d_a1 = 0;
|
||||
d_a2 = 0;
|
||||
d_A_f0 = 0;
|
||||
d_A_f1 = 0;
|
||||
d_A_f2 = 0;
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system ("Beidou");
|
||||
@ -489,19 +489,17 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr
|
||||
d_beta3 = static_cast<double>(read_navigation_signed(subframe_bits, D1_BETA3));
|
||||
d_beta3 = d_beta3 * D1_BETA3_LSB;
|
||||
|
||||
d_a2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A2));
|
||||
d_a2 = d_a2 * D1_A2_LSB;
|
||||
|
||||
d_a0 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0));
|
||||
d_a0 = d_a0 * D1_A0_LSB;
|
||||
|
||||
d_a1 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1));
|
||||
d_a1 = d_a1 * D1_A1_LSB;
|
||||
d_A_f2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A2));
|
||||
d_A_f2 = d_A_f2 * D1_A2_LSB;
|
||||
d_A_f0 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0));
|
||||
d_A_f0 = d_A_f0 * D1_A0_LSB;
|
||||
d_A_f1 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1));
|
||||
d_A_f1 = d_A_f1 * D1_A1_LSB;
|
||||
|
||||
d_AODE = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_AODE));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1 = true;
|
||||
flag_d1_sf1 = true;
|
||||
flag_iono_valid = true;
|
||||
flag_utc_model_valid = true;
|
||||
flag_new_SOW_available = true;
|
||||
@ -539,7 +537,7 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr
|
||||
d_Toe_sf2 = static_cast<double>((static_cast<int>(d_Toe_sf2) << 15));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf2 = true;
|
||||
flag_d1_sf2 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
@ -573,7 +571,7 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr
|
||||
d_OMEGA = d_OMEGA * D1_OMEGA_LSB;
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf_3 = true;
|
||||
flag_d1_sf3 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
@ -613,7 +611,7 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr
|
||||
d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB;
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf_4 = true;
|
||||
flag_d1_sf4 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
@ -781,7 +779,7 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr
|
||||
}
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf_5 = true;
|
||||
flag_d1_sf5 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
@ -815,6 +813,7 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subfr
|
||||
switch(page_ID)
|
||||
{
|
||||
case 1:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
i_SV_health = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_SAT_H1));
|
||||
d_AODC = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_AODC));
|
||||
i_SV_accuracy = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_URAI)); // (20.3.3.3.1.3)
|
||||
@ -824,14 +823,15 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subfr
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p1 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 2:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_alpha0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA0))*D1_ALPHA0_LSB;
|
||||
d_alpha1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA1))*D1_ALPHA1_LSB;
|
||||
d_alpha2 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA2))*D1_ALPHA2_LSB;
|
||||
d_alpha3 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA3))*D1_ALPHA3_LSB;
|
||||
|
||||
d_beta0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA0))*D1_BETA0_LSB;
|
||||
d_beta1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA1))*D1_BETA1_LSB;
|
||||
d_beta2 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA2))*D1_BETA2_LSB;
|
||||
@ -839,75 +839,114 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subfr
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p2 = true;
|
||||
flag_iono_valid = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 3:
|
||||
d_a0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_A0))*D1_A0_LSB;
|
||||
d_a1_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_MSB));
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_A_f0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_A0))*D1_A0_LSB;
|
||||
d_A_f1_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_MSB));
|
||||
// Adjust for lsb in next page
|
||||
d_A_f1_msb = static_cast<double>((static_cast<int>(d_A_f1_msb) << 18));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p3 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 4:
|
||||
d_a1_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_LSB));
|
||||
d_a2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A2))*D1_A2_LSB;
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_A_f1_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_LSB));
|
||||
d_A_f2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A2))*D1_A2_LSB;
|
||||
d_AODE = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_AODE));
|
||||
d_Delta_n = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_DELTA_N))*D1_DELTA_N_LSB;
|
||||
d_Delta_n = static_cast<double>(read_navigation_signed(subframe_bits, D2_DELTA_N))*D1_DELTA_N_LSB;
|
||||
d_Cuc_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC_MSB));
|
||||
// Adjust for lsb in next page
|
||||
d_Cuc_msb = static_cast<double>((static_cast<int>(d_Cuc_msb) << 4));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p4 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 5:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_Cuc_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC_LSB));
|
||||
d_M_0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_M0))*D1_M0_LSB;
|
||||
d_Cus = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUS))*D1_CUS_LSB;
|
||||
d_eccentricity_msb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_MSB));
|
||||
// Adjust for lsb in next page (shift number of lsb to the left)
|
||||
d_eccentricity_msb = static_cast<double>((static_cast<int>(d_eccentricity_msb) << 22));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p5 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 6:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_eccentricity_lsb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_LSB));
|
||||
d_sqrt_A = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SQRT_A))*D1_SQRT_A_LSB;
|
||||
d_Cic_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC_MSB));
|
||||
// Adjust for lsb in next page (shift number of lsb to the left)
|
||||
d_Cic_msb = static_cast<double>((static_cast<int>(d_Cic_msb) << 8));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p6 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 7:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_Cic_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC_LSB));
|
||||
d_Cis = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIS))*D1_CIS_LSB;
|
||||
d_Toe = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_TOE))*D1_TOE_LSB;
|
||||
d_i_0_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0_MSB));
|
||||
// Adjust for lsb in next page (shift number of lsb to the left)
|
||||
d_i_0_msb = static_cast<double>((static_cast<int>(d_i_0_msb) << 11));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p7 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 8:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_i_0_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0_LSB));
|
||||
d_Crc = static_cast<double>(read_navigation_signed(subframe_bits, D2_CRC))*D1_CRC_LSB;
|
||||
d_Crs = static_cast<double>(read_navigation_signed(subframe_bits, D2_CRS))*D1_CRS_LSB;
|
||||
d_OMEGA_DOT_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT_MSB));
|
||||
// Adjust for lsb in next page (shift number of lsb to the left)
|
||||
d_OMEGA_DOT_msb = static_cast<double>((static_cast<int>(d_OMEGA_DOT_msb) << 5));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p8 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 9:
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_OMEGA_DOT_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT_LSB));
|
||||
d_OMEGA0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA0))*D1_OMEGA0_LSB;
|
||||
d_OMEGA_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_MSB));
|
||||
// Adjust for lsb in next page (shift number of lsb to the left)
|
||||
d_OMEGA_msb = static_cast<double>((static_cast<int>(d_OMEGA_msb) << 5));
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p9 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
case 10:
|
||||
d_OMEGA_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_LSB));
|
||||
d_IDOT = static_cast<double>(read_navigation_signed(subframe_bits, D1_IDOT))*D1_IDOT_LSB;
|
||||
d_SOW = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SOW));
|
||||
d_OMEGA_lsb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_OMEGA_LSB));
|
||||
d_IDOT = static_cast<double>(read_navigation_signed(subframe_bits, D2_IDOT))*D1_IDOT_LSB;
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf1_p10 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
@ -921,166 +960,13 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subfr
|
||||
|
||||
case 3: // --- It is subframe 3 -------------------------------------
|
||||
|
||||
|
||||
break;
|
||||
|
||||
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
|
||||
d_SOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SOW = d_SOW_SF4; // Set transmission time
|
||||
|
||||
d_SQRT_A_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC));
|
||||
d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB;
|
||||
|
||||
d_A1_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1_ALMANAC));
|
||||
d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB;
|
||||
|
||||
d_A0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0_ALMANAC));
|
||||
d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB;
|
||||
|
||||
d_OMEGA0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC));
|
||||
d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB;
|
||||
|
||||
d_E_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
|
||||
d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB;
|
||||
|
||||
d_DELTA_I = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_I));
|
||||
d_DELTA_I = D1_DELTA_I_LSB;
|
||||
|
||||
d_TOA = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOA));
|
||||
d_TOA = d_TOA * D1_TOA_LSB;
|
||||
|
||||
d_OMEGA_DOT_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC));
|
||||
d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB;
|
||||
|
||||
d_OMEGA_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC));
|
||||
d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB;
|
||||
|
||||
d_M0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_M0));
|
||||
d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB;
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf_4 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
|
||||
case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
|
||||
int SV_page_5;
|
||||
d_SOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SOW = d_SOW_SF5; // Set transmission time
|
||||
|
||||
SV_page_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_PNUM));
|
||||
|
||||
if (SV_page_5 < 7)
|
||||
{
|
||||
d_SOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SQRT_A_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC));
|
||||
d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB;
|
||||
|
||||
d_A1_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1_ALMANAC));
|
||||
d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB;
|
||||
|
||||
d_A0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0_ALMANAC));
|
||||
d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB;
|
||||
|
||||
d_OMEGA0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC));
|
||||
d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB;
|
||||
|
||||
d_E_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
|
||||
d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB;
|
||||
|
||||
d_DELTA_I = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_I));
|
||||
d_DELTA_I = D1_DELTA_I_LSB;
|
||||
|
||||
d_TOA = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOA));
|
||||
d_TOA = d_TOA * D1_TOA_LSB;
|
||||
|
||||
d_OMEGA_DOT_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC));
|
||||
d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB;
|
||||
|
||||
d_OMEGA_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC));
|
||||
d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB;
|
||||
|
||||
d_M0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_M0));
|
||||
d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB;
|
||||
|
||||
}
|
||||
|
||||
if (SV_page_5 == 7)
|
||||
{
|
||||
//! \TODO read almanac
|
||||
almanacHealth[1] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA1));
|
||||
almanacHealth[2] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA2));
|
||||
almanacHealth[3] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA3));
|
||||
almanacHealth[4] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA4));
|
||||
almanacHealth[5] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA5));
|
||||
almanacHealth[6] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA6));
|
||||
almanacHealth[7] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA7));
|
||||
almanacHealth[8] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA8));
|
||||
almanacHealth[9] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA9));
|
||||
almanacHealth[10] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA10));
|
||||
almanacHealth[11] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA11));
|
||||
almanacHealth[12] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA12));
|
||||
almanacHealth[13] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA13));
|
||||
almanacHealth[14] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA14));
|
||||
almanacHealth[15] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA15));
|
||||
almanacHealth[16] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA16));
|
||||
almanacHealth[17] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA17));
|
||||
almanacHealth[18] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA18));
|
||||
almanacHealth[19] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA19));
|
||||
}
|
||||
if (SV_page_5 == 8) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
|
||||
{
|
||||
almanacHealth[20] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA20));
|
||||
almanacHealth[21] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA21));
|
||||
almanacHealth[22] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA22));
|
||||
almanacHealth[23] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA23));
|
||||
almanacHealth[24] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA24));
|
||||
almanacHealth[25] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA25));
|
||||
almanacHealth[26] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA26));
|
||||
almanacHealth[27] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA27));
|
||||
almanacHealth[28] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA28));
|
||||
almanacHealth[29] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA29));
|
||||
almanacHealth[30] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA30));
|
||||
almanac_WN = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_WNA));
|
||||
d_toa2 = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_TOA2));
|
||||
|
||||
}
|
||||
|
||||
if (SV_page_5 == 9) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
|
||||
{
|
||||
d_A0GPS = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GPS));
|
||||
d_A0GPS = d_A0GPS * D1_A0GPS_LSB;
|
||||
|
||||
d_A1GPS = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GPS));
|
||||
d_A1GPS = d_A1GPS * D1_A1GPS_LSB;
|
||||
|
||||
d_A0GAL = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GAL));
|
||||
d_A0GAL = d_A0GAL * D1_A0GAL_LSB;
|
||||
|
||||
d_A1GAL = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GAL));
|
||||
d_A1GAL = d_A1GAL* D1_A1GAL_LSB;
|
||||
|
||||
d_A0GLO = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GLO));
|
||||
d_A0GLO = d_A0GLO * D1_A0GLO_LSB;
|
||||
|
||||
d_A1GLO = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GLO));
|
||||
d_A1GLO = d_A1GLO* D1_A1GLO_LSB;
|
||||
}
|
||||
if (SV_page_5 == 10)
|
||||
{
|
||||
d_DeltaT_LS = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_T_LS));
|
||||
d_DeltaT_LSF = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_T_LSF));
|
||||
i_WN_LSF = static_cast<double>(read_navigation_signed(subframe_bits, D1_WN_LSF));
|
||||
d_A0UTC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0UTC));
|
||||
d_A0UTC = d_A0GPS * D1_A0GPS_LSB;
|
||||
d_A1UTC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1UTC));
|
||||
d_A1UTC = d_A1UTC * D1_A1UTC_LSB;
|
||||
}
|
||||
|
||||
// Set system flags for message reception
|
||||
flag_sf_5 = true;
|
||||
flag_new_SOW_available = true;
|
||||
|
||||
break;
|
||||
|
||||
@ -1140,51 +1026,91 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte
|
||||
|
||||
Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
|
||||
{
|
||||
Beidou_Dnav_Ephemeris ephemeris;
|
||||
ephemeris.i_satellite_PRN = i_satellite_PRN;
|
||||
ephemeris.d_TOW = d_SOW;
|
||||
ephemeris.d_Crs = d_Crs;
|
||||
ephemeris.d_Delta_n = d_Delta_n;
|
||||
ephemeris.d_M_0 = d_M_0;
|
||||
ephemeris.d_Cuc = d_Cuc;
|
||||
ephemeris.d_e_eccentricity = d_eccentricity;
|
||||
ephemeris.d_Cus = d_Cus;
|
||||
ephemeris.d_sqrt_A = d_sqrt_A;
|
||||
ephemeris.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB) ;
|
||||
ephemeris.d_Toc = d_Toc;
|
||||
ephemeris.d_Cic = d_Cic;
|
||||
ephemeris.d_OMEGA0 = d_OMEGA0;
|
||||
ephemeris.d_Cis = d_Cis;
|
||||
ephemeris.d_i_0 = d_i_0;
|
||||
ephemeris.d_Crc = d_Crc;
|
||||
ephemeris.d_OMEGA = d_OMEGA;
|
||||
ephemeris.d_OMEGA_DOT = d_OMEGA_DOT;
|
||||
ephemeris.d_IDOT = d_IDOT;
|
||||
ephemeris.i_BEIDOU_week = i_BEIDOU_week;
|
||||
ephemeris.i_SV_accuracy = i_SV_accuracy;
|
||||
ephemeris.i_SV_health = i_SV_health;
|
||||
ephemeris.d_TGD1 = d_TGD1;
|
||||
ephemeris.d_AODC = d_AODC;
|
||||
ephemeris.d_AODE = d_AODE;
|
||||
ephemeris.b_fit_interval_flag = b_fit_interval_flag;
|
||||
ephemeris.d_spare1 = d_spare1;
|
||||
ephemeris.d_spare2 = d_spare2;
|
||||
ephemeris.d_A_f0 = d_A_f0;
|
||||
ephemeris.d_A_f1 = d_A_f1;
|
||||
ephemeris.d_A_f2 = d_A_f2;
|
||||
ephemeris.b_integrity_status_flag = b_integrity_status_flag;
|
||||
ephemeris.b_alert_flag = b_alert_flag;
|
||||
ephemeris.b_antispoofing_flag = b_antispoofing_flag;
|
||||
ephemeris.d_satClkDrift = d_satClkDrift;
|
||||
ephemeris.d_dtr = d_dtr;
|
||||
ephemeris.d_satpos_X = d_satpos_X;
|
||||
ephemeris.d_satpos_Y = d_satpos_Y;
|
||||
ephemeris.d_satpos_Z = d_satpos_Z;
|
||||
ephemeris.d_satvel_X = d_satvel_X;
|
||||
ephemeris.d_satvel_Y = d_satvel_Y;
|
||||
ephemeris.d_satvel_Z = d_satvel_Z;
|
||||
Beidou_Dnav_Ephemeris eph;
|
||||
|
||||
return ephemeris;
|
||||
if(i_satellite_PRN > 0 and i_satellite_PRN < 6)
|
||||
{
|
||||
// Order as given by eph_t in rtklib
|
||||
eph.i_satellite_PRN = i_satellite_PRN;
|
||||
eph.d_AODC = d_AODC;
|
||||
eph.d_AODE = d_AODE;
|
||||
eph.i_SV_accuracy = i_SV_accuracy;
|
||||
eph.i_SV_health = i_SV_health;
|
||||
eph.i_BEIDOU_week = i_BEIDOU_week;
|
||||
eph.i_sig_type = 1;
|
||||
eph.i_nav_type = 2;
|
||||
|
||||
eph.d_TOW = d_SOW;
|
||||
eph.d_Toe = d_Toe;
|
||||
eph.d_Toc = d_Toc;
|
||||
|
||||
eph.d_sqrt_A = d_sqrt_A;
|
||||
eph.d_eccentricity = (d_eccentricity_msb + d_eccentricity_lsb)*D1_E_LSB;
|
||||
eph.d_i_0 = (d_i_0_msb + d_i_0_lsb)*D1_I0_LSB;
|
||||
eph.d_OMEGA0 = d_OMEGA0;
|
||||
d_OMEGA_lsb = (d_OMEGA_msb < 0)?-d_OMEGA_lsb:d_OMEGA_lsb;
|
||||
eph.d_OMEGA = (d_OMEGA_msb + d_OMEGA_lsb)*D1_OMEGA_LSB;
|
||||
eph.d_M_0 = d_M_0;
|
||||
eph.d_Delta_n = d_Delta_n;
|
||||
|
||||
eph.d_OMEGA_DOT = (d_OMEGA_DOT_msb + d_OMEGA_DOT_lsb)*D1_OMEGA_DOT_LSB;
|
||||
eph.d_IDOT = d_IDOT;
|
||||
|
||||
eph.d_Crc = d_Crc;
|
||||
eph.d_Crs = d_Crs;
|
||||
eph.d_Cuc = (d_Cuc_msb + d_Cuc_lsb)*D1_CUC_LSB;
|
||||
eph.d_Cus = d_Cus;
|
||||
eph.d_Cic = (d_Cic_msb + d_Cic_lsb)*D1_CIC_LSB;
|
||||
eph.d_Cis = d_Cis;
|
||||
|
||||
eph.d_A_f0 = d_A_f0;
|
||||
eph.d_A_f1 = (d_A_f1_msb + d_A_f1_lsb)*D1_A1_LSB;
|
||||
eph.d_A_f2 = d_A_f2;
|
||||
|
||||
eph.d_TGD1 = d_TGD1;
|
||||
eph.d_TGD2 = d_TGD2;
|
||||
}
|
||||
else
|
||||
{
|
||||
eph.i_satellite_PRN = i_satellite_PRN;
|
||||
eph.d_AODC = d_AODC;
|
||||
eph.d_AODE = d_AODE;
|
||||
eph.i_SV_accuracy = i_SV_accuracy;
|
||||
eph.i_SV_health = i_SV_health;
|
||||
eph.i_BEIDOU_week = i_BEIDOU_week;
|
||||
eph.i_sig_type = 1;
|
||||
eph.i_nav_type = 1; // MEO/IGSO
|
||||
|
||||
eph.d_TOW = d_SOW;
|
||||
eph.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB) ;
|
||||
eph.d_Toc = d_Toc;
|
||||
|
||||
eph.d_sqrt_A = d_sqrt_A;
|
||||
eph.d_eccentricity = d_eccentricity;
|
||||
eph.d_i_0 = d_i_0;
|
||||
eph.d_OMEGA0 = d_OMEGA0;
|
||||
eph.d_OMEGA = d_OMEGA;
|
||||
eph.d_M_0 = d_M_0;
|
||||
eph.d_Delta_n = d_Delta_n;
|
||||
eph.d_OMEGA_DOT = d_OMEGA_DOT;
|
||||
eph.d_IDOT = d_IDOT;
|
||||
|
||||
eph.d_Crc = d_Crc;
|
||||
eph.d_Crs = d_Crs;
|
||||
eph.d_Cuc = d_Cuc;
|
||||
eph.d_Cus = d_Cus;
|
||||
eph.d_Cic = d_Cic;
|
||||
eph.d_Cis = d_Cis;
|
||||
|
||||
eph.d_A_f0 = d_A_f0;
|
||||
eph.d_A_f1 = d_A_f1;
|
||||
eph.d_A_f2 = d_A_f2;
|
||||
|
||||
eph.d_TGD1 = d_TGD1;
|
||||
eph.d_TGD2 = d_TGD2;
|
||||
}
|
||||
|
||||
return eph;
|
||||
}
|
||||
|
||||
Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
|
||||
@ -1225,22 +1151,50 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
|
||||
{
|
||||
if ((flag_sf1 == true) and (flag_sf2 == true) and (flag_sf_3 == true))
|
||||
{
|
||||
// if all ephemeris pages have the same IOD, then they belong to the same block
|
||||
if (d_previous_aode != d_AODE)
|
||||
if(i_satellite_PRN > 0 and i_satellite_PRN < 6)
|
||||
{
|
||||
if ((flag_sf1_p1 == true) and (flag_sf1_p2 == true) and (flag_sf1_p3 == true) and
|
||||
(flag_sf1_p4 == true) and (flag_sf1_p5 == true) and (flag_sf1_p6 == true) and
|
||||
(flag_sf1_p7 == true) and (flag_sf1_p8 == true) and (flag_sf1_p9 == true) and
|
||||
(flag_sf1_p10 == true))
|
||||
{
|
||||
flag_sf1 = false; // clear the flag
|
||||
flag_sf2 = false; // clear the flag
|
||||
flag_sf_3 = false; // clear the flag
|
||||
flag_eph_valid = true;
|
||||
// Update the time of ephemeris information
|
||||
d_previous_aode = d_AODE;
|
||||
DLOG(INFO) << "Beidou Dnav Ephemeris (1, 2) have been received and belong to the same batch" << std::endl;
|
||||
return true;
|
||||
// if all ephemeris pages have the same IOD, then they belong to the same block
|
||||
if (d_previous_aode != d_AODE)
|
||||
{
|
||||
// Clear flags for all received pages
|
||||
flag_sf1_p1 = false; flag_sf1_p2 = false; flag_sf1_p3 = false;
|
||||
flag_sf1_p4 = false; flag_sf1_p5 = false; flag_sf1_p6 = false;
|
||||
flag_sf1_p7 = false; flag_sf1_p8 = false; flag_sf1_p9 = false;
|
||||
flag_sf1_p10 = false;
|
||||
|
||||
flag_eph_valid = true;
|
||||
// Update the time of ephemeris information
|
||||
d_previous_aode = d_AODE;
|
||||
DLOG(INFO) << "Beidou D2 NAV Ephemeris have been received and belong to the same batch" << std::endl;
|
||||
return true;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if ((flag_d1_sf1 == true) and (flag_d1_sf2 == true) and (flag_d1_sf3 == true))
|
||||
{
|
||||
// if all ephemeris pages have the same IOD, then they belong to the same block
|
||||
if (d_previous_aode != d_AODE)
|
||||
{
|
||||
// Clear flags for all received subframes
|
||||
flag_d1_sf1 = false; flag_d1_sf2 = false; flag_d1_sf3 = false;
|
||||
|
||||
flag_eph_valid = true;
|
||||
// Update the time of ephemeris information
|
||||
d_previous_aode = d_AODE;
|
||||
DLOG(INFO) << "Beidou D1 NAV Ephemeris have been received and belong to the same batch" << std::endl;
|
||||
return true;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
@ -1272,11 +1226,11 @@ bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_almanac()
|
||||
{
|
||||
if ((flag_sf_4 == true) and (flag_sf_5 == true))
|
||||
if ((flag_d1_sf4 == true) and (flag_d1_sf5 == true))
|
||||
{
|
||||
// All almanac have been received
|
||||
flag_sf_4 = false;
|
||||
flag_sf_5 = false;
|
||||
flag_d1_sf4 = false;
|
||||
flag_d1_sf5 = false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -73,11 +73,11 @@ public:
|
||||
bool flag_eph_valid;
|
||||
bool flag_utc_model_valid;
|
||||
bool flag_iono_valid;
|
||||
bool flag_sf1;
|
||||
bool flag_sf2;
|
||||
bool flag_sf_3;
|
||||
bool flag_sf_4;
|
||||
bool flag_sf_5;
|
||||
bool flag_d1_sf1;
|
||||
bool flag_d1_sf2;
|
||||
bool flag_d1_sf3;
|
||||
bool flag_d1_sf4;
|
||||
bool flag_d1_sf5;
|
||||
bool flag_new_SOW_available;
|
||||
bool flag_crc_test;
|
||||
double d_previous_aode;
|
||||
@ -129,8 +129,8 @@ public:
|
||||
//broadcast orbit 6
|
||||
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
|
||||
int i_SV_health;
|
||||
double d_TGD1; //!< Estimated Group Delay Differential in B1
|
||||
double d_TGD2; //!< Estimated Group Delay Differential in B2
|
||||
double d_TGD1; //!< Estimated Group Delay Differential in B1 [s]
|
||||
double d_TGD2; //!< Estimated Group Delay Differential in B2 [s]
|
||||
double d_AODC; //!< Age of Data, Clock
|
||||
//broadcast orbit 7
|
||||
// int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
@ -139,17 +139,13 @@ public:
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
|
||||
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
|
||||
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
double d_a0; //!< Clock correction parameters
|
||||
double d_a1; //!< Clock correction parameters
|
||||
double d_a2; //!< Clock correction parameters
|
||||
double d_A_f0; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s]
|
||||
double d_A_f1; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
// D2 NAV Message Decoding
|
||||
double d_a1_msb; //!< Clock correction parameters, D2 NAV MSB
|
||||
double d_a1_lsb; //!< Clock correction parameters, D2 NAV LSB
|
||||
double d_A_f1_msb; //!< Clock correction parameters, D2 NAV MSB
|
||||
double d_A_f1_lsb; //!< Clock correction parameters, D2 NAV LSB
|
||||
double d_Cuc_msb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_Cuc_lsb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_eccentricity_msb; //!< Eccentricity [dimensionless]
|
||||
|
||||
Loading…
Reference in New Issue
Block a user