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rtcm: Starting coding of RTCM standard

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Starting to add GLONASS support for RTCM v3 messages while fixing bugs
with the RINEX parser. In addition, adding more unit tests in the code
This commit is contained in:
Damian Miralles 2017-08-01 11:23:34 -07:00 committed by Damian Miralles
parent d34ec96ad2
commit 6669482e91
9 changed files with 1567 additions and 108 deletions
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56
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -138,38 +138,48 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
* 23 | GLONASS L1 C/A
* 24 | GLONASS L2 C/A
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
int gal_1B_count = configuration->property("Channels_1B.count", 0);
int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
int gal_E5b_count = configuration->property("Channels_7X.count", 0);
int glo_1R_count = configuration->property("Channels_1R.count", 0);
unsigned int type_of_receiver = 0;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1R_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 23;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0) && (glo_1R_count != 0)) type_of_receiver = 25;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 26;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1R_count != 0)) type_of_receiver = 27;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
@ -192,10 +202,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
}
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1R_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
{
@ -207,6 +217,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
{
//warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
elevation_mask = 15.0;
}
@ -214,6 +225,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if( (dynamics_model < 0) || (dynamics_model > 2) )
{
//warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
dynamics_model = 0;
}
@ -275,10 +287,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
if ((glo_1R_count > 0)) nsys += SYS_GLO;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
//warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
navigation_system = nsys;
}
@ -305,6 +319,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
{
//warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
integer_ambiguity_resolution_glo = 1;
}
@ -312,6 +327,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) )
{
//warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
integer_ambiguity_resolution_bds = 1;
}

12
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -99,10 +99,12 @@ private:
bool b_rinex_header_written;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms;
int d_rtcm_MT1019_rate_ms;
int d_rtcm_MT1077_rate_ms;
int d_rtcm_MT1097_rate_ms;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int d_rtcm_MSM_rate_ms;
int d_last_status_print_seg; //for status printer
@ -122,8 +124,10 @@ private:
double d_rx_time;
double last_pvt_display_T_rx_s;
double last_RTCM_1019_output_time;
double last_RTCM_1020_output_time;
double last_RTCM_1045_output_time;
double last_RTCM_1077_output_time;
double last_RTCM_1087_output_time;
double last_RTCM_1097_output_time;
double last_RTCM_MSM_output_time;
double last_RINEX_obs_output_time;

61
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -186,6 +186,38 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
}
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1011 = rtcm->print_MT1011(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables)
{
std::string m1012 = rtcm->print_MT1012(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
{
std::string m1019 = rtcm->print_MT1019(gps_eph);
@ -194,6 +226,14 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
}
bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph);
Rtcm_Printer::Print_Message(m1020);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
{
std::string m1045 = rtcm->print_MT1045(gal_eph);
@ -205,6 +245,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int clock_steering_indicator,
@ -216,31 +257,31 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
std::string msm;
if(msm_number == 1)
{
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 2)
{
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 3)
{
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 4)
{
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 5)
{
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 6)
{
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 7)
{
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else
{
@ -348,3 +389,9 @@ unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_ti
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro)
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}

62
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -59,12 +59,63 @@ public:
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
/*!
* \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph);
bool Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph,
bool Print_Rtcm_MSM(unsigned int msm_number,
const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int clock_steering_indicator,
@ -77,6 +128,15 @@ public:
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);
/*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return locked time during logging process
*/
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro);
private:
std::string rtcm_filename; // String with the RTCM log filename

5
src/core/system_parameters/glonass_gnav_ephemeris.h
View File

@ -97,8 +97,9 @@ public:
double d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
double d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Inmediate deliverables of ephemris information
int i_satellite_freq_channel; //!< SV Frequency Channel Number
// Inmediate deliverables of ephemeris information
//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
unsigned int i_satellite_freq_channel; //!< SV Frequency Channel Number
unsigned int i_satellite_PRN; //!< SV PRN NUMBER
unsigned int i_satellite_slot_number; //!< SV PRN NUMBER
double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s]

108
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -363,9 +363,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * TWO_N20;
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
if(gnav_ephemeris.d_P_1 != 0)
{
@ -380,9 +380,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * 2e-11;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
flag_ephemeris_str_2 = true;
@ -392,12 +392,12 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 3:
// --- It is string 3 ----------------------------------------------
gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * 2e-40;
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * 2e-20;
gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * 2e-11;
gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
flag_ephemeris_str_3 = true;
@ -405,8 +405,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 4:
// --- It is string 4 ----------------------------------------------
gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * 2e-30;
gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * 2e-30;
gnav_ephemeris.d_tau_n = static_cast<double>(read_navigation_signed(string_bits, TAU_N)) * TWO_N30;
gnav_ephemeris.d_Delta_tau_n = static_cast<double>(read_navigation_signed(string_bits, DELTA_TAU_N)) * TWO_N30;
gnav_ephemeris.d_E_n = static_cast<double>(read_navigation_unsigned(string_bits, E_N));
gnav_ephemeris.d_P_4 = static_cast<double>(read_navigation_unsigned(string_bits, P4));
gnav_ephemeris.d_F_T = static_cast<double>(read_navigation_unsigned(string_bits, F_T));
@ -425,9 +425,9 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 5:
// --- It is string 5 ----------------------------------------------
gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * 2e-31;
gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * 2e-30;
gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
@ -463,10 +463,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(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_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)) * 2e-18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
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_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_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;
@ -476,10 +476,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// --- It is string 7 ----------------------------------------------
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)) * 2e-15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
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)) * 2e-14;
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_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_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)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
@ -500,10 +500,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(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_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)) * 2e-18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
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_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_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;
@ -514,10 +514,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
if (flag_almanac_str_8 == true)
{
// TODO signed vs unsigned reading from datasheet
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * 2e-15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
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)) * 2e-14;
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_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_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)) -32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
@ -531,10 +531,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(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_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)) * 2e-18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
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_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_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;
@ -544,10 +544,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// --- It is string 11 ---------------------------------------------
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)) * 2e-15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
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)) * 2e-14;
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_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_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)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
@ -562,10 +562,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(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_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)) * 2e-18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
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_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_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;
@ -575,10 +575,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// --- It is string 13 ---------------------------------------------
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)) * 2e-15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
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)) * 2e-14;
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_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_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)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
@ -599,10 +599,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(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_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)) * 2e-18;
gnav_almanac[i_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(read_navigation_signed(string_bits, LAMBDA_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_i_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_I_N_A)) * 2e-20;
gnav_almanac[i_satellite_slot_number - 1].d_epsilon_n_A = static_cast<double>(read_navigation_unsigned(string_bits, EPSILON_N_A)) * 2e-20;
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_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_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;
}
@ -614,10 +614,10 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// --- It is string 9 ----------------------------------------------
if (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)) * 2e-15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * 2e-5;
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * 2e-9;
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)) * 2e-14;
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_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_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)) - 32.0;
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));

922
src/core/system_parameters/rtcm.cc
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311
src/core/system_parameters/rtcm.h
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@ -49,6 +49,7 @@
#include "galileo_fnav_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
/*!
@ -56,7 +57,7 @@
* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
*
* Generation of the following Message Types:
* 1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1029, 1045
* 1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1020, 1029, 1045
*
* Decoding of the following Message Types:
* 1019, 1045
@ -128,6 +129,47 @@ public:
*/
std::string print_MT1008(unsigned int ref_id, const std::string & antenna_descriptor, unsigned int antenna_setup_id, const std::string & antenna_serial_number);
/*!
* \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
* \note Code added as part of GSoC 2017 program
* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
* the IODC does not match the IODE, and every 2 minutes.
@ -139,6 +181,23 @@ public:
*/
int read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph);
/*!
* \brief Prints message type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \return Returns message type as a string type
*/
std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
/*!
* \brief Verifies and reads messages of type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param message Message to read as a string type
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \return Returns 1 if anything goes wrong, 0 otherwise.
*/
int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph);
/*!
* \brief Prints message type 1029 (Unicode Text String)
*/
@ -160,6 +219,7 @@ public:
std::string print_MSM_1( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -175,6 +235,7 @@ public:
std::string print_MSM_2( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -190,6 +251,7 @@ public:
std::string print_MSM_3( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -205,6 +267,7 @@ public:
std::string print_MSM_4( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -220,6 +283,7 @@ public:
std::string print_MSM_5( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -235,6 +299,7 @@ public:
std::string print_MSM_6( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -250,6 +315,7 @@ public:
std::string print_MSM_7( const Gps_Ephemeris & gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph,
const Galileo_Ephemeris & gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
@ -262,6 +328,15 @@ public:
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.
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program
* \params eph GLONASS GNAV Broadcast Ephemeris
* \params obs_time Time of observation at the moment of printing
* \params observables Set of observables as defined by the platform
* \return Returns the time period in which GLONASS signals have been continually tracked.
*/
unsigned int lock_time(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
@ -270,7 +345,8 @@ public:
std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
long int bin_to_int(const std::string & s) const;
long int bin_to_sint(const std::string & s) const; //<! Returns a long int from a string of binary symbols
double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
@ -303,6 +379,70 @@ private:
std::bitset<152> get_MT1005_test();
/*!
* \brief Generates contents of message header for types 1009, 1010, 1011 and 1012. GLONASS RTK Message
* \note Code added as part of GSoC 2017 program
* \param msg_number Message type number, acceptable options include 1009 to 1012
* \param obs_time Time of observation at the moment of printing
* \param observables Set of observables as defined by the platform
* \param ref_id
* \param smooth_int
* \param divergence_free
* \return Returns the message header content as set of bits
*/
std::bitset<61> get_MT1009_12_header(unsigned int msg_number,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
unsigned int ref_id,
unsigned int smooth_int,
bool sync_flag,
bool divergence_free);
/*!
* \brief Get the contents of the satellite specific portion of a type 1009 Message (GLONASS Basic RTK, L1 Only)
* \details Contents generated for each satellite. See table 3.5-11
* \note Code added as part of GSoC 2017 program
* \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
* \param obs_time Time of observation at the moment of printing
* \param gnss_synchro Information generated by channels while processing the satellite
* \return Returns the message content as set of bits
*/
std::bitset<64> get_MT1009_sat_content(const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
/*!
* \brief Get the contents of the satellite specific portion of a type 1010 Message (GLONASS Extended RTK, L1 Only)
* \details Contents generated for each satellite. See table 3.5-12
* \note Code added as part of GSoC 2017 program
* \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
* \param obs_time Time of observation at the moment of printing
* \param gnss_synchro Information generated by channels while processing the satellite
* \return Returns the message content as set of bits
*/
std::bitset<79> get_MT1010_sat_content(const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
/*!
* \brief Get the contents of the satellite specific portion of a type 1011 Message (GLONASS Basic RTK, L1 & L2)
* \details Contents generated for each satellite. See table 3.5-13
* \note Code added as part of GSoC 2017 program
* \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
* \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
* \param obs_time Time of observation at the moment of printing
* \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
* \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
* \return Returns the message content as set of bits
*/
std::bitset<107> get_MT1011_sat_content(const Glonass_Gnav_Ephemeris & ephGNAVL1, const Glonass_Gnav_Ephemeris & ephGNAVL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
/*!
* \brief Get the contents of the satellite specific portion of a type 1012 Message (GLONASS Extended RTK, L1 & L2)
* \details Contents generated for each satellite. See table 3.5-14
* \note Code added as part of GSoC 2017 program
* \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
* \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
* \param obs_time Time of observation at the moment of printing
* \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
* \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
* \return Returns the message content as set of bits
*/
std::bitset<130> get_MT1012_sat_content(const Glonass_Gnav_Ephemeris & ephGNAVL1, const Glonass_Gnav_Ephemeris & ephGNAVL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
std::string get_MSM_header(unsigned int msg_number,
double obs_time,
const std::map<int, Gnss_Synchro> & observables,
@ -318,12 +458,12 @@ private:
std::string get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & observables);
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> & observables);
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> & observables);
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> & observables);
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> & observables);
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> & observables);
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> & observables);
std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
//
// Utilities
@ -335,10 +475,13 @@ private:
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const;
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime gps_L1_last_lock_time[64];
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];
boost::posix_time::ptime glo_L1_last_lock_time[64];
boost::posix_time::ptime glo_L2_last_lock_time[64];
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);
@ -870,6 +1013,59 @@ private:
std::bitset<8> DF032;
std::bitset<27> DF034; //!< GLONASS Epoch Time (tk)
int set_DF034(double obs_time);
std::bitset<5> DF035; //!< No. of GLONASS Satellite Signals Processed
int set_DF035(const std::map<int, Gnss_Synchro> & observables);
std::bitset<1> DF036; //!< GLONASS Divergence-free Smoothing Indicator
int set_DF036(bool divergence_free_smoothing_indicator);
std::bitset<3> DF037; //!< GLONASS Smoothing Interval
int set_DF037(unsigned short smoothing_interval);
std::bitset<6> DF038; //!< GLONASS Satellite ID (Satellite Slot Number)
int set_DF038(const Gnss_Synchro & gnss_synchro);
int set_DF038(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF039; //!< GLONASS L1 Code Indicator
int set_DF039(bool code_indicator);
std::bitset<5> DF040; //!< GLONASS Satellite Frequency Number
int set_DF040(unsigned int frequency_channel_number);
int set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<25> DF041; //!< GLONASS L1 Pseudorange
int set_DF041(const Gnss_Synchro & gnss_synchro);
std::bitset<20> DF042; //!< GLONASS L1 PhaseRange - L1 Pseudorange
int set_DF042(const Gnss_Synchro & gnss_synchro);
std::bitset<7> DF043; //!< GLONASS L1 Lock Time Indicator
int set_DF043(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
std::bitset<7> DF044; //!< GLONASS Integer L1 Pseudorange Modulus Ambiguity
int set_DF044(const Gnss_Synchro & gnss_synchro);
std::bitset<8> DF045; //!< GLONASS L1 CNR
int set_DF045(const Gnss_Synchro & gnss_synchro);
std::bitset<2> DF046; //!< GLONASS L2 code indicator
int set_DF046(unsigned short code_indicator);
std::bitset<14> DF047; //!< GLONASS L2 - L1 Pseudorange Difference
int set_DF047(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
std::bitset<20> DF048; //!< GLONASS L2 PhaseRange - L1 Pseudorange
int set_DF048(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
std::bitset<7> DF049; //!< GLONASS L2 Lock Time Indicator
int set_DF049(const Glonass_Gnav_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
std::bitset<8> DF050; //!< GLONASS L2 CNR
int set_DF050(const Gnss_Synchro & gnss_synchro);
std::bitset<16> DF051;
int set_DF051(const Gps_Ephemeris & gps_eph, double obs_time);
@ -964,6 +1160,105 @@ private:
std::bitset<1> DF103;
int set_DF103(const Gps_Ephemeris & gps_eph);
std::bitset<1> DF104; //!< GLONASS Almanac Health
int set_DF104(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF105; //!< GLONASS Almanac Health Availability Indicator
int set_DF105(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<2> DF106; //!< GLONASS P1 Word
int set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<12> DF107; //!< GLONASS Epoch (tk)
int set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF108; //!< GLONASS MSB of Bn Word
int set_DF108(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF109; //!< GLONASS P2 Word
int set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<7> DF110; //!< GLONASS Ephmeris Epoch (tb)
int set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<24> DF111; //!< GLONASS Xn first derivative
int set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<27> DF112; //!< GLONASS Xn
int set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF113; //!< GLONASS Xn second derivative
int set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<24> DF114; //!< GLONASS Yn first derivative
int set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<27> DF115; //!< GLONASS Yn
int set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF116; //!< GLONASS Yn second derivative
int set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<24> DF117; //!< GLONASS Zn first derivative
int set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<27> DF118; //!< GLONASS Zn
int set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF119; //!< GLONASS Zn second derivative
int set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF120; //!< GLONASS P3
int set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<11> DF121; //!< GLONASS GAMMA_N
int set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<2> DF122; //!< GLONASS P
int set_DF122(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF123; //!< GLONASS ln (third string)
int set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<22> DF124; //!< GLONASS TAU_N
int set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF125; //!< GLONASS DELTA_TAU_N
int set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF126; //!< GLONASS Eccentricity
int set_DF126(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF127; //!< GLONASS P4
int set_DF127(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<4> DF128; //!< GLONASS F_T
int set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF129; //!< GLONASS N_T
int set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<2> DF130; //!< GLONASS M
int set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF131; //!< GLONASS Availability of additional data
int set_DF131(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<11> DF132; //!< GLONASS N_A
int set_DF132(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<32> DF133; //!< GLONASS TAU_C
int set_DF133(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<5> DF134; //!< GLONASS N_4
int set_DF134(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<22> DF135; //!< GLONASS TAU_GPS
int set_DF135(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF136; //!< GLONASS L_N (FIFTH STRING)
int set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF137;
int set_DF137(const Gps_Ephemeris & gps_eph);

138
src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc Normal file
View File

@ -0,0 +1,138 @@
/*!
* \file glonass_gnav_navigation_message_test.cc
* \brief This file implements tests for the decoding of the GLONASS GNAV navigation message
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <complex>
#include <ctime>
#include <complex>
#include <ctime>
#include "gnss_signal_processing.h"
#include "glonass_gnav_navigation_message.h"
/*!
* \brief Testing CRC computation for GLONASS GNAV data bits of a string
* \test The provided string was generated with a version of MATLAB GNSS-SDR that
* the author coded to perform proper decoding of GLONASS GNAV signals.
*/
TEST(GlonassGnavNavigationMessageTest, CRCTest)
{
// Variables declarations in code
bool test_result;
std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
Glonass_Gnav_Navigation_Message gnav_nav_message;
gnav_nav_message.reset();
// Call function to test
test_result = gnav_nav_message.CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> (str5));
// Check results in unit test assetions
ASSERT_TRUE(test_result);
}
/*!
* \brief Testing string decoding for GLONASS GNAV messages
* \test The provided string (str1.....str15) was generated with a version of
* MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
* GNAV signals. The same assumption is to be applied for ephemeris and almanac
* data provided.
*/
TEST(GlonassGnavNavigationMessageTest, String1Decoder)
{
// Variable declarations
std::string str1("0000100000001000011001000011111011010101110100000010101011000100011010101011000101111");
Glonass_Gnav_Navigation_Message gnav_nav_message;
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
// Call target test method
gnav_nav_message.string_decoder(str1.c_str());
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Xn - gnav_nav_message.gnav_ephemeris.d_Xn < DBL_EPSILON );
}
/*!
* \brief Testing string decoding for GLONASS GNAV messages
* \test The provided string (str1.....str15) was generated with a version of
* MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
* GNAV signals. The same assumption is to be applied for ephemeris and almanac
* data provided.
*/
TEST(GlonassGnavNavigationMessageTest, String2Decoder)
{
// Variable declarations
std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
Glonass_Gnav_Navigation_Message gnav_nav_message;
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
// Call target test method
gnav_nav_message.string_decoder(str2.c_str())
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VYn - gnav_nav_message.gnav_ephemeris.d_VYn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Yn - gnav_nav_message.gnav_ephemeris.d_Yn < DBL_EPSILON );
}
std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
std::string str6("0011010100110100001100111100011100001101011000000110101111001000000101100011111011001");
std::string str7("0011101101010001000010000110101111110000101101001011111110101110100010111100010001101");
std::string str8("0100010100111000000001111110001101000000110000001000100111011100001010101111010011010");
std::string str9("0100111010001001011100010000010100010101111101001011111110101011100010100101000110101");
std::string str10("0101010101000000000011101111111101111001011000001000101010001100001111000110101111110");
std::string str11("0101110111011011011100011001111011101111001101001011111111000110100100000110010001111");
std::string str12("0110010101001100000011110110100110100100010100001000111110000100001110001010111000001");
std::string str13("0110111011100100111110100001000110100010011101001011111110100100101010011010001101001");
std::string str14("0111010101010000000100011000011110100110111100001110110100001000001111001101010000101");
std::string str15("0111101110101010001110101010100111101100001101001011111111100010101010011001010011101");