From 2d05d41063676214a55fd2d48a07e98d71358ac4 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 12 Nov 2021 11:55:38 +0100 Subject: [PATCH] Add IGM03 messages (combined orbit and clock correction) --- src/algorithms/PVT/libs/rtcm.cc | 109 ++++++++++++++++++++++++++++++++ src/algorithms/PVT/libs/rtcm.h | 7 ++ 2 files changed, 116 insertions(+) diff --git a/src/algorithms/PVT/libs/rtcm.cc b/src/algorithms/PVT/libs/rtcm.cc index c1964573e..4da88d870 100644 --- a/src/algorithms/PVT/libs/rtcm.cc +++ b/src/algorithms/PVT/libs/rtcm.cc @@ -3373,6 +3373,30 @@ std::vector Rtcm::print_IGM02(const Galileo_HAS_data& has_data) } +std::vector Rtcm::print_IGM03(const Galileo_HAS_data& has_data) +{ + std::vector 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 prn = has_data.get_PRNs_in_mask(nsys_index); + std::vector gnss_iod = has_data.get_gnss_iod(nsys_index); + std::vector delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index); + std::vector delta_orbit_along_track_m = has_data.get_delta_along_track_m(nsys_index); + std::vector delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index); + std::vector delta_clock_c0 = has_data.get_delta_clock_c0_m(nsys_index); + std::vector delta_clock_c1(num_sats_in_this_system); + std::vector 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(prn[sat])); + Rtcm::set_IDF012(static_cast(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 // ***************************************************************************************************** diff --git a/src/algorithms/PVT/libs/rtcm.h b/src/algorithms/PVT/libs/rtcm.h index 8474beded..f5e0cfa0c 100644 --- a/src/algorithms/PVT/libs/rtcm.h +++ b/src/algorithms/PVT/libs/rtcm.h @@ -347,6 +347,11 @@ public: */ std::vector print_IGM02(const Galileo_HAS_data& has_data); + /*! + * \brief Prints messages of type IGM03 (SSR Combined Orbit and Clock Correction) + */ + std::vector 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