mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-02-20 21:10:09 +00:00
Adding generation of MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
This commit is contained in:
Carles Fernandez
parent
450728dfeb
commit
49523f7f9d
@ -269,11 +269,11 @@ std::string Rtcm::build_message(std::string data)
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1001 (GPS L1 OBSERVATIONS)
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//
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// **********************************************
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// ********************************************************
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std::bitset<64> Rtcm::get_MT1001_4_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
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@ -363,11 +363,11 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1002 (EXTENDED GPS L1 OBSERVATIONS)
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//
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// **********************************************
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// ********************************************************
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std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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@ -430,11 +430,11 @@ std::bitset<74> Rtcm::get_MT1002_sat_content(const Gps_Ephemeris & eph, double o
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1003 (GPS L1 & L2 OBSERVATIONS)
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//
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// **********************************************
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// ********************************************************
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std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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@ -535,11 +535,11 @@ std::bitset<101> Rtcm::get_MT1003_sat_content(const Gps_Ephemeris & ephL1, const
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// **********************************************
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// ******************************************************************
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//
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// MESSAGE TYPE 1004 (EXTENDED GPS L1 & L2 OBSERVATIONS)
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//
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// **********************************************
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// ******************************************************************
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std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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@ -646,11 +646,11 @@ std::bitset<125> Rtcm::get_MT1004_sat_content(const Gps_Ephemeris & ephL1, const
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1005 (STATION DESCRIPTION)
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//
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// **********************************************
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// ********************************************************
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/* Stationary Antenna Reference Point, No Height Information
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@ -818,11 +818,11 @@ std::string Rtcm::print_MT1005_test()
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1019 (GPS EPHEMERIS)
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//
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// **********************************************
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// ********************************************************
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std::string Rtcm::print_MT1019(const Gps_Ephemeris & gps_eph)
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{
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@ -1034,11 +1034,11 @@ int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
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// **********************************************
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// ********************************************************
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//
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// MESSAGE TYPE 1045 (GALILEO EPHEMERIS)
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//
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// **********************************************
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// ********************************************************
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std::string Rtcm::print_MT1045(const Galileo_Ephemeris & gal_eph)
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{
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@ -1237,14 +1237,14 @@ int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
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// **********************************************
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// **********************************************************************************************
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//
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// MESSAGE TYPE MSM1 (COMPACT PSEUDORANGES)
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//
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// **********************************************
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// **********************************************************************************************
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std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & pseudoranges,
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@ -1258,8 +1258,9 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
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{
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unsigned int msg_number = 0;
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if(gps_eph.i_satellite_PRN != 0) msg_number = 1071;
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if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1071;
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if(gal_eph.i_satellite_PRN != 0) msg_number = 1091;
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if((gps_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
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if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
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{
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LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
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}
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@ -1269,7 +1270,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
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msg_number = 1071;
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}
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std::string header = Rtcm::get_MSM_header(msg_number, gps_eph,
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std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
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gal_eph,
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obs_time,
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pseudoranges,
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@ -1291,6 +1292,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
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std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & pseudoranges,
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@ -1308,6 +1310,10 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
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{
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Rtcm::set_DF004(gps_eph, obs_time);
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}
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else if(gps_cnav_eph.i_satellite_PRN != 0)
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{
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Rtcm::set_DF004(gps_cnav_eph, obs_time);
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}
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else
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{
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Rtcm::set_DF248(gal_eph, obs_time);
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@ -1414,21 +1420,681 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro
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}
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// **********************************************
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// **********************************************************************************************
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//
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// MESSAGE TYPE MSM2 (COMPACT PHASERANGES)
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//
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// **********************************************
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// **********************************************************************************************
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std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool sync_flag,
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bool divergence_free,
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bool more_messages)
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{
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unsigned int msg_number = 0;
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if(gps_eph.i_satellite_PRN != 0) msg_number = 1072;
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if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1072;
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if(gal_eph.i_satellite_PRN != 0) msg_number = 1092;
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if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
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{
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LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
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}
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if(msg_number == 0)
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{
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LOG(WARNING) << "Invalid ephemeris provided";
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msg_number = 1072;
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}
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std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
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gal_eph,
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obs_time,
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pseudoranges,
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ref_id,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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std::string sat_data = Rtcm::get_MSM_1_content_sat_data(pseudoranges);
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std::string signal_data = Rtcm::get_MSM_2_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
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std::string message = build_message(header + sat_data + signal_data);
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return message;
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}
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std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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std::string signal_data;
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std::string first_data_type;
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std::string second_data_type;
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std::string third_data_type;
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unsigned int Ncells = pseudoranges.size();
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std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
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std::map<int, Gnss_Synchro>::const_iterator map_iter;
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for(map_iter = pseudoranges.begin();
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map_iter != pseudoranges.end();
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map_iter++)
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{
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pseudoranges_vector.push_back(*map_iter);
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}
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std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
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std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
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std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
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for(unsigned int cell = 0; cell < Ncells ; cell++)
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{
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Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
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Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
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Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
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first_data_type += DF401.to_string();
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second_data_type += DF402.to_string();
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third_data_type += DF420.to_string();
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}
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signal_data = first_data_type + second_data_type + third_data_type;
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return signal_data;
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}
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// **********************************************************************************************
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//
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// MESSAGE TYPE MSM3 (COMPACT PSEUDORANGES AND PHASERANGES)
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//
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// **********************************************************************************************
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std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool sync_flag,
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bool divergence_free,
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bool more_messages)
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{
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unsigned int msg_number = 0;
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if(gps_eph.i_satellite_PRN != 0) msg_number = 1073;
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if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1073;
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if(gal_eph.i_satellite_PRN != 0) msg_number = 1093;
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if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
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{
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LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
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}
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if(msg_number == 0)
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{
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LOG(WARNING) << "Invalid ephemeris provided";
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msg_number = 1073;
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}
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std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
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gal_eph,
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obs_time,
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pseudoranges,
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ref_id,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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std::string sat_data = Rtcm::get_MSM_1_content_sat_data(pseudoranges);
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std::string signal_data = Rtcm::get_MSM_3_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
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std::string message = build_message(header + sat_data + signal_data);
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return message;
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}
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std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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std::string signal_data;
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std::string first_data_type;
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std::string second_data_type;
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std::string third_data_type;
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std::string fourth_data_type;
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unsigned int Ncells = pseudoranges.size();
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std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
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std::map<int, Gnss_Synchro>::const_iterator map_iter;
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for(map_iter = pseudoranges.begin();
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map_iter != pseudoranges.end();
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map_iter++)
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{
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pseudoranges_vector.push_back(*map_iter);
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}
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std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
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std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
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std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
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for(unsigned int cell = 0; cell < Ncells ; cell++)
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{
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Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
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Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
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Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
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Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
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first_data_type += DF400.to_string();
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second_data_type += DF401.to_string();
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third_data_type += DF402.to_string();
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fourth_data_type += DF420.to_string();
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}
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signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type;
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return signal_data;
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}
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// **********************************************************************************************
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//
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// MESSAGE TYPE MSM4 (FULL PSEUDORANGES AND PHASERANGES PLUS CNR)
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//
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// **********************************************************************************************
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std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool sync_flag,
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bool divergence_free,
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bool more_messages)
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{
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unsigned int msg_number = 0;
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if(gps_eph.i_satellite_PRN != 0) msg_number = 1074;
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if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1074;
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if(gal_eph.i_satellite_PRN != 0) msg_number = 1094;
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if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
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{
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LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
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}
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if(msg_number == 0)
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{
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LOG(WARNING) << "Invalid ephemeris provided";
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msg_number = 1074;
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}
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std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
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gal_eph,
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obs_time,
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pseudoranges,
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ref_id,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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std::string sat_data = Rtcm::get_MSM_4_content_sat_data(pseudoranges);
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std::string signal_data = Rtcm::get_MSM_4_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
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std::string message = build_message(header + sat_data + signal_data);
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return message;
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}
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std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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//std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
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std::string data("Not implemented");
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return data;
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std::string sat_data;
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std::string first_data_type;
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std::string second_data_type;
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Rtcm::set_DF394(pseudoranges);
|
||||
unsigned int num_satellites = DF394.count();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
|
||||
std::vector<unsigned int> pos;
|
||||
std::vector<unsigned int>::iterator it;
|
||||
|
||||
for(gnss_synchro_iter = pseudoranges.begin();
|
||||
gnss_synchro_iter != pseudoranges.end();
|
||||
gnss_synchro_iter++)
|
||||
{
|
||||
it = std::find(pos.begin(), pos.end(), 65 - gnss_synchro_iter->second.PRN);
|
||||
if(it == pos.end())
|
||||
{
|
||||
pos.push_back(65 - gnss_synchro_iter->second.PRN);
|
||||
pseudoranges_vector.push_back(*gnss_synchro_iter);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(pseudoranges_vector);
|
||||
|
||||
for(unsigned int nsat = 0; nsat < num_satellites; nsat++)
|
||||
{
|
||||
Rtcm::set_DF397( ordered_by_PRN_pos.at(nsat).second );
|
||||
Rtcm::set_DF398( ordered_by_PRN_pos.at(nsat).second );
|
||||
first_data_type += DF397.to_string();
|
||||
second_data_type += DF398.to_string();
|
||||
}
|
||||
sat_data = first_data_type + second_data_type;
|
||||
return sat_data;
|
||||
}
|
||||
|
||||
|
||||
std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
{
|
||||
std::string signal_data;
|
||||
std::string first_data_type;
|
||||
std::string second_data_type;
|
||||
std::string third_data_type;
|
||||
std::string fourth_data_type;
|
||||
std::string fifth_data_type;
|
||||
|
||||
unsigned int Ncells = pseudoranges.size();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator map_iter;
|
||||
|
||||
for(map_iter = pseudoranges.begin();
|
||||
map_iter != pseudoranges.end();
|
||||
map_iter++)
|
||||
{
|
||||
pseudoranges_vector.push_back(*map_iter);
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
|
||||
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
|
||||
|
||||
for(unsigned int cell = 0; cell < Ncells ; cell++)
|
||||
{
|
||||
Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
|
||||
first_data_type += DF400.to_string();
|
||||
second_data_type += DF401.to_string();
|
||||
third_data_type += DF402.to_string();
|
||||
fourth_data_type += DF420.to_string();
|
||||
fifth_data_type += DF403.to_string();
|
||||
}
|
||||
|
||||
signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type;
|
||||
return signal_data;
|
||||
}
|
||||
|
||||
|
||||
// **********************************************************************************************
|
||||
//
|
||||
// MESSAGE TYPE MSM5 (FULL PSEUDORANGES, PHASERANGES, PHASERANGERATE PLUS CNR)
|
||||
//
|
||||
// **********************************************************************************************
|
||||
|
||||
std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages)
|
||||
{
|
||||
unsigned int msg_number = 0;
|
||||
if(gps_eph.i_satellite_PRN != 0) msg_number = 1075;
|
||||
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1075;
|
||||
if(gal_eph.i_satellite_PRN != 0) msg_number = 1095;
|
||||
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
|
||||
{
|
||||
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
|
||||
}
|
||||
if(msg_number == 0)
|
||||
{
|
||||
LOG(WARNING) << "Invalid ephemeris provided";
|
||||
msg_number = 1075;
|
||||
}
|
||||
|
||||
std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
clock_steering_indicator,
|
||||
external_clock_indicator,
|
||||
smooth_int,
|
||||
sync_flag,
|
||||
divergence_free,
|
||||
more_messages);
|
||||
|
||||
std::string sat_data = Rtcm::get_MSM_5_content_sat_data(pseudoranges);
|
||||
|
||||
std::string signal_data = Rtcm::get_MSM_5_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
|
||||
|
||||
std::string message = build_message(header + sat_data + signal_data);
|
||||
return message;
|
||||
}
|
||||
|
||||
|
||||
std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
{
|
||||
std::string sat_data;
|
||||
std::string first_data_type;
|
||||
std::string second_data_type;
|
||||
std::string third_data_type;
|
||||
std::string fourth_data_type;
|
||||
|
||||
Rtcm::set_DF394(pseudoranges);
|
||||
unsigned int num_satellites = DF394.count();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
|
||||
std::vector<unsigned int> pos;
|
||||
std::vector<unsigned int>::iterator it;
|
||||
|
||||
for(gnss_synchro_iter = pseudoranges.begin();
|
||||
gnss_synchro_iter != pseudoranges.end();
|
||||
gnss_synchro_iter++)
|
||||
{
|
||||
it = std::find(pos.begin(), pos.end(), 65 - gnss_synchro_iter->second.PRN);
|
||||
if(it == pos.end())
|
||||
{
|
||||
pos.push_back(65 - gnss_synchro_iter->second.PRN);
|
||||
pseudoranges_vector.push_back(*gnss_synchro_iter);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(pseudoranges_vector);
|
||||
|
||||
for(unsigned int nsat = 0; nsat < num_satellites; nsat++)
|
||||
{
|
||||
Rtcm::set_DF397( ordered_by_PRN_pos.at(nsat).second );
|
||||
Rtcm::set_DF398( ordered_by_PRN_pos.at(nsat).second );
|
||||
Rtcm::set_DF399( ordered_by_PRN_pos.at(nsat).second );
|
||||
std::bitset<4> reserved = std::bitset<4>("0000");
|
||||
first_data_type += DF397.to_string();
|
||||
second_data_type += reserved.to_string();
|
||||
third_data_type += DF398.to_string();
|
||||
fourth_data_type += DF399.to_string();
|
||||
}
|
||||
sat_data = first_data_type + second_data_type + third_data_type + fourth_data_type;
|
||||
return sat_data;
|
||||
}
|
||||
|
||||
|
||||
std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
{
|
||||
std::string signal_data;
|
||||
std::string first_data_type;
|
||||
std::string second_data_type;
|
||||
std::string third_data_type;
|
||||
std::string fourth_data_type;
|
||||
std::string fifth_data_type;
|
||||
std::string sixth_data_type;
|
||||
|
||||
unsigned int Ncells = pseudoranges.size();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator map_iter;
|
||||
|
||||
for(map_iter = pseudoranges.begin();
|
||||
map_iter != pseudoranges.end();
|
||||
map_iter++)
|
||||
{
|
||||
pseudoranges_vector.push_back(*map_iter);
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
|
||||
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
|
||||
|
||||
for(unsigned int cell = 0; cell < Ncells ; cell++)
|
||||
{
|
||||
Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
|
||||
first_data_type += DF400.to_string();
|
||||
second_data_type += DF401.to_string();
|
||||
third_data_type += DF402.to_string();
|
||||
fourth_data_type += DF420.to_string();
|
||||
fifth_data_type += DF403.to_string();
|
||||
sixth_data_type += DF404.to_string();
|
||||
}
|
||||
|
||||
signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type + sixth_data_type;
|
||||
return signal_data;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// **********************************************************************************************
|
||||
//
|
||||
// MESSAGE TYPE MSM6 (FULL PSEUDORANGES AND PHASERANGES PLUS CNR, HIGH RESOLUTION)
|
||||
//
|
||||
// **********************************************************************************************
|
||||
|
||||
std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages)
|
||||
{
|
||||
unsigned int msg_number = 0;
|
||||
if(gps_eph.i_satellite_PRN != 0) msg_number = 1076;
|
||||
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1076;
|
||||
if(gal_eph.i_satellite_PRN != 0) msg_number = 1096;
|
||||
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
|
||||
{
|
||||
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
|
||||
}
|
||||
if(msg_number == 0)
|
||||
{
|
||||
LOG(WARNING) << "Invalid ephemeris provided";
|
||||
msg_number = 1076;
|
||||
}
|
||||
|
||||
std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
clock_steering_indicator,
|
||||
external_clock_indicator,
|
||||
smooth_int,
|
||||
sync_flag,
|
||||
divergence_free,
|
||||
more_messages);
|
||||
|
||||
std::string sat_data = Rtcm::get_MSM_4_content_sat_data(pseudoranges);
|
||||
|
||||
std::string signal_data = Rtcm::get_MSM_6_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
|
||||
|
||||
std::string message = build_message(header + sat_data + signal_data);
|
||||
return message;
|
||||
}
|
||||
|
||||
|
||||
std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
{
|
||||
std::string signal_data;
|
||||
std::string first_data_type;
|
||||
std::string second_data_type;
|
||||
std::string third_data_type;
|
||||
std::string fourth_data_type;
|
||||
std::string fifth_data_type;
|
||||
|
||||
unsigned int Ncells = pseudoranges.size();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator map_iter;
|
||||
|
||||
for(map_iter = pseudoranges.begin();
|
||||
map_iter != pseudoranges.end();
|
||||
map_iter++)
|
||||
{
|
||||
pseudoranges_vector.push_back(*map_iter);
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
|
||||
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
|
||||
|
||||
for(unsigned int cell = 0; cell < Ncells ; cell++)
|
||||
{
|
||||
Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
|
||||
first_data_type += DF405.to_string();
|
||||
second_data_type += DF406.to_string();
|
||||
third_data_type += DF407.to_string();
|
||||
fourth_data_type += DF420.to_string();
|
||||
fifth_data_type += DF408.to_string();
|
||||
}
|
||||
|
||||
signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type;
|
||||
return signal_data;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// **********************************************************************************************
|
||||
//
|
||||
// MESSAGE TYPE MSM7 (FULL PSEUDORANGES, PHASERANGES, PHASERANGERATE AND CNR, HIGH RESOLUTION)
|
||||
//
|
||||
// **********************************************************************************************
|
||||
|
||||
std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages)
|
||||
{
|
||||
unsigned int msg_number = 0;
|
||||
if(gps_eph.i_satellite_PRN != 0) msg_number = 1077;
|
||||
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1077;
|
||||
if(gal_eph.i_satellite_PRN != 0) msg_number = 1097;
|
||||
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
|
||||
{
|
||||
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
|
||||
}
|
||||
if(msg_number == 0)
|
||||
{
|
||||
LOG(WARNING) << "Invalid ephemeris provided";
|
||||
msg_number = 1076;
|
||||
}
|
||||
|
||||
std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
clock_steering_indicator,
|
||||
external_clock_indicator,
|
||||
smooth_int,
|
||||
sync_flag,
|
||||
divergence_free,
|
||||
more_messages);
|
||||
|
||||
std::string sat_data = Rtcm::get_MSM_5_content_sat_data(pseudoranges);
|
||||
|
||||
std::string signal_data = Rtcm::get_MSM_7_content_signal_data(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges);
|
||||
|
||||
std::string message = build_message(header + sat_data + signal_data);
|
||||
return message;
|
||||
}
|
||||
|
||||
|
||||
std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
{
|
||||
std::string signal_data;
|
||||
std::string first_data_type;
|
||||
std::string second_data_type;
|
||||
std::string third_data_type;
|
||||
std::string fourth_data_type;
|
||||
std::string fifth_data_type;
|
||||
std::string sixth_data_type;
|
||||
|
||||
unsigned int Ncells = pseudoranges.size();
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > pseudoranges_vector;
|
||||
std::map<int, Gnss_Synchro>::const_iterator map_iter;
|
||||
|
||||
for(map_iter = pseudoranges.begin();
|
||||
map_iter != pseudoranges.end();
|
||||
map_iter++)
|
||||
{
|
||||
pseudoranges_vector.push_back(*map_iter);
|
||||
}
|
||||
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(pseudoranges_vector);
|
||||
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
|
||||
std::vector<std::pair<int, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
|
||||
|
||||
for(unsigned int cell = 0; cell < Ncells ; cell++)
|
||||
{
|
||||
Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
|
||||
Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
|
||||
first_data_type += DF405.to_string();
|
||||
second_data_type += DF406.to_string();
|
||||
third_data_type += DF407.to_string();
|
||||
fourth_data_type += DF420.to_string();
|
||||
fifth_data_type += DF408.to_string();
|
||||
sixth_data_type += DF404.to_string();
|
||||
}
|
||||
|
||||
signal_data = first_data_type + second_data_type + third_data_type + fourth_data_type + fifth_data_type + sixth_data_type;
|
||||
return signal_data;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// *****************************************************************************************************
|
||||
// Some utilities
|
||||
// *****************************************************************************************************
|
||||
@ -1886,6 +2552,20 @@ int Rtcm::set_DF004(const Gps_Ephemeris & gps_eph, double obs_time)
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time)
|
||||
{
|
||||
// TOW in milliseconds from the beginning of the GPS week, measured in GPS time
|
||||
unsigned long int tow = static_cast<unsigned long int>(std::round((obs_time + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
|
||||
if(tow > 604799999)
|
||||
{
|
||||
LOG(WARNING) << "To large TOW! Set to the last millisecond of the week";
|
||||
tow = 604799999;
|
||||
}
|
||||
DF004 = std::bitset<30>(tow);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF005(bool sync_flag)
|
||||
{
|
||||
// 0 - No further GNSS observables referenced to the same Epoch Time will be transmitted. This enables the receiver to begin processing
|
||||
@ -2529,7 +3209,6 @@ int Rtcm::set_DF303(const Galileo_Ephemeris & gal_eph)
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF304(const Galileo_Ephemeris & gal_eph)
|
||||
{
|
||||
unsigned int toe = static_cast<unsigned int>(std::round(gal_eph.t0e_1 / FNAV_t0e_3_LSB));
|
||||
@ -2844,7 +3523,6 @@ std::string Rtcm::set_DF396(const std::map<int, Gnss_Synchro> & pseudoranges)
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF397(const Gnss_Synchro & gnss_synchro)
|
||||
{
|
||||
double meters_to_miliseconds = GPS_C_m_s * 0.001;
|
||||
@ -2870,7 +3548,6 @@ int Rtcm::set_DF397(const Gnss_Synchro & gnss_synchro)
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF398(const Gnss_Synchro & gnss_synchro)
|
||||
{
|
||||
double meters_to_miliseconds = GPS_C_m_s * 0.001;
|
||||
|
||||
@ -47,8 +47,33 @@
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements the generation and reading of some Message Types
|
||||
* defined in the RTCM 3.2 Standard.
|
||||
* This class implements the generation and reading of some Message Types
|
||||
* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
|
||||
*
|
||||
* Generation of the following Message Types:
|
||||
* 1001, 1002, 1003, 1004, 1005, 1019, 1045
|
||||
*
|
||||
* Decoding of the following Message Types:
|
||||
* 1019, 1045
|
||||
*
|
||||
* Generation of the following Multiple Signal Messages:
|
||||
* MSM1 (message types 1071, 1091)
|
||||
* MSM2 (message types 1072, 1092)
|
||||
* MSM3 (message types 1073, 1093)
|
||||
* MSM4 (message types 1074, 1094)
|
||||
* MSM5 (message types 1075, 1095)
|
||||
* MSM6 (message types 1076, 1096)
|
||||
* MSM7 (message types 1077, 1097)
|
||||
*
|
||||
* RTCM 3 message format (size in bits):
|
||||
* +----------+--------+-----------+--------------------+----------+
|
||||
* | preamble | 000000 | length | data message | parity |
|
||||
* +----------+--------+-----------+--------------------+----------+
|
||||
* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
|
||||
* +----------+--------+-----------+--------------------+----------+
|
||||
*
|
||||
*
|
||||
* (C) Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
|
||||
*/
|
||||
class Rtcm
|
||||
{
|
||||
@ -110,6 +135,7 @@ public:
|
||||
* \brief Prints messages of type MSM1 (Compact GNSS pseudoranges)
|
||||
*/
|
||||
std::string print_MSM_1( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
@ -121,6 +147,106 @@ public:
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM2 (Compact GNSS phaseranges)
|
||||
*/
|
||||
std::string print_MSM_2( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM3 (Compact GNSS pseudoranges and phaseranges)
|
||||
*/
|
||||
std::string print_MSM_3( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM4 (Full GNSS pseudoranges and phaseranges plus CNR)
|
||||
*/
|
||||
std::string print_MSM_4( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM5 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR)
|
||||
*/
|
||||
std::string print_MSM_5( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM6 (Full GNSS pseudoranges and phaseranges plus CNR, high resolution)
|
||||
*/
|
||||
std::string print_MSM_6( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
/*!
|
||||
* \brief Prints messages of type MSM7 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR, high resolution)
|
||||
*/
|
||||
std::string print_MSM_7( const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
unsigned int ref_id,
|
||||
unsigned int clock_steering_indicator,
|
||||
unsigned int external_clock_indicator,
|
||||
int smooth_int,
|
||||
bool sync_flag,
|
||||
bool divergence_free,
|
||||
bool more_messages);
|
||||
|
||||
unsigned int 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.
|
||||
unsigned int 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.
|
||||
unsigned int 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.
|
||||
|
||||
std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
|
||||
std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
|
||||
|
||||
@ -137,7 +263,7 @@ public:
|
||||
|
||||
private:
|
||||
//
|
||||
// Messages
|
||||
// Generation of messages content
|
||||
//
|
||||
std::bitset<64> get_MT1001_4_header(unsigned int msg_number,
|
||||
const Gps_Ephemeris & gps_eph,
|
||||
@ -156,6 +282,7 @@ private:
|
||||
std::bitset<152> get_MT1005_test();
|
||||
|
||||
std::string get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
|
||||
const Gps_CNAV_Ephemeris & gps_cnav_eph,
|
||||
const Galileo_Ephemeris & gal_eph,
|
||||
double obs_time,
|
||||
const std::map<int, Gnss_Synchro> & pseudoranges,
|
||||
@ -168,11 +295,20 @@ private:
|
||||
bool more_messages);
|
||||
|
||||
std::string get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
|
||||
std::string get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
|
||||
std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
|
||||
//
|
||||
// Utilities
|
||||
//
|
||||
static std::map<std::string, int> galileo_signal_map;
|
||||
static std::map<std::string, int> gps_signal_map;
|
||||
std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
|
||||
@ -184,9 +320,6 @@ private:
|
||||
boost::posix_time::ptime gps_L2_last_lock_time[64];
|
||||
boost::posix_time::ptime gal_E1_last_lock_time[64];
|
||||
boost::posix_time::ptime gal_E5_last_lock_time[64];
|
||||
unsigned int lock_time(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
|
||||
unsigned int lock_time(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
|
||||
unsigned int lock_time(const Galileo_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
|
||||
unsigned int lock_time_indicator(unsigned int lock_time_period_s);
|
||||
unsigned int msm_lock_time_indicator(unsigned int lock_time_period_s);
|
||||
unsigned int msm_extended_lock_time_indicator(unsigned int lock_time_period_s);
|
||||
@ -215,6 +348,7 @@ private:
|
||||
|
||||
std::bitset<30> DF004;
|
||||
int set_DF004(const Gps_Ephemeris & gps_eph, double obs_time);
|
||||
int set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time);
|
||||
|
||||
std::bitset<1> DF005;
|
||||
int set_DF005(bool sync_flag);
|
||||
|
||||
@ -332,6 +332,7 @@ TEST(Rtcm_Test, MSMCell)
|
||||
gal_eph.i_satellite_PRN = gnss_synchro.PRN;
|
||||
|
||||
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
@ -357,6 +358,7 @@ TEST(Rtcm_Test, MSMCell)
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro2));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro));
|
||||
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges2,
|
||||
@ -384,6 +386,7 @@ TEST(Rtcm_Test, MSMCell)
|
||||
pseudoranges3.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
|
||||
|
||||
std::string MSM1_3 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
obs_time,
|
||||
pseudoranges3,
|
||||
@ -452,7 +455,7 @@ TEST(Rtcm_Test, MSM1)
|
||||
gps_eph.i_satellite_PRN = gnss_synchro.PRN;
|
||||
|
||||
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
{}, {},
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
@ -501,7 +504,7 @@ TEST(Rtcm_Test, MSM1)
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro2));
|
||||
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro));
|
||||
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
{}, {},
|
||||
obs_time,
|
||||
pseudoranges2,
|
||||
ref_id,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user