mirror of
https://github.com/gnss-sdr/gnss-sdr
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Improving documentation and code formatting
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@447 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
a7b1f71566
commit
3adee701fd
@ -1,6 +1,7 @@
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/*!
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* \file Galileo_Navigation_Message.cc
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* \brief Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
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* \brief Implementation of a Galileo I/NAV Data message
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* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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@ -35,7 +36,6 @@
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#include <boost/dynamic_bitset.hpp>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include <iostream>
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#include <cstring>
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#include <string>
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@ -168,7 +168,6 @@ void Galileo_Navigation_Message::reset()
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Omega_dot_8 = 0;
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/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
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IOD_a_9 = 0;
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WN_a_9 = 0;
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t0a_9 = 0;
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@ -184,7 +183,6 @@ void Galileo_Navigation_Message::reset()
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delta_i_9 = 0;
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/*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
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IOD_a_10 = 0;
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Omega0_10 = 0;
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Omega_dot_10 = 0;
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@ -200,11 +198,9 @@ void Galileo_Navigation_Message::reset()
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WN_0G_10 = 0;
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/*Word type 0: I/NAV Spare Word*/
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Time_0 = 0;
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WN_0 = 0;
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TOW_0 = 0;
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}
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@ -216,7 +212,6 @@ Galileo_Navigation_Message::Galileo_Navigation_Message()
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bool Galileo_Navigation_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits,boost::uint32_t checksum)
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{
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CRC_Galileo_INAV_type CRC_Galileo;
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boost::uint32_t crc_computed;
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@ -232,18 +227,20 @@ bool Galileo_Navigation_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> b
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boost::to_block_range(frame_bits, std::back_inserter(bytes));
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std::reverse(bytes.begin(),bytes.end());
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CRC_Galileo.process_bytes( bytes.data(), GALILEO_DATA_FRAME_BYTES );
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crc_computed = CRC_Galileo.checksum();
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if (checksum==crc_computed){
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if (checksum == crc_computed)
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{
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return true;
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}else{
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}
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else
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{
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return false;
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}
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}
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unsigned long int Galileo_Navigation_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter)
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{
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unsigned long int value = 0;
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@ -343,10 +340,10 @@ signed long int Galileo_Navigation_Message::read_navigation_signed(std::bitset<G
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return value;
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}
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bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter)
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{
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bool value;
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if (bits[GALILEO_DATA_JK_BITS - parameter[0].first] == 1)
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{
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value = true;
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@ -358,6 +355,7 @@ bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_DATA_J
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return value;
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}
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/*void Galileo_Navigation_Message::print_galileo_word_bytes(unsigned int GPS_word)
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{
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std::cout << " Word =";
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@ -366,8 +364,8 @@ bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_DATA_J
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}*/
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void Galileo_Navigation_Message::split_page(std::string page_string, int flag_even_word){
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void Galileo_Navigation_Message::split_page(std::string page_string, int flag_even_word)
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{
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// ToDo: Clean all the tests and create an independent google test code for the telemetry decoder.
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//char correct_tail[7]="011110"; //the viterbi decoder output change the tail to this value (why?)
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//char correct_tail[7]="000000";
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@ -420,7 +418,7 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
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std::string TLM_word_for_CRC;
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TLM_word_for_CRC=TLM_word_for_CRC_stream.str().substr(0,GALILEO_DATA_FRAME_BITS);
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//std::cout<<"Complete word for CRC test: "<<TLM_word_for_CRC<<std::endl;
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//std::cout<<"Complete word for CRC test: "<<TLM_word_for_CRC;
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std::bitset<GALILEO_DATA_FRAME_BITS> TLM_word_for_CRC_bits(TLM_word_for_CRC);
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std::bitset<24> checksum(CRC_data);
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@ -443,25 +441,9 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
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//std::cout<<"Data j k ephemeris" << endl << Data_jk_ephemeris << endl;
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page_jk_decoder(Data_jk_ephemeris.c_str()); // Corresponding to ephemeris_decode.m in matlab code
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/*this block is just to try some function, it must be eliminated
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double t_GST;
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if ((have_new_iono_and_GST() == true) and (flag_all_ephemeris==true))
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{
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std::cout <<"GST and ephemeris parameters have been received, now it is possible to compute satellite position"<< std::endl;
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t_GST = Galileo_System_Time(WN_5, TOW_5);
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std::cout << "Galileo System Time [sec]: " << t_GST << std::endl;
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satellitePosition(t_GST);
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flag_all_ephemeris=false;
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}
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double t_UTC;
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if ((have_new_iono_and_GST() == true) and (have_new_utc_model() == true))
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else
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{
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t_UTC = GST_to_UTC_time(t_GST, WN_5);
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std::cout << "UTC [sec]: " << t_UTC << std::endl;
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}
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*/
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}else{
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// CRC wrong.. discard frame
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flag_CRC_test = false;
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}
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@ -469,8 +451,8 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
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}
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} /*end if (page_string.at(0)=='1') */
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else{
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else
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{
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page_Even = page_string.substr (0,114);
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//std::cout << "Page even in split page" << std::endl << page_Even << std::endl;
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std::string tail_Even = page_string.substr (114,6);
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@ -478,9 +460,7 @@ void Galileo_Navigation_Message::split_page(std::string page_string, int flag_ev
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//if (tail_Even.compare(correct_tail) != 0)
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// std::cout << "Tail even is not correct!" << std::endl;
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//else std::cout<<"Tail even is correct!"<< std::endl;
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}
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}
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@ -500,7 +480,9 @@ bool Galileo_Navigation_Message::have_new_ephemeris() //Check if we have a new e
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IOD_ephemeris = IOD_nav_1;
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std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
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return true;
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}else{
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}
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else
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{
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return false;
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}
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}
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@ -515,7 +497,8 @@ bool Galileo_Navigation_Message::have_new_iono_and_GST() //Check if we have a ne
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{
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flag_iono_and_GST = false; // clear the flag
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return true;
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}else
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}
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else
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return false;
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}
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@ -548,9 +531,9 @@ bool Galileo_Navigation_Message::have_new_almanac() //Check if we have a new alm
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return false;
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}
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Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris()
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{
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Galileo_Ephemeris ephemeris;
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ephemeris.flag_all_ephemeris = flag_all_ephemeris;
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ephemeris.IOD_ephemeris = IOD_ephemeris;
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@ -676,7 +659,6 @@ Galileo_Almanac Galileo_Navigation_Message::get_almanac()
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almanac.omega_9 = omega_9;
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almanac.delta_i_9 = delta_i_9;
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/*Word type 10: Almanac for SVID3 (2/2)*/
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almanac.IOD_a_10 = IOD_a_10;
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almanac.Omega0_10 = Omega0_10;
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@ -692,117 +674,110 @@ Galileo_Almanac Galileo_Navigation_Message::get_almanac()
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int Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)
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{
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//DLOG(INFO) << "--------------------------------------------------------------------------" << std::endl;
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//DLOG(INFO)<< "Entered in function Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)" << std::endl;
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int page_number = 0;
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std::string data_jk_string = data_jk;
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std::bitset<GALILEO_DATA_JK_BITS> data_jk_bits (data_jk_string);
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//DLOG(INFO) << "Data_jk_bits (bitset) "<< endl << data_jk_bits << endl;
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page_number = (int)read_navigation_unsigned(data_jk_bits, PAGE_TYPE_bit);
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DLOG(INFO) << "Page number = " << page_number << std::endl;
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DLOG(INFO) << "Page number = " << page_number;
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switch (page_number)
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{
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case 1: /*Word type 1: Ephemeris (1/4)*/
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IOD_nav_1 = (int)read_navigation_unsigned(data_jk_bits, IOD_nav_1_bit);
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DLOG(INFO)<<"IOD_nav_1= "<< IOD_nav_1 <<std::endl;
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DLOG(INFO) << "IOD_nav_1= " << IOD_nav_1;
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t0e_1 = (double)read_navigation_unsigned(data_jk_bits, T0E_1_bit);
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t0e_1 = t0e_1 * t0e_1_LSB;
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DLOG(INFO) << "t0e_1= " << t0e_1 <<std::endl;
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DLOG(INFO) << "t0e_1= " << t0e_1;
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M0_1 = (double)read_navigation_signed(data_jk_bits, M0_1_bit);
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M0_1 = M0_1 * M0_1_LSB;
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DLOG(INFO) << "M0_1= " << M0_1<<std::endl;
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DLOG(INFO) << "M0_1= " << M0_1;
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e_1 = (double)read_navigation_unsigned(data_jk_bits, e_1_bit);
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e_1 = e_1 * e_1_LSB;
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DLOG(INFO) << "e_1= " << e_1 <<std::endl;
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DLOG(INFO) << "e_1= " << e_1;
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A_1 = (double)read_navigation_unsigned(data_jk_bits, A_1_bit);
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A_1 = A_1 * A_1_LSB_gal;
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DLOG(INFO) << "A_1= " << A_1 <<std::endl;
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DLOG(INFO) << "A_1= " << A_1;
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flag_ephemeris_1 = true;
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DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
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DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
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break;
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case 2: /*Word type 2: Ephemeris (2/4)*/
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IOD_nav_2 = (int)read_navigation_unsigned(data_jk_bits, IOD_nav_2_bit);
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DLOG(INFO)<<"IOD_nav_2= "<< IOD_nav_2 <<std::endl;
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DLOG(INFO) << "IOD_nav_2= " << IOD_nav_2;
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OMEGA_0_2 = (double)read_navigation_signed(data_jk_bits, OMEGA_0_2_bit);
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OMEGA_0_2 = OMEGA_0_2 * OMEGA_0_2_LSB;
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DLOG(INFO)<<"OMEGA_0_2= "<< OMEGA_0_2 <<std::endl;
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DLOG(INFO) << "OMEGA_0_2= " << OMEGA_0_2 ;
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i_0_2 = (double)read_navigation_signed(data_jk_bits, i_0_2_bit);
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i_0_2 = i_0_2 * i_0_2_LSB;
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DLOG(INFO)<<"i_0_2= "<< i_0_2 <<std::endl;
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DLOG(INFO) << "i_0_2= " << i_0_2 ;
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omega_2 = (double)read_navigation_signed(data_jk_bits, omega_2_bit);
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omega_2 = omega_2 * omega_2_LSB;
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DLOG(INFO)<<"omega_2= "<< omega_2 <<std::endl;
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DLOG(INFO) << "omega_2= " << omega_2;
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iDot_2 = (double)read_navigation_signed(data_jk_bits, iDot_2_bit);
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iDot_2 = iDot_2 * iDot_2_LSB;
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DLOG(INFO)<<"iDot_2= "<< iDot_2 <<std::endl;
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DLOG(INFO) << "iDot_2= " << iDot_2;
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flag_ephemeris_2 = true;
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DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
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DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
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break;
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case 3: /*Word type 3: Ephemeris (3/4) and SISA*/
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IOD_nav_3 = (int)read_navigation_unsigned(data_jk_bits, IOD_nav_3_bit);
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DLOG(INFO)<<"IOD_nav_3= "<< IOD_nav_3 <<std::endl;
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DLOG(INFO) << "IOD_nav_3= " << IOD_nav_3 ;
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OMEGA_dot_3 = (double)read_navigation_signed(data_jk_bits, OMEGA_dot_3_bit);
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OMEGA_dot_3 = OMEGA_dot_3 * OMEGA_dot_3_LSB;
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DLOG(INFO)<<"OMEGA_dot_3= "<< OMEGA_dot_3 <<std::endl;
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DLOG(INFO) <<"OMEGA_dot_3= " << OMEGA_dot_3 ;
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delta_n_3 = (double)read_navigation_signed(data_jk_bits, delta_n_3_bit);
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delta_n_3 = delta_n_3 * delta_n_3_LSB;
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DLOG(INFO)<<"delta_n_3= "<< delta_n_3 <<std::endl;
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DLOG(INFO) << "delta_n_3= " << delta_n_3 ;
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C_uc_3 = (double)read_navigation_signed(data_jk_bits, C_uc_3_bit);
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C_uc_3 = C_uc_3 * C_uc_3_LSB;
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DLOG(INFO)<<"C_uc_3= "<< C_uc_3 <<std::endl;
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DLOG(INFO) << "C_uc_3= " << C_uc_3;
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C_us_3 = (double)read_navigation_signed(data_jk_bits, C_us_3_bit);
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C_us_3 = C_us_3 * C_us_3_LSB;
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DLOG(INFO)<<"C_us_3= "<< C_us_3 <<std::endl;
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DLOG(INFO) << "C_us_3= " << C_us_3;
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C_rc_3 = (double)read_navigation_signed(data_jk_bits, C_rc_3_bit);
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C_rc_3 = C_rc_3 * C_rc_3_LSB;
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DLOG(INFO)<<"C_rc_3= "<< C_rc_3 <<std::endl;
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DLOG(INFO) << "C_rc_3= " << C_rc_3;
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C_rs_3 = (double)read_navigation_signed(data_jk_bits, C_rs_3_bit);
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C_rs_3 = C_rs_3 * C_rs_3_LSB;
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DLOG(INFO)<<"C_rs_3= "<< C_rs_3 <<std::endl;
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DLOG(INFO) << "C_rs_3= " << C_rs_3;
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SISA_3 = (double)read_navigation_unsigned(data_jk_bits, SISA_3_bit);
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DLOG(INFO)<<"SISA_3= "<< SISA_3 <<std::endl;
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DLOG(INFO) << "SISA_3= " << SISA_3;
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flag_ephemeris_3 = true;
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DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
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DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
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break;
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case 4: /* Word type 4: Ephemeris (4/4) and Clock correction parameters*/
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IOD_nav_4 = (int)read_navigation_unsigned(data_jk_bits, IOD_nav_4_bit);
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DLOG(INFO)<<"IOD_nav_4= "<< IOD_nav_4 <<std::endl;
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DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4 ;
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SV_ID_PRN_4 = (int)read_navigation_unsigned(data_jk_bits, SV_ID_PRN_4_bit);
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DLOG(INFO)<<"SV_ID_PRN_4= "<< SV_ID_PRN_4 <<std::endl;
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DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4 ;
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C_ic_4 = (double)read_navigation_signed(data_jk_bits, C_ic_4_bit);
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C_ic_4 = C_ic_4 * C_ic_4_LSB;
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DLOG(INFO)<<"C_ic_4= "<< C_ic_4 <<std::endl;
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DLOG(INFO) << "C_ic_4= " << C_ic_4;
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C_is_4 = (double)read_navigation_signed(data_jk_bits, C_is_4_bit);
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C_is_4 = C_is_4 * C_is_4_LSB;
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DLOG(INFO)<<"C_is_4= "<< C_is_4 <<std::endl;
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DLOG(INFO) << "C_is_4= " << C_is_4;
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/*Clock correction parameters*/
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t0c_4 = (double)read_navigation_unsigned(data_jk_bits, t0c_4_bit);
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t0c_4 = t0c_4 * t0c_4_LSB;
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DLOG(INFO)<<"t0c_4= "<< t0c_4 <<std::endl;
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DLOG(INFO) << "t0c_4= " << t0c_4;
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af0_4 = (double)read_navigation_signed(data_jk_bits, af0_4_bit);
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af0_4 = af0_4 * af0_4_LSB;
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DLOG(INFO)<<"af0_4 = "<< af0_4 <<std::endl;
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DLOG(INFO) << "af0_4 = " << af0_4;
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af1_4 = (double)read_navigation_signed(data_jk_bits, af1_4_bit);
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af1_4 = af1_4 * af1_4_LSB;
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DLOG(INFO)<<"af1_4 = "<< af1_4 <<std::endl;
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DLOG(INFO) << "af1_4 = " << af1_4;
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af2_4 = (double)read_navigation_signed(data_jk_bits, af2_4_bit);
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af2_4 = af2_4 * af2_4_LSB;
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DLOG(INFO)<<"af2_4 = "<< af2_4 <<std::endl;
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DLOG(INFO) << "af2_4 = " << af2_4;
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spare_4 = (double)read_navigation_unsigned(data_jk_bits, spare_4_bit);
|
||||
DLOG(INFO)<<"spare_4 = "<< spare_4 <<std::endl;
|
||||
DLOG(INFO) << "spare_4 = " << spare_4;
|
||||
flag_ephemeris_4 = true;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 5: /*Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
|
||||
@ -810,298 +785,237 @@ int Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)
|
||||
/*Az*/
|
||||
ai0_5 = (double)read_navigation_unsigned(data_jk_bits, ai0_5_bit);
|
||||
ai0_5 = ai0_5 * ai0_5_LSB;
|
||||
DLOG(INFO)<<"ai0_5= "<< ai0_5 <<std::endl;
|
||||
DLOG(INFO) << "ai0_5= " << ai0_5;
|
||||
ai1_5 = (double)read_navigation_signed(data_jk_bits, ai1_5_bit);
|
||||
ai1_5 = ai1_5 * ai1_5_LSB;
|
||||
DLOG(INFO)<<"ai1_5= "<< ai1_5 <<std::endl;
|
||||
DLOG(INFO) << "ai1_5= " << ai1_5;
|
||||
ai2_5 = (double)read_navigation_signed(data_jk_bits, ai2_5_bit);
|
||||
ai2_5 = ai2_5 * ai2_5_LSB;
|
||||
DLOG(INFO)<<"ai2_5= "<< ai2_5 <<std::endl;
|
||||
DLOG(INFO) << "ai2_5= " << ai2_5;
|
||||
/*Ionospheric disturbance flag*/
|
||||
Region1_flag_5 = (bool)read_navigation_bool(data_jk_bits, Region1_5_bit);
|
||||
DLOG(INFO)<<"Region1_flag_5= "<< Region1_flag_5 <<std::endl;
|
||||
DLOG(INFO) << "Region1_flag_5= " << Region1_flag_5;
|
||||
Region2_flag_5 = (bool)read_navigation_bool(data_jk_bits, Region2_5_bit);
|
||||
DLOG(INFO)<<"Region2_flag_5= "<< Region2_flag_5 <<std::endl;
|
||||
DLOG(INFO) << "Region2_flag_5= " << Region2_flag_5;
|
||||
Region3_flag_5 = (bool)read_navigation_bool(data_jk_bits, Region3_5_bit);
|
||||
DLOG(INFO)<<"Region3_flag_5= "<< Region3_flag_5 <<std::endl;
|
||||
DLOG(INFO) << "Region3_flag_5= " << Region3_flag_5;
|
||||
Region4_flag_5 = (bool)read_navigation_bool(data_jk_bits, Region4_5_bit);
|
||||
DLOG(INFO)<<"Region4_flag_5= "<< Region4_flag_5 <<std::endl;
|
||||
DLOG(INFO) << "Region4_flag_5= " << Region4_flag_5;
|
||||
Region5_flag_5 = (bool)read_navigation_bool(data_jk_bits, Region5_5_bit);
|
||||
DLOG(INFO)<<"Region5_flag_5= "<< Region5_flag_5 <<std::endl;
|
||||
DLOG(INFO) << "Region5_flag_5= " << Region5_flag_5;
|
||||
BGD_E1E5a_5 = (double)read_navigation_signed(data_jk_bits, BGD_E1E5a_5_bit);
|
||||
BGD_E1E5a_5 = BGD_E1E5a_5 * BGD_E1E5a_5_LSB;
|
||||
DLOG(INFO)<<"BGD_E1E5a_5= "<< BGD_E1E5a_5 <<std::endl;
|
||||
DLOG(INFO) << "BGD_E1E5a_5= " << BGD_E1E5a_5;
|
||||
BGD_E1E5b_5 = (double)read_navigation_signed(data_jk_bits, BGD_E1E5b_5_bit);
|
||||
BGD_E1E5b_5 = BGD_E1E5b_5 * BGD_E1E5b_5_LSB;
|
||||
DLOG(INFO)<<"BGD_E1E5b_5= "<< BGD_E1E5b_5 <<std::endl;
|
||||
DLOG(INFO) << "BGD_E1E5b_5= " << BGD_E1E5b_5;
|
||||
E5b_HS_5 = (double)read_navigation_unsigned(data_jk_bits, E5b_HS_5_bit);
|
||||
DLOG(INFO)<<"E5b_HS_5= "<< E5b_HS_5 <<std::endl;
|
||||
DLOG(INFO) << "E5b_HS_5= " << E5b_HS_5;
|
||||
E1B_HS_5 = (double)read_navigation_unsigned(data_jk_bits, E1B_HS_5_bit);
|
||||
DLOG(INFO)<<"E1B_HS_5= "<< E1B_HS_5 <<std::endl;
|
||||
DLOG(INFO) << "E1B_HS_5= " << E1B_HS_5;
|
||||
E5b_DVS_5 = (double)read_navigation_unsigned(data_jk_bits, E5b_DVS_5_bit);
|
||||
DLOG(INFO)<<"E5b_DVS_5= "<< E5b_DVS_5 <<std::endl;
|
||||
DLOG(INFO) << "E5b_DVS_5= " << E5b_DVS_5;
|
||||
E1B_DVS_5 = (double)read_navigation_unsigned(data_jk_bits, E1B_DVS_5_bit);
|
||||
DLOG(INFO)<<"E1B_DVS_5= "<< E1B_DVS_5 <<std::endl;
|
||||
DLOG(INFO) << "E1B_DVS_5= " << E1B_DVS_5;
|
||||
/*GST*/
|
||||
WN_5 = (double)read_navigation_unsigned(data_jk_bits, WN_5_bit);
|
||||
DLOG(INFO)<<"WN_5= "<< WN_5 <<std::endl;
|
||||
DLOG(INFO) << "WN_5= " << WN_5;
|
||||
TOW_5 = (double)read_navigation_unsigned(data_jk_bits, TOW_5_bit);
|
||||
DLOG(INFO)<<"TOW_5= "<< TOW_5 <<std::endl;
|
||||
DLOG(INFO) << "TOW_5= " << TOW_5;
|
||||
flag_TOW_5 = true; //set to false externally
|
||||
spare_5 = (double)read_navigation_unsigned(data_jk_bits, spare_5_bit);
|
||||
DLOG(INFO)<<"spare_5= "<< spare_5 <<std::endl;
|
||||
DLOG(INFO) << "spare_5= " << spare_5;
|
||||
flag_iono_and_GST = true; //set to false externally
|
||||
flag_TOW_set = true; //set to false externally
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 6: /*Word type 6: GST-UTC conversion parameters*/
|
||||
A0_6 = (double)read_navigation_signed(data_jk_bits, A0_6_bit);
|
||||
A0_6 = A0_6 * A0_6_LSB;
|
||||
DLOG(INFO) << "A0_6= " << A0_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "A0_6= " << A0_6;
|
||||
A1_6 = (double)read_navigation_signed(data_jk_bits, A1_6_bit);
|
||||
A1_6 = A1_6 * A1_6_LSB;
|
||||
DLOG(INFO) << "A1_6= " << A1_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "A1_6= " << A1_6;
|
||||
Delta_tLS_6 = (double)read_navigation_signed(data_jk_bits, Delta_tLS_6_bit);
|
||||
DLOG(INFO) << "Delta_tLS_6= " << Delta_tLS_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Delta_tLS_6= " << Delta_tLS_6;
|
||||
t0t_6 = (double)read_navigation_unsigned(data_jk_bits, t0t_6_bit);
|
||||
t0t_6 = t0t_6 * t0t_6_LSB;
|
||||
DLOG(INFO) << "t0t_6= " << t0t_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "t0t_6= " << t0t_6;
|
||||
WNot_6 = (double)read_navigation_unsigned(data_jk_bits, WNot_6_bit);
|
||||
DLOG(INFO) << "WNot_6= " << WNot_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "WNot_6= " << WNot_6;
|
||||
WN_LSF_6 = (double)read_navigation_unsigned(data_jk_bits, WN_LSF_6_bit);
|
||||
DLOG(INFO) << "WN_LSF_6= " << WN_LSF_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "WN_LSF_6= " << WN_LSF_6;
|
||||
DN_6 = (double)read_navigation_unsigned(data_jk_bits, DN_6_bit);
|
||||
DLOG(INFO) << "DN_6= " << DN_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "DN_6= " << DN_6;
|
||||
Delta_tLSF_6 = (double)read_navigation_signed(data_jk_bits, Delta_tLSF_6_bit);
|
||||
DLOG(INFO) << "Delta_tLSF_6= " << Delta_tLSF_6 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Delta_tLSF_6= " << Delta_tLSF_6;
|
||||
TOW_6 = (double)read_navigation_unsigned(data_jk_bits, TOW_6_bit);
|
||||
DLOG(INFO) << "TOW_6= " << TOW_6 << std::endl;
|
||||
DLOG(INFO) << "TOW_6= " << TOW_6;
|
||||
flag_TOW_6 = true; //set to false externally
|
||||
flag_utc_model = true; //set to false externally
|
||||
flag_TOW_set = true; //set to false externally
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 7: /*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
|
||||
|
||||
IOD_a_7 = (double)read_navigation_unsigned(data_jk_bits, IOD_a_7_bit);
|
||||
DLOG(INFO) << "IOD_a_7= " << IOD_a_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "IOD_a_7= " << IOD_a_7;
|
||||
WN_a_7 = (double)read_navigation_unsigned(data_jk_bits, WN_a_7_bit);
|
||||
DLOG(INFO) << "WN_a_7= " << WN_a_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "WN_a_7= " << WN_a_7;
|
||||
t0a_7 = (double)read_navigation_unsigned(data_jk_bits, t0a_7_bit);
|
||||
t0a_7 = t0a_7 * t0a_7_LSB;
|
||||
DLOG(INFO) << "t0a_7= " << t0a_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "t0a_7= " << t0a_7;
|
||||
SVID1_7 = (double)read_navigation_unsigned(data_jk_bits, SVID1_7_bit);
|
||||
DLOG(INFO) << "SVID1_7= " << SVID1_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "SVID1_7= " << SVID1_7;
|
||||
DELTA_A_7 = (double)read_navigation_signed(data_jk_bits, DELTA_A_7_bit);
|
||||
DELTA_A_7 = DELTA_A_7 * DELTA_A_7_LSB;
|
||||
DLOG(INFO) << "DELTA_A_7= " << DELTA_A_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "DELTA_A_7= " << DELTA_A_7;
|
||||
e_7 = (double)read_navigation_unsigned(data_jk_bits, e_7_bit);
|
||||
e_7 = e_7 * e_7_LSB;
|
||||
DLOG(INFO) << "e_7= " << e_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "e_7= " << e_7;
|
||||
omega_7 = (double)read_navigation_signed(data_jk_bits, omega_7_bit);
|
||||
omega_7 = omega_7 * omega_7_LSB;
|
||||
DLOG(INFO) << "omega_7= " << omega_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "omega_7= " << omega_7;
|
||||
delta_i_7 = (double)read_navigation_signed(data_jk_bits, delta_i_7_bit);
|
||||
delta_i_7 = delta_i_7 * delta_i_7_LSB;
|
||||
DLOG(INFO) << "delta_i_7= " << delta_i_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "delta_i_7= " << delta_i_7;
|
||||
Omega0_7 = (double)read_navigation_signed(data_jk_bits, Omega0_7_bit);
|
||||
Omega0_7 = Omega0_7 * Omega0_7_LSB;
|
||||
DLOG(INFO) << "Omega0_7= " << Omega0_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Omega0_7= " << Omega0_7;
|
||||
Omega_dot_7 = (double)read_navigation_signed(data_jk_bits, Omega_dot_7_bit);
|
||||
Omega_dot_7 = Omega_dot_7 * Omega_dot_7_LSB;
|
||||
DLOG(INFO) << "Omega_dot_7= " << Omega_dot_7 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Omega_dot_7= " << Omega_dot_7;
|
||||
M0_7 = (double)read_navigation_signed(data_jk_bits, M0_7_bit);
|
||||
M0_7 = M0_7 * M0_7_LSB;
|
||||
DLOG(INFO) << "M0_7= " << M0_7 << std::endl;
|
||||
DLOG(INFO) << "M0_7= " << M0_7;
|
||||
flag_almanac_1 = true;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set"<< flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 8: /*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
|
||||
|
||||
IOD_a_8 = (double)read_navigation_signed(data_jk_bits, IOD_a_8_bit);
|
||||
DLOG(INFO) << "IOD_a_8= " << IOD_a_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "IOD_a_8= " << IOD_a_8;
|
||||
af0_8 = (double)read_navigation_signed(data_jk_bits, af0_8_bit);
|
||||
af0_8 = af0_8 * af0_8_LSB;
|
||||
DLOG(INFO) << "af0_8= " << af0_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af0_8= " << af0_8;
|
||||
af1_8 = (double)read_navigation_signed(data_jk_bits, af1_8_bit);
|
||||
af1_8 = af1_8 * af1_8_LSB;
|
||||
DLOG(INFO) << "af1_8= " << af1_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af1_8= " << af1_8;
|
||||
E5b_HS_8 = (double)read_navigation_unsigned(data_jk_bits, E5b_HS_8_bit);
|
||||
DLOG(INFO) << "E5b_HS_8= " << E5b_HS_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E5b_HS_8= " << E5b_HS_8;
|
||||
E1B_HS_8 = (double)read_navigation_unsigned(data_jk_bits, E1B_HS_8_bit);
|
||||
DLOG(INFO) << "E1B_HS_8= " << E1B_HS_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E1B_HS_8= " << E1B_HS_8;
|
||||
SVID2_8 = (double)read_navigation_unsigned(data_jk_bits, SVID2_8_bit);
|
||||
DLOG(INFO) << "SVID2_8= " << SVID2_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "SVID2_8= " << SVID2_8;
|
||||
DELTA_A_8 = (double)read_navigation_signed(data_jk_bits, DELTA_A_8_bit);
|
||||
DELTA_A_8 = DELTA_A_8 * DELTA_A_8_LSB;
|
||||
DLOG(INFO) << "DELTA_A_8= " << DELTA_A_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "DELTA_A_8= " << DELTA_A_8;
|
||||
e_8 = (double)read_navigation_unsigned(data_jk_bits, e_8_bit);
|
||||
e_8 = e_8 * e_8_LSB;
|
||||
DLOG(INFO) << "e_8= " << e_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "e_8= " << e_8;
|
||||
omega_8 = (double)read_navigation_signed(data_jk_bits, omega_8_bit);
|
||||
omega_8 = omega_8 * omega_8_LSB;
|
||||
DLOG(INFO) << "omega_8= " << omega_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "omega_8= " << omega_8;
|
||||
delta_i_8 = (double)read_navigation_signed(data_jk_bits, delta_i_8_bit);
|
||||
delta_i_8 = delta_i_8 * delta_i_8_LSB;
|
||||
DLOG(INFO) << "delta_i_8= " << delta_i_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "delta_i_8= " << delta_i_8;
|
||||
Omega0_8 = (double)read_navigation_signed(data_jk_bits, Omega0_8_bit);
|
||||
Omega0_8 = Omega0_8 * Omega0_8_LSB;
|
||||
DLOG(INFO) << "Omega0_8= " << Omega0_8 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Omega0_8= " << Omega0_8;
|
||||
Omega_dot_8 = (double)read_navigation_signed(data_jk_bits, Omega_dot_8_bit);
|
||||
Omega_dot_8 = Omega_dot_8 * Omega_dot_8_LSB;
|
||||
DLOG(INFO) << "Omega_dot_8= " << Omega_dot_8 << std::endl;
|
||||
DLOG(INFO) << "Omega_dot_8= " << Omega_dot_8;
|
||||
flag_almanac_2 = true;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 9: /*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
|
||||
|
||||
IOD_a_9 = (double)read_navigation_unsigned(data_jk_bits, IOD_a_9_bit);
|
||||
DLOG(INFO) << "IOD_a_9= " << IOD_a_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "IOD_a_9= " << IOD_a_9;
|
||||
WN_a_9 = (double)read_navigation_unsigned(data_jk_bits, WN_a_9_bit);
|
||||
DLOG(INFO) << "WN_a_9= " << WN_a_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "WN_a_9= " << WN_a_9;
|
||||
t0a_9 = (double)read_navigation_unsigned(data_jk_bits, t0a_9_bit);
|
||||
t0a_9 = t0a_9 * t0a_9_LSB;
|
||||
DLOG(INFO) << "t0a_9= " << t0a_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "t0a_9= " << t0a_9;
|
||||
M0_9 = (double)read_navigation_signed(data_jk_bits, M0_9_bit);
|
||||
M0_9 = M0_9 * M0_9_LSB;
|
||||
DLOG(INFO) << "M0_9= " << M0_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "M0_9= " << M0_9;
|
||||
af0_9 = (double)read_navigation_signed(data_jk_bits, af0_9_bit);
|
||||
af0_9 = af0_9 * af0_9_LSB;
|
||||
DLOG(INFO) << "af0_9= " << af0_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af0_9= " << af0_9;
|
||||
af1_9 = (double)read_navigation_signed(data_jk_bits, af1_9_bit);
|
||||
af1_9 = af1_9 * af1_9_LSB;
|
||||
DLOG(INFO) << "af1_9= " << af1_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af1_9= " << af1_9;
|
||||
E1B_HS_9 = (double)read_navigation_unsigned(data_jk_bits, E1B_HS_9_bit);
|
||||
DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9;
|
||||
E1B_HS_9 = (double)read_navigation_unsigned(data_jk_bits, E1B_HS_9_bit);
|
||||
DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9;
|
||||
SVID3_9 = (double)read_navigation_unsigned(data_jk_bits,SVID3_9_bit);
|
||||
DLOG(INFO) << "SVID3_9= " << SVID3_9 << std::endl;
|
||||
|
||||
|
||||
DLOG(INFO) << "SVID3_9= " << SVID3_9;
|
||||
DELTA_A_9 = (double)read_navigation_signed(data_jk_bits, DELTA_A_9_bit);
|
||||
DELTA_A_9 = DELTA_A_9 * DELTA_A_9_LSB;
|
||||
DLOG(INFO) << "DELTA_A_9= " << DELTA_A_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "DELTA_A_9= " << DELTA_A_9;
|
||||
e_9 = (double)read_navigation_unsigned(data_jk_bits, e_9_bit);
|
||||
e_9 = e_9 * e_9_LSB;
|
||||
DLOG(INFO) << "e_9= " << e_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "e_9= " << e_9;
|
||||
omega_9 = (double)read_navigation_signed(data_jk_bits, omega_9_bit);
|
||||
omega_9 = omega_9 * omega_9_LSB;
|
||||
DLOG(INFO) << "omega_9= " << omega_9 << std::endl;
|
||||
|
||||
DLOG(INFO) << "omega_9= " << omega_9;
|
||||
delta_i_9 = (double)read_navigation_signed(data_jk_bits, delta_i_9_bit);
|
||||
delta_i_9 = delta_i_9 * delta_i_9_LSB;
|
||||
DLOG(INFO) << "delta_i_9= " << delta_i_9 << std::endl;
|
||||
DLOG(INFO) << "delta_i_9= " << delta_i_9;
|
||||
flag_almanac_3 = true;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 10: /*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
|
||||
|
||||
IOD_a_10 = (double)read_navigation_unsigned(data_jk_bits, IOD_a_10_bit);
|
||||
DLOG(INFO) << "IOD_a_10= " << IOD_a_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "IOD_a_10= " << IOD_a_10;
|
||||
Omega0_10 = (double)read_navigation_signed(data_jk_bits, Omega0_10_bit);
|
||||
Omega0_10 = Omega0_10 * Omega0_10_LSB;
|
||||
DLOG(INFO) << "Omega0_10= " << Omega0_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Omega0_10= " << Omega0_10;
|
||||
Omega_dot_10 = (double)read_navigation_signed(data_jk_bits, Omega_dot_10_bit);
|
||||
Omega_dot_10 = Omega_dot_10 * Omega_dot_10_LSB;
|
||||
DLOG(INFO) << "Omega_dot_10= " << Omega_dot_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Omega_dot_10= " << Omega_dot_10 ;
|
||||
M0_10 = (double)read_navigation_signed(data_jk_bits, M0_10_bit);
|
||||
M0_10 = M0_10 * M0_10_LSB;
|
||||
DLOG(INFO) << "M0_10= " << M0_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "M0_10= " << M0_10;
|
||||
af0_10 = (double)read_navigation_signed(data_jk_bits, af0_10_bit);
|
||||
af0_10 = af0_10 * af0_10_LSB;
|
||||
DLOG(INFO) << "af0_10= " << af0_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af0_10= " << af0_10;
|
||||
af1_10 = (double)read_navigation_signed(data_jk_bits, af1_10_bit);
|
||||
af1_10 = af1_10 * af1_10_LSB;
|
||||
DLOG(INFO) << "af1_10= " << af1_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "af1_10= " << af1_10;
|
||||
E5b_HS_10 = (double)read_navigation_unsigned(data_jk_bits, E5b_HS_10_bit);
|
||||
DLOG(INFO) << "E5b_HS_10= " << E5b_HS_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E5b_HS_10= " << E5b_HS_10;
|
||||
E1B_HS_10 = (double)read_navigation_unsigned(data_jk_bits, E1B_HS_10_bit);
|
||||
DLOG(INFO) << "E1B_HS_10= " << E1B_HS_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "E1B_HS_10= " << E1B_HS_10;
|
||||
A_0G_10 = (double)read_navigation_signed(data_jk_bits, A_0G_10_bit);
|
||||
A_0G_10 = A_0G_10 * A_0G_10_LSB;
|
||||
DLOG(INFO) << "A_0G_10= " << A_0G_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "A_0G_10= " << A_0G_10;
|
||||
A_1G_10 = (double)read_navigation_signed(data_jk_bits, A_1G_10_bit);
|
||||
A_1G_10 = A_1G_10 * A_1G_10_LSB;
|
||||
DLOG(INFO) << "A_1G_10= " << A_1G_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "A_1G_10= " << A_1G_10;
|
||||
t_0G_10 = (double)read_navigation_unsigned(data_jk_bits, t_0G_10_bit);
|
||||
t_0G_10 = t_0G_10 * t_0G_10_LSB;
|
||||
DLOG(INFO) << "t_0G_10= " << t_0G_10 << std::endl;
|
||||
|
||||
DLOG(INFO) << "t_0G_10= " << t_0G_10;
|
||||
WN_0G_10 = (double)read_navigation_unsigned(data_jk_bits, WN_0G_10_bit);
|
||||
DLOG(INFO) << "WN_0G_10= " << WN_0G_10 << std::endl;
|
||||
DLOG(INFO) << "WN_0G_10= " << WN_0G_10;
|
||||
flag_almanac_4 = true;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
|
||||
case 0: /*Word type 0: I/NAV Spare Word*/
|
||||
Time_0 = (double)read_navigation_unsigned(data_jk_bits, Time_0_bit);
|
||||
DLOG(INFO) << "Time_0= " << Time_0 << std::endl;
|
||||
|
||||
DLOG(INFO) << "Time_0= " << Time_0;
|
||||
WN_0 = (double)read_navigation_unsigned(data_jk_bits, WN_0_bit);
|
||||
DLOG(INFO) << "WN_0= " << WN_0 << std::endl;
|
||||
|
||||
DLOG(INFO) << "WN_0= " << WN_0;
|
||||
TOW_0 = (double)read_navigation_unsigned(data_jk_bits, TOW_0_bit);
|
||||
DLOG(INFO) << "TOW_0= " << TOW_0 << std::endl;
|
||||
DLOG(INFO)<<"flag_tow_set"<< flag_TOW_set << std::endl;
|
||||
|
||||
DLOG(INFO) << "TOW_0= " << TOW_0;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
break;
|
||||
}
|
||||
|
||||
return page_number;
|
||||
}
|
||||
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
/*!
|
||||
* \file galileo_navigation_message.h
|
||||
* \brief Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
|
||||
* \brief Implementation of a Galileo I/NAV Data message
|
||||
* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
@ -42,122 +43,111 @@
|
||||
#include <boost/cstdint.hpp> // for boost::uint16_t
|
||||
#include <cmath>
|
||||
#include <utility>
|
||||
|
||||
// Galileo Navigation Message structures
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_almanac.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
|
||||
|
||||
class Galileo_Navigation_Message {
|
||||
|
||||
/*!
|
||||
* \brief This class handles the Galileo I/NAV Data message, as described in the
|
||||
* Galileo Open Service Signal in Space Interface Control Document (OS SIS ICD), Issue 1.1 (Sept 2010).
|
||||
*/
|
||||
class Galileo_Navigation_Message
|
||||
{
|
||||
private:
|
||||
|
||||
|
||||
bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
|
||||
bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
|
||||
//void print_galileo_word_bytes(unsigned int GPS_word);
|
||||
unsigned long int read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector< std::pair<int,int> > parameter);
|
||||
unsigned long int read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector< std::pair<int,int> > parameter);
|
||||
signed long int read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
|
||||
|
||||
int x,y;
|
||||
|
||||
public:
|
||||
int Page_type_time_stamp;
|
||||
int flag_even_word;
|
||||
std::string page_Even;
|
||||
bool flag_CRC_test;
|
||||
bool flag_all_ephemeris; // flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1; // flag indicating that ephemeris 1/4 (word 1) have been received
|
||||
bool flag_ephemeris_2; // flag indicating that ephemeris 2/4 (word 2) have been received
|
||||
bool flag_ephemeris_3; // flag indicating that ephemeris 3/4 (word 3) have been received
|
||||
bool flag_ephemeris_4; // flag indicating that ephemeris 4/4 (word 4) have been received
|
||||
bool flag_all_ephemeris; //!< Flag indicating that all words containing ephemeris have been received
|
||||
bool flag_ephemeris_1; //!< Flag indicating that ephemeris 1/4 (word 1) have been received
|
||||
bool flag_ephemeris_2; //!< Flag indicating that ephemeris 2/4 (word 2) have been received
|
||||
bool flag_ephemeris_3; //!< Flag indicating that ephemeris 3/4 (word 3) have been received
|
||||
bool flag_ephemeris_4; //!< Flag indicating that ephemeris 4/4 (word 4) have been received
|
||||
|
||||
bool flag_iono_and_GST; // flag indicating that ionospheric and GST parameters (word 5) have been received
|
||||
bool flag_iono_and_GST; //!< Flag indicating that ionospheric and GST parameters (word 5) have been received
|
||||
bool flag_TOW_5;
|
||||
bool flag_TOW_6;
|
||||
bool flag_TOW_set; // it is true when page 5 or page 6 arrives
|
||||
bool flag_utc_model; // flag indicating that utc model parameters (word 6) have been received
|
||||
bool flag_TOW_set; //!< it is true when page 5 or page 6 arrives
|
||||
bool flag_utc_model; //!< Flag indicating that utc model parameters (word 6) have been received
|
||||
|
||||
bool flag_all_almanac; // flag indicating that all almanac have been received
|
||||
bool flag_almanac_1; // flag indicating that almanac 1/4 (word 7) have been received
|
||||
bool flag_almanac_2; // flag indicating that almanac 2/4 (word 8) have been received
|
||||
bool flag_almanac_3; // flag indicating that almanac 3/4 (word 9) have been received
|
||||
bool flag_almanac_4; // flag indicating that almanac 4/4 (word 10) have been received
|
||||
bool flag_all_almanac; //!< Flag indicating that all almanac have been received
|
||||
bool flag_almanac_1; //!< Flag indicating that almanac 1/4 (word 7) have been received
|
||||
bool flag_almanac_2; //!< Flag indicating that almanac 2/4 (word 8) have been received
|
||||
bool flag_almanac_3; //!< Flag indicating that almanac 3/4 (word 9) have been received
|
||||
bool flag_almanac_4; //!< Flag indicating that almanac 4/4 (word 10) have been received
|
||||
|
||||
int IOD_ephemeris;
|
||||
|
||||
/*Word type 1: Ephemeris (1/4)*/
|
||||
int IOD_nav_1; // IOD_nav page 1
|
||||
double t0e_1; // Ephemeris reference time [s]
|
||||
double M0_1; // Mean anomaly at reference time [semi-circles]
|
||||
double e_1; // Eccentricity
|
||||
double A_1; // Square root of the semi-major axis [metres^1/2]
|
||||
int IOD_nav_1; //!< IOD_nav page 1
|
||||
double t0e_1; //!< Ephemeris reference time [s]
|
||||
double M0_1; //!< Mean anomaly at reference time [semi-circles]
|
||||
double e_1; //!< Eccentricity
|
||||
double A_1; //!< Square root of the semi-major axis [metres^1/2]
|
||||
|
||||
/*Word type 2: Ephemeris (2/4)*/
|
||||
int IOD_nav_2; // IOD_nav page 2
|
||||
double OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2; // Inclination angle at reference time [semi-circles]
|
||||
double omega_2; // Argument of perigee [semi-circles]
|
||||
double iDot_2; // Rate of inclination angle [semi-circles/sec]
|
||||
int IOD_nav_2; //!< IOD_nav page 2
|
||||
double OMEGA_0_2; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
double i_0_2; //!< Inclination angle at reference time [semi-circles]
|
||||
double omega_2; //!< Argument of perigee [semi-circles]
|
||||
double iDot_2; //!< Rate of inclination angle [semi-circles/sec]
|
||||
|
||||
/*Word type 3: Ephemeris (3/4) and SISA*/
|
||||
int IOD_nav_3; //
|
||||
double OMEGA_dot_3; // Rate of right ascension [semi-circles/sec]
|
||||
double delta_n_3; // Mean motion difference from computed value [semi-circles/sec]
|
||||
double C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
double SISA_3; //
|
||||
double OMEGA_dot_3; //!< Rate of right ascension [semi-circles/sec]
|
||||
double delta_n_3; //!< Mean motion difference from computed value [semi-circles/sec]
|
||||
double C_uc_3; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
double C_us_3; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
double C_rc_3; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
double C_rs_3; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
double SISA_3;
|
||||
|
||||
/*Word type 4: Ephemeris (4/4) and Clock correction parameters*/
|
||||
int IOD_nav_4; //
|
||||
int SV_ID_PRN_4; //
|
||||
double C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
double C_ic_4; //!<Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
double C_is_4; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
/*Clock correction parameters*/
|
||||
double t0c_4; //Clock correction data reference Time of Week [sec]
|
||||
double af0_4; //SV clock bias correction coefficient [s]
|
||||
double af1_4; //SV clock drift correction coefficient [s/s]
|
||||
double af2_4; //SV clock drift rate correction coefficient [s/s^2]
|
||||
double t0c_4; //!< Clock correction data reference Time of Week [sec]
|
||||
double af0_4; //!< SV clock bias correction coefficient [s]
|
||||
double af1_4; //!< SV clock drift correction coefficient [s/s]
|
||||
double af2_4; //!< clock drift rate correction coefficient [s/s^2]
|
||||
double spare_4;
|
||||
|
||||
|
||||
/* Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
|
||||
/* Ionospheric correction*/
|
||||
/*Az*/
|
||||
double ai0_5; //Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5; //Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5; //Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
double ai0_5; //!< Effective Ionisation Level 1st order parameter [sfu]
|
||||
double ai1_5; //!< Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
double ai2_5; //!< Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
/*Ionospheric disturbance flag*/
|
||||
bool Region1_flag_5; // Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5; // Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5; // Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5; // Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5; // Ionospheric Disturbance Flag for region 5
|
||||
double BGD_E1E5a_5; //E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5; //E1-E5b Broadcast Group Delay [s]
|
||||
bool Region1_flag_5; //!< Ionospheric Disturbance Flag for region 1
|
||||
bool Region2_flag_5; //!< Ionospheric Disturbance Flag for region 2
|
||||
bool Region3_flag_5; //!< Ionospheric Disturbance Flag for region 3
|
||||
bool Region4_flag_5; //!< Ionospheric Disturbance Flag for region 4
|
||||
bool Region5_flag_5; //!< Ionospheric Disturbance Flag for region 5
|
||||
double BGD_E1E5a_5; //!< E1-E5a Broadcast Group Delay [s]
|
||||
double BGD_E1E5b_5; //!< E1-E5b Broadcast Group Delay [s]
|
||||
|
||||
double E5b_HS_5; //
|
||||
double E1B_HS_5; //
|
||||
double E5b_DVS_5; //
|
||||
double E1B_DVS_5; //
|
||||
double E5b_HS_5; //!< E5b Signal Health Status
|
||||
double E1B_HS_5; //!< E1B Signal Health Status
|
||||
double E5b_DVS_5; //!< E5b Data Validity Status
|
||||
double E1B_DVS_5; //!< E1B Data Validity Status
|
||||
/*GST*/
|
||||
double WN_5;
|
||||
double TOW_5;
|
||||
|
||||
double spare_5;
|
||||
/*Word type 6: GST-UTC conversion parameters*/
|
||||
|
||||
/* Word type 6: GST-UTC conversion parameters */
|
||||
double A0_6;
|
||||
double A1_6;
|
||||
double Delta_tLS_6;
|
||||
@ -210,7 +200,6 @@ public:
|
||||
double omega_9;
|
||||
double delta_i_9;
|
||||
|
||||
|
||||
/* Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters */
|
||||
int IOD_a_10;
|
||||
double Omega0_10;
|
||||
@ -221,19 +210,17 @@ public:
|
||||
double E5b_HS_10;
|
||||
double E1B_HS_10;
|
||||
// GST-GPS conversion
|
||||
double A_0G_10; //constant term of the offset Δt systems
|
||||
double A_1G_10; //rate of change of the offset Δt systems
|
||||
double t_0G_10; //reference time for GGTO data
|
||||
double WN_0G_10; //Week Number of GGTO reference
|
||||
|
||||
double A_0G_10; //!< Constant term of the offset Delta t systems
|
||||
double A_1G_10; //!< Rate of change of the offset Delta t systems
|
||||
double t_0G_10; //!< Reference time for Galileo/GPS Time Offset (GGTO) data
|
||||
double WN_0G_10; //!< Week Number of Galileo/GPS Time Offset (GGTO) reference
|
||||
/*Word type 0: I/NAV Spare Word*/
|
||||
double Time_0;
|
||||
double WN_0;
|
||||
double TOW_0;
|
||||
|
||||
|
||||
double Galileo_satClkDrift;
|
||||
double Galileo_dtr; // relativistic clock correction term
|
||||
double Galileo_dtr; //!< Relativistic clock correction term
|
||||
|
||||
// satellite positions
|
||||
double galileo_satpos_X; //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
|
||||
@ -244,16 +231,17 @@ public:
|
||||
double galileo_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m]
|
||||
double galileo_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m]
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
|
||||
*/
|
||||
void split_page(std::string page_string, int flag_even_word);
|
||||
|
||||
/*
|
||||
* \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
|
||||
*
|
||||
* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
|
||||
*/
|
||||
int page_jk_decoder(const char *data_jk); /* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
|
||||
int page_jk_decoder(const char *data_jk);
|
||||
|
||||
void reset();
|
||||
|
||||
@ -261,10 +249,12 @@ public:
|
||||
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
|
||||
*/
|
||||
bool have_new_ephemeris();
|
||||
|
||||
/*
|
||||
* \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
|
||||
*/
|
||||
bool have_new_iono_and_GST();
|
||||
|
||||
/*
|
||||
* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
|
||||
*/
|
||||
@ -275,7 +265,6 @@ public:
|
||||
*/
|
||||
bool have_new_almanac();
|
||||
|
||||
|
||||
/*
|
||||
* \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
|
||||
*/
|
||||
@ -296,16 +285,6 @@ public:
|
||||
*/
|
||||
Galileo_Almanac get_almanac();
|
||||
|
||||
// void satellitePosition(double transmitTime);
|
||||
//
|
||||
// double Galileo_System_Time(double WN, double TOW); // Galileo System Time (GST), ICD paragraph 5.1.2
|
||||
//
|
||||
// double sv_clock_drift(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
//
|
||||
// double sv_clock_relativistic_term(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
//
|
||||
// double GST_to_UTC_time(double t_e, int WN); //GST-UTC Conversion Algorithm and Parameters
|
||||
|
||||
Galileo_Navigation_Message();
|
||||
};
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user