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rtcm: Starting coding of RTCM standard 

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");