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This commit is contained in:
Antonio Ramos 2018-03-05 18:45:18 +01:00
parent a25a6fb556
commit 40be1e3ad4
2 changed files with 17 additions and 11 deletions
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4
src/core/system_parameters/GPS_CNAV.h
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@ -120,11 +120,11 @@ const std::vector<std::pair<int,int> > CNAV_URA_NED2({{58,3}});
const std::vector<std::pair<int,int> > CNAV_TOC({{61,11}});
const double CNAV_TOC_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_AF0({{72,26}});
const double CNAV_AF0_LSB = TWO_N60;
const double CNAV_AF0_LSB = TWO_N35;
const std::vector<std::pair<int,int> > CNAV_AF1({{98,20}});
const double CNAV_AF1_LSB = TWO_N48;
const std::vector<std::pair<int,int> > CNAV_AF2({{118,10}});
const double CNAV_AF2_LSB = TWO_N35;
const double CNAV_AF2_LSB = TWO_N60;
const std::vector<std::pair<int,int> > CNAV_TGD({{128,13}});
const double CNAV_TGD_LSB = TWO_N35;
const std::vector<std::pair<int,int> > CNAV_ISCL1({{141,13}});

24
src/core/system_parameters/gps_cnav_navigation_message.cc
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@ -32,7 +32,6 @@
#include "gps_cnav_navigation_message.h"
#include "gnss_satellite.h"
#include <iostream>
void Gps_CNAV_Navigation_Message::reset()
@ -258,20 +257,27 @@ void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BIT
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
//group delays
ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
//Check if the grup delay value is not available. See IS-GPS-200, Table 30-IV.
//Check if the grup delay values are not available. See IS-GPS-200, Table 30-IV.
//Bit string "1000000000000" is -4096 in 2 complement
ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
if(ephemeris_record.d_TGD < -4095.9) { ephemeris_record.d_TGD = 0.0; }
ephemeris_record.d_TGD = ephemeris_record.d_TGD * CNAV_TGD_LSB;
ephemeris_record.d_TGD *= CNAV_TGD_LSB;
ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
ephemeris_record.d_ISCL1 = ephemeris_record.d_ISCL1 * CNAV_ISCL1_LSB;
if(ephemeris_record.d_ISCL1 < -4095.9) { ephemeris_record.d_ISCL1 = 0.0; }
ephemeris_record.d_ISCL1 *= CNAV_ISCL1_LSB;
ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
ephemeris_record.d_ISCL2 = ephemeris_record.d_ISCL2 * CNAV_ISCL2_LSB;
std::cout << "ISCL2 * c = " << ephemeris_record.d_ISCL2 * 3e8 << " [m]" << std::endl;
if(ephemeris_record.d_ISCL2 < -4095.9) { ephemeris_record.d_ISCL2 = 0.0; }
ephemeris_record.d_ISCL2 *= CNAV_ISCL2_LSB;
ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
ephemeris_record.d_ISCL5I = ephemeris_record.d_ISCL5I * CNAV_ISCL5I_LSB;
if(ephemeris_record.d_ISCL5I < -4095.9) { ephemeris_record.d_ISCL5I = 0.0; }
ephemeris_record.d_ISCL5I *= CNAV_ISCL5I_LSB;
ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
ephemeris_record.d_ISCL5Q = ephemeris_record.d_ISCL5Q * CNAV_ISCL5Q_LSB;
if(ephemeris_record.d_ISCL5Q < -4095.9) { ephemeris_record.d_ISCL5Q = 0.0; }
ephemeris_record.d_ISCL5Q *= CNAV_ISCL5Q_LSB;
//iono
iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;