mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-14 20:20:35 +00:00
Code Issues Releases Wiki Activity

bugfix: Fixes reporting for new almanac data

Browse Source 
Adds code to update the almanac information for satellites when decoded
by reducing the flags for the update. Almanac update is now reported
when the 2 required strings are decoded.
This commit is contained in:
Damian Miralles 2017-09-16 13:07:34 -06:00 committed by Carles Fernandez
parent 4d844cfa43
commit 529da490c3
3 changed files with 135 additions and 119 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -194,7 +194,6 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
{ {
LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite;
} }
// 4. Push the new navigation data to the queues // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
{ {
@ -211,10 +210,17 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
} }
if (d_nav.have_new_almanac() == true) if (d_nav.have_new_almanac() == true)
{ {
unsigned int slot_nbr = d_nav.get_ephemeris().i_satellite_slot_number; unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr)); std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj= std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
// 5. Update satellite information on system
if(d_nav.flag_update_slot_number == true)
{
LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel;
d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
d_nav.flag_update_slot_number = false;
}
} }

237
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -43,9 +43,8 @@
void Glonass_Gnav_Navigation_Message::reset() void Glonass_Gnav_Navigation_Message::reset()
{ {
//!< Satellite Identification //!< Satellite Identification
i_channel_ID = 0; //!< Channel ID assigned by the receiver i_alm_satellite_slot_number = 0; //!< SV Orbit Slot Number
i_satellite_freq_channel = 0; //!< SV Frequency Slot Number flag_update_slot_number = false;
i_satellite_slot_number = 0; //!< SV Orbit Slot Number
//!< Ephmeris Flags //!< Ephmeris Flags
flag_all_ephemeris = false; flag_all_ephemeris = false;
@ -410,8 +409,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M)); gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
// Fill in ephemeris deliverables in the code // Fill in ephemeris deliverables in the code
gnav_ephemeris.i_satellite_slot_number = gnav_ephemeris.d_n; flag_update_slot_number = true;
gnav_ephemeris.i_satellite_PRN = gnav_ephemeris.d_n; gnav_ephemeris.i_satellite_slot_number = static_cast<unsigned int>(gnav_ephemeris.d_n);
gnav_ephemeris.i_satellite_PRN = static_cast<unsigned int>(gnav_ephemeris.d_n);
flag_ephemeris_str_4 = true; flag_ephemeris_str_4 = true;
@ -455,6 +455,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
{ {
d_TOW = get_TOW(); d_TOW = get_TOW();
flag_TOW_set = true; flag_TOW_set = true;
} }
} }
@ -462,16 +463,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 6: case 6:
// --- It is string 6 ---------------------------------------------- // --- It is string 6 ----------------------------------------------
i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
d_frame_ID = get_frame_number(i_satellite_slot_number); d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
flag_almanac_str_6 = true; flag_almanac_str_6 = true;
@ -481,24 +482,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// --- It is string 7 ---------------------------------------------- // --- It is string 7 ----------------------------------------------
if (flag_almanac_str_6 == true) if (flag_almanac_str_6 == true)
{ {
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes // Set satellite information for redundancy purposes
if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24) if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
{ {
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
} }
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
if (i_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number) if (i_alm_satellite_slot_number == gnav_ephemeris.i_satellite_slot_number)
{ {
gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel; gnav_ephemeris.i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel;
} }
flag_almanac_str_7 = true; flag_almanac_str_7 = true;
} }
@ -507,16 +508,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
break; break;
case 8: case 8:
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
d_frame_ID = get_frame_number(i_satellite_slot_number); d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
flag_almanac_str_8 = true; flag_almanac_str_8 = true;
@ -525,36 +526,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// --- It is string 9 ---------------------------------------------- // --- It is string 9 ----------------------------------------------
if (flag_almanac_str_8 == true) if (flag_almanac_str_8 == true)
{ {
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes // Set satellite information for redundancy purposes
if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24) if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
{ {
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
} }
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
flag_almanac_str_9 = true; flag_almanac_str_9 = true;
} }
break; break;
case 10: case 10:
// --- It is string 10 --------------------------------------------- // --- It is string 10 ---------------------------------------------
i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
d_frame_ID = get_frame_number(i_satellite_slot_number); d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
flag_almanac_str_10 = true; flag_almanac_str_10 = true;
@ -564,36 +565,36 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// --- It is string 11 --------------------------------------------- // --- It is string 11 ---------------------------------------------
if (flag_almanac_str_10 == true) if (flag_almanac_str_10 == true)
{ {
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes // Set satellite information for redundancy purposes
if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24) if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
{ {
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
} }
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
flag_almanac_str_11 = true; flag_almanac_str_11 = true;
} }
break; break;
case 12: case 12:
// --- It is string 12 --------------------------------------------- // --- It is string 12 ---------------------------------------------
i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
d_frame_ID = get_frame_number(i_satellite_slot_number); d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
flag_almanac_str_12 = true; flag_almanac_str_12 = true;
@ -603,20 +604,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
// --- It is string 13 --------------------------------------------- // --- It is string 13 ---------------------------------------------
if (flag_almanac_str_12 == true) if (flag_almanac_str_12 == true)
{ {
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes // Set satellite information for redundancy purposes
if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24) if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
{ {
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
} }
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
flag_almanac_str_13 = true; flag_almanac_str_13 = true;
} }
@ -630,16 +631,16 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
} }
else else
{ {
i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A)); i_alm_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
d_frame_ID = get_frame_number(i_satellite_slot_number); d_frame_ID = get_frame_number(i_alm_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20;
flag_almanac_str_14 = true; flag_almanac_str_14 = true;
} }
@ -650,20 +651,20 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 15: case 15:
// --- It is string 9 ---------------------------------------------- // --- It is string 9 ----------------------------------------------
if (d_frame_ID != 5 and flag_almanac_str_14 == true) { if (d_frame_ID != 5 and flag_almanac_str_14 == true) {
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N)); gnav_almanac[i_alm_satellite_slot_number - 1].d_l_n = static_cast<bool>(read_navigation_bool(string_bits, ALM_L_N));
// Set satellite information for redundancy purposes // Set satellite information for redundancy purposes
if (gnav_almanac[i_satellite_slot_number - 1].d_H_n_A > 24) if (gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A > 24)
{ {
gnav_almanac[i_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_satellite_slot_number - 1].d_H_n_A - 32.0; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_freq_channel = gnav_almanac[i_alm_satellite_slot_number - 1].d_H_n_A - 32.0;
} }
gnav_almanac[i_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_slot_number = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
gnav_almanac[i_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_satellite_slot_number - 1].d_n_A; gnav_almanac[i_alm_satellite_slot_number - 1].i_satellite_PRN = gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A;
flag_almanac_str_15 = true; flag_almanac_str_15 = true;
} }
@ -747,26 +748,38 @@ bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a
bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class bool Glonass_Gnav_Navigation_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class
{ {
if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true) and bool new_alm = false;
(flag_almanac_str_8 == true) and (flag_almanac_str_9 == true) and if ((flag_almanac_str_6 == true) and (flag_almanac_str_7 == true))
(flag_almanac_str_10 == true) and (flag_almanac_str_11 == true) and
(flag_almanac_str_12 == true) and (flag_almanac_str_13 == true) and
(flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
{ {
//All almanac have been received //All almanac have been received for this satellite
flag_almanac_str_6 = false; flag_almanac_str_6 = false;
flag_almanac_str_7 = false; flag_almanac_str_7 = false;
new_alm = true;
}
if ((flag_almanac_str_8 == true) and (flag_almanac_str_9 == true))
{
flag_almanac_str_8 = false; flag_almanac_str_8 = false;
flag_almanac_str_9 = false; flag_almanac_str_9 = false;
new_alm = true;
}
if((flag_almanac_str_10 == true) and (flag_almanac_str_11 == true))
{
flag_almanac_str_10 = false; flag_almanac_str_10 = false;
flag_almanac_str_11 = false; flag_almanac_str_11 = false;
new_alm = true;
}
if((flag_almanac_str_12 == true) and (flag_almanac_str_13 == true))
{
flag_almanac_str_12 = false; flag_almanac_str_12 = false;
flag_almanac_str_13 = false; flag_almanac_str_13 = false;
new_alm = true;
}
if((flag_almanac_str_14 == true) and (flag_almanac_str_15 == true))
{
flag_almanac_str_14 = false; flag_almanac_str_14 = false;
flag_almanac_str_15 = false; flag_almanac_str_15 = false;
flag_all_almanac = true; new_alm = true;
return true;
} }
else
return false; return new_alm;
} }

7
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -63,16 +63,12 @@ public:
bool flag_CRC_test; bool flag_CRC_test;
unsigned int d_frame_ID; unsigned int d_frame_ID;
unsigned int d_string_ID; unsigned int d_string_ID;
bool flag_update_slot_number;
Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information
Glonass_Gnav_Almanac gnav_almanac[24]; //!< Almanac information for all 24 satellites Glonass_Gnav_Almanac gnav_almanac[24]; //!< Almanac information for all 24 satellites
//!< Satellite Identification
int i_channel_ID; //!< Channel ID assigned by the receiver
unsigned int i_satellite_freq_channel; //!< SV Frequency Slot Number
unsigned int i_satellite_slot_number; //!< SV Orbit Slot Number
//!< Ephmeris Flags //!< Ephmeris Flags
bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received
bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received
@ -92,6 +88,7 @@ public:
bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received
bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received
bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received
unsigned int i_alm_satellite_slot_number; //!< SV Orbit Slot Number
//!< UTC and System Clocks Flags //!< UTC and System Clocks Flags
bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled