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Add IGM03 messages (combined orbit and clock correction)

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This commit is contained in:
Carles Fernandez 2021-11-12 11:55:38 +01:00
parent 3ae17828ea
commit 2d05d41063
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2 changed files with 116 additions and 0 deletions
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109
src/algorithms/PVT/libs/rtcm.cc
View File

@ -3373,6 +3373,30 @@ std::vector<std::string> Rtcm::print_IGM02(const Galileo_HAS_data& has_data)
}
std::vector<std::string> Rtcm::print_IGM03(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM03_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM03_content_sat(has_data, sys);
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
return msgs;
}
std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
@ -3521,6 +3545,91 @@ std::string Rtcm::get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_
}
std::string Rtcm::get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31
bool regional_indicator = false; // ?
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 23;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 63;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF006(regional_indicator);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF006.to_string() + IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index);
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_along_track_m = has_data.get_delta_along_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system);
std::vector<float> delta_clock_c2(num_sats_in_this_system);
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs
Rtcm::set_IDF013(delta_orbit_radial_m[sat]);
Rtcm::set_IDF014(delta_orbit_along_track_m[sat]);
Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]);
Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s
Rtcm::set_IDF017(0.0); // dot_orbit_delta_along_track_m_s
Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s
Rtcm::set_IDF019(delta_clock_c0[sat]);
Rtcm::set_IDF020(delta_clock_c1[sat]);
Rtcm::set_IDF021(delta_clock_c2[sat]);
content += IDF011.to_string() + IDF012.to_string() + IDF013.to_string() +
IDF014.to_string() + IDF015.to_string() + IDF016.to_string() +
IDF017.to_string() + IDF018.to_string() + DF019.to_string() +
IDF020.to_string() + IDF021.to_string();
}
return content;
}
// *****************************************************************************************************
// Some utilities
// *****************************************************************************************************

7
src/algorithms/PVT/libs/rtcm.h
View File

@ -347,6 +347,11 @@ public:
*/
std::vector<std::string> print_IGM02(const Galileo_HAS_data& has_data);
/*!
* \brief Prints messages of type IGM03 (SSR Combined Orbit and Clock Correction)
*/
std::vector<std::string> print_IGM03(const Galileo_HAS_data& has_data);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
@ -491,6 +496,8 @@ private:
std::string get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
//
// Utilities