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Give more natural, consistent names to ephemeris / iono / utc parameters exposed outside the receiver via XML files

Browse Source 
Create a base class for GPS, Galileo and BeiDou ephemeris, allowing to remove some duplicated code

Use BOOST_SERIALIZATION_NVP macro, less error prone than boost::serialization::make_nvp

Update .xsd files
This commit is contained in:
Carles Fernandez
2021-02-21 00:01:56 +01:00
parent c0796f416d
commit 7971565a0d
68 changed files with 3012 additions and 3764 deletions
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114
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -667,7 +667,7 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save Galileo UTC model parameters
file_name = d_xml_base_path + "gal_utc_model.xml";
if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS_6 != 0.0)
if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS != 0.0)
{
std::ofstream ofs;
try
@@ -757,7 +757,7 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
// Save Galileo iono parameters
file_name = d_xml_base_path + "gal_iono.xml";
if (d_internal_pvt_solver->galileo_iono.ai0_5 != 0.0)
if (d_internal_pvt_solver->galileo_iono.ai0 != 0.0)
{
std::ofstream ofs;
try
@@ -1074,10 +1074,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### GPS EPHEMERIS ###
const auto gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< gps_eph->i_satellite_PRN << " (Block "
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << gps_eph->d_Toe << " and GPS Week="
<< gps_eph->i_GPS_week;
<< gps_eph->PRN << " (Block "
<< gps_eph->satelliteBlock[gps_eph->PRN] << ")"
<< "inserted with Toe=" << gps_eph->toe << " and GPS Week="
<< gps_eph->WN;
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
@@ -1089,13 +1089,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->i_satellite_PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN].d_Toe != gps_eph->d_Toe)
if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN].toe != gps_eph->toe)
{
new_annotation = true;
}
@@ -1104,14 +1104,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// New record!
std::map<int32_t, Gps_Ephemeris> new_eph;
new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
new_eph[gps_eph->PRN] = *gps_eph;
d_rp->log_rinex_nav_gps_nav(d_type_of_rx, new_eph);
}
}
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
d_user_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
}
}
else if (msg_type_hash_code == d_gps_iono_sptr_type_hash_code)
@@ -1144,13 +1144,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->i_satellite_PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN].d_Toe1 != gps_cnav_ephemeris->d_Toe1)
if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN].toe1 != gps_cnav_ephemeris->toe1)
{
new_annotation = true;
}
@@ -1159,14 +1159,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// New record!
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
new_cnav_eph[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
new_cnav_eph[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
d_rp->log_rinex_nav_gps_cnav(d_type_of_rx, new_cnav_eph);
}
}
d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
}
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
@@ -1196,10 +1196,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// ### GPS ALMANAC ###
const auto gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
d_internal_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
d_internal_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
d_user_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
}
DLOG(INFO) << "New GPS almanac record has arrived ";
}
@@ -1210,8 +1210,8 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### Galileo EPHEMERIS ###
const auto galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->tow
<< ", GALILEO Week Number =" << galileo_eph->WN
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
@@ -1223,13 +1223,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN].toe != galileo_eph->toe)
{
new_annotation = true;
}
@@ -1238,14 +1238,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
new_gal_eph[galileo_eph->PRN] = *galileo_eph;
d_rp->log_rinex_nav_gal_nav(d_type_of_rx, new_gal_eph);
}
}
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
}
}
else if (msg_type_hash_code == d_galileo_iono_sptr_type_hash_code)
@@ -1278,28 +1278,28 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
const Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
const Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
if (sv1.i_satellite_PRN != 0)
if (sv1.PRN != 0)
{
d_internal_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
d_internal_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
d_user_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
}
}
if (sv2.i_satellite_PRN != 0)
if (sv2.PRN != 0)
{
d_internal_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
d_internal_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
d_user_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
}
}
if (sv3.i_satellite_PRN != 0)
if (sv3.PRN != 0)
{
d_internal_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
d_internal_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
d_user_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
}
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
@@ -1309,10 +1309,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### Galileo Almanac ###
const auto galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
d_internal_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
d_internal_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
d_user_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
}
}
@@ -1331,13 +1331,13 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN].d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
@@ -1346,14 +1346,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// New record!
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
new_glo_eph[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
d_rp->log_rinex_nav_glo_gnav(d_type_of_rx, new_glo_eph);
}
}
d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
}
}
else if (msg_type_hash_code == d_glonass_gnav_utc_model_sptr_type_hash_code)
@@ -1386,21 +1386,21 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// ### Beidou EPHEMERIS ###
const auto bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< bds_dnav_eph->i_satellite_PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week;
<< bds_dnav_eph->PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->toe << " and BDS Week="
<< bds_dnav_eph->WN;
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN].toc != bds_dnav_eph->toc)
{
new_annotation = true;
}
@@ -1409,14 +1409,14 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
new_bds_eph[bds_dnav_eph->PRN] = *bds_dnav_eph;
d_rp->log_rinex_nav_bds_dnav(d_type_of_rx, new_bds_eph);
}
}
d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
}
}
else if (msg_type_hash_code == d_beidou_dnav_iono_sptr_type_hash_code)
@@ -1445,10 +1445,10 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// ### BeiDou ALMANAC ###
const auto bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
if (d_enable_rx_clock_correction == true)
{
d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
}
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
@@ -1834,7 +1834,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_gps->second.i_satellite_PRN;
const uint32_t prn_aux = tmp_eph_iter_gps->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C"))
{
store_valid_observable = true;
@@ -1842,7 +1842,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_gal->second.i_satellite_PRN;
const uint32_t prn_aux = tmp_eph_iter_gal->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1B") or (std::string(in[i][epoch].Signal) == "5X") or (std::string(in[i][epoch].Signal) == "7X")))
{
store_valid_observable = true;
@@ -1850,7 +1850,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_cnav->second.i_satellite_PRN;
const uint32_t prn_aux = tmp_eph_iter_cnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "2S") or (std::string(in[i][epoch].Signal) == "L5")))
{
store_valid_observable = true;
@@ -1858,7 +1858,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.i_satellite_PRN;
const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "1G") or (std::string(in[i][epoch].Signal) == "2G")))
{
store_valid_observable = true;
@@ -1866,7 +1866,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.i_satellite_PRN;
const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.PRN;
if ((prn_aux == in[i][epoch].PRN) and ((std::string(in[i][epoch].Signal) == "B1") or (std::string(in[i][epoch].Signal) == "B3")))
{
store_valid_observable = true;

1339
src/algorithms/PVT/libs/rinex_printer.cc
View File

File diff suppressed because it is too large Load Diff

308
src/algorithms/PVT/libs/rtcm.cc
View File

@@ -1625,92 +1625,92 @@ int32_t Rtcm::read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph) co
}
// Fill Gps Ephemeris with message data content
gps_eph.i_satellite_PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
gps_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6;
gps_eph.i_GPS_week = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
gps_eph.WN = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
gps_eph.i_SV_accuracy = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
gps_eph.SV_accuracy = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
index += 4;
gps_eph.i_code_on_L2 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
gps_eph.code_on_L2 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
gps_eph.d_IDOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
gps_eph.idot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
index += 14;
gps_eph.d_IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
gps_eph.d_IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
gps_eph.IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
gps_eph.IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
index += 8;
gps_eph.d_Toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
gps_eph.toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
index += 16;
gps_eph.d_A_f2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
gps_eph.af2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
index += 8;
gps_eph.d_A_f1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
gps_eph.af1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
index += 16;
gps_eph.d_A_f0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
gps_eph.af0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
index += 22;
gps_eph.d_IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
gps_eph.IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
gps_eph.d_Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
gps_eph.Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
index += 16;
gps_eph.d_Delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
gps_eph.delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
index += 16;
gps_eph.d_M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
gps_eph.M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
index += 32;
gps_eph.d_Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
gps_eph.Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
index += 16;
gps_eph.d_e_eccentricity = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * ECCENTRICITY_LSB;
gps_eph.ecc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * ECCENTRICITY_LSB;
index += 32;
gps_eph.d_Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
gps_eph.Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
index += 16;
gps_eph.d_sqrt_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
gps_eph.sqrtA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
index += 32;
gps_eph.d_Toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
gps_eph.toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
index += 16;
gps_eph.d_Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
gps_eph.Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
index += 16;
gps_eph.d_OMEGA0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
gps_eph.OMEGA_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
index += 32;
gps_eph.d_Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
gps_eph.Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
index += 16;
gps_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
gps_eph.i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
index += 32;
gps_eph.d_Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
gps_eph.Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
index += 16;
gps_eph.d_OMEGA = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
gps_eph.omega = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
index += 32;
gps_eph.d_OMEGA_DOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
gps_eph.OMEGAdot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
index += 24;
gps_eph.d_TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
gps_eph.TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
index += 8;
gps_eph.i_SV_health = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
gps_eph.SV_health = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6;
gps_eph.b_L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
gps_eph.L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
gps_eph.b_fit_interval_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
@@ -2162,79 +2162,79 @@ int32_t Rtcm::read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph
}
// Fill Galileo Ephemeris with message data content
gal_eph.i_satellite_PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
gal_eph.PRN = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6;
gal_eph.WN_5 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
gal_eph.WN = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
index += 12;
gal_eph.IOD_nav_1 = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
gal_eph.IOD_nav = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
gal_eph.SISA_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
gal_eph.SISA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
index += 8;
gal_eph.iDot_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_2_LSB;
gal_eph.idot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_2_LSB;
index += 14;
gal_eph.t0c_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0C_4_LSB;
gal_eph.toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0C_4_LSB;
index += 14;
gal_eph.af2_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6))) * AF2_4_LSB;
gal_eph.af2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6))) * AF2_4_LSB;
index += 6;
gal_eph.af1_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 21))) * AF1_4_LSB;
gal_eph.af1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 21))) * AF1_4_LSB;
index += 21;
gal_eph.af0_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 31))) * AF0_4_LSB;
gal_eph.af0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 31))) * AF0_4_LSB;
index += 31;
gal_eph.C_rs_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_3_LSB;
gal_eph.Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_3_LSB;
index += 16;
gal_eph.delta_n_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_3_LSB;
gal_eph.delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_3_LSB;
index += 16;
gal_eph.M0_1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M0_1_LSB;
gal_eph.M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M0_1_LSB;
index += 32;
gal_eph.C_uc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_3_LSB;
gal_eph.Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_3_LSB;
index += 16;
gal_eph.e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_1_LSB;
gal_eph.ecc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_1_LSB;
index += 32;
gal_eph.C_us_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_3_LSB;
gal_eph.Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_3_LSB;
index += 16;
gal_eph.A_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * A_1_LSB_GAL;
gal_eph.sqrtA = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * A_1_LSB_GAL;
index += 32;
gal_eph.t0e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0E_1_LSB;
gal_eph.toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * T0E_1_LSB;
index += 14;
gal_eph.C_ic_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_4_LSB;
gal_eph.Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_4_LSB;
index += 16;
gal_eph.OMEGA_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_2_LSB;
gal_eph.OMEGA_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_2_LSB;
index += 32;
gal_eph.C_is_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_4_LSB;
gal_eph.Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_4_LSB;
index += 16;
gal_eph.i_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_2_LSB;
gal_eph.i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_2_LSB;
index += 32;
gal_eph.C_rc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_3_LSB;
gal_eph.Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_3_LSB;
index += 16;
gal_eph.omega_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_2_LSB;
gal_eph.omega = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_2_LSB;
index += 32;
gal_eph.OMEGA_dot_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_3_LSB;
gal_eph.OMEGAdot = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_3_LSB;
index += 24;
gal_eph.BGD_E1E5a_5 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
gal_eph.BGD_E1E5a = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
index += 10;
gal_eph.E5a_HS = static_cast<uint32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
@@ -2266,23 +2266,23 @@ std::string Rtcm::print_MSM_1(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1071;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1071;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1081;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1091;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -2463,23 +2463,23 @@ std::string Rtcm::print_MSM_2(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1072;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1072;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1082;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1092;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -2577,23 +2577,23 @@ std::string Rtcm::print_MSM_3(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1073;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1073;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1083;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1093;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -2694,23 +2694,23 @@ std::string Rtcm::print_MSM_4(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1074;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1074;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1084;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1094;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -2857,23 +2857,23 @@ std::string Rtcm::print_MSM_5(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1075;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1075;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1085;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1095;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -3029,23 +3029,23 @@ std::string Rtcm::print_MSM_6(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1076;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1076;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1086;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1096;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (gal_eph.PRN != 0) && (glo_gnav_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -3149,23 +3149,23 @@ std::string Rtcm::print_MSM_7(const Gps_Ephemeris& gps_eph,
bool more_messages)
{
uint32_t msg_number = 0;
if (gps_eph.i_satellite_PRN != 0)
if (gps_eph.PRN != 0)
{
msg_number = 1077;
}
if (gps_cnav_eph.i_satellite_PRN != 0)
if (gps_cnav_eph.PRN != 0)
{
msg_number = 1077;
}
if (glo_gnav_eph.i_satellite_PRN != 0)
if (glo_gnav_eph.PRN != 0)
{
msg_number = 1087;
}
if (gal_eph.i_satellite_PRN != 0)
if (gal_eph.PRN != 0)
{
msg_number = 1097;
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
if (((gps_eph.PRN != 0) || (gps_cnav_eph.PRN != 0)) && (glo_gnav_eph.PRN != 0) && (gal_eph.PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
@@ -3391,9 +3391,9 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const
{
const double gps_t = obs_time;
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000)); // NOLINT(google-runtime-int)
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.WN)) * 1000)); // NOLINT(google-runtime-int)
if (eph.i_GPS_week < 512)
if (eph.WN < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
return p_time;
@@ -3407,7 +3407,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const
{
const double gps_t = obs_time;
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week)) * 1000)); // NOLINT(google-runtime-int)
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.WN)) * 1000)); // NOLINT(google-runtime-int)
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t_duration);
return p_time;
}
@@ -3416,7 +3416,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, d
boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const
{
const double galileo_t = obs_time;
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000)); // NOLINT(google-runtime-int)
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN)) * 1000)); // NOLINT(google-runtime-int)
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t_duration);
return p_time;
}
@@ -3778,7 +3778,7 @@ int32_t Rtcm::set_DF009(const Gnss_Synchro& gnss_synchro)
int32_t Rtcm::set_DF009(const Gps_Ephemeris& gps_eph)
{
const uint32_t prn_ = gps_eph.i_satellite_PRN;
const uint32_t prn_ = gps_eph.PRN;
if (prn_ > 32)
{
LOG(WARNING) << "GPS satellite ID must be between 1 and 32, but PRN " << prn_ << " was found";
@@ -4201,9 +4201,9 @@ int32_t Rtcm::set_DF050(const Gnss_Synchro& gnss_synchro)
int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
{
const double gps_t = obs_time;
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.WN)) * 1000));
std::string now_ptime;
if (gps_eph.i_GPS_week < 512)
if (gps_eph.WN < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
now_ptime = to_iso_string(p_time);
@@ -4224,9 +4224,9 @@ int32_t Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
{
const double gps_t = obs_time;
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week)) * 1000));
const boost::posix_time::time_duration t_duration = boost::posix_time::milliseconds(static_cast<int64_t>((gps_t + 604800 * static_cast<double>(gps_eph.WN)) * 1000));
std::string now_ptime;
if (gps_eph.i_GPS_week < 512)
if (gps_eph.WN < 512)
{
boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t_duration);
now_ptime = to_iso_string(p_time);
@@ -4248,7 +4248,7 @@ int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
int32_t Rtcm::set_DF071(const Gps_Ephemeris& gps_eph)
{
const auto iode = static_cast<uint32_t>(gps_eph.d_IODE_SF2);
const auto iode = static_cast<uint32_t>(gps_eph.IODE_SF2);
DF071 = std::bitset<8>(iode);
return 0;
}
@@ -4256,7 +4256,7 @@ int32_t Rtcm::set_DF071(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF076(const Gps_Ephemeris& gps_eph)
{
const auto week_number = static_cast<uint32_t>(gps_eph.i_GPS_week);
const auto week_number = static_cast<uint32_t>(gps_eph.WN);
DF076 = std::bitset<10>(week_number);
return 0;
}
@@ -4264,7 +4264,7 @@ int32_t Rtcm::set_DF076(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF077(const Gps_Ephemeris& gps_eph)
{
const auto ura = static_cast<uint16_t>(gps_eph.i_SV_accuracy);
const auto ura = static_cast<uint16_t>(gps_eph.SV_accuracy);
DF077 = std::bitset<4>(ura);
return 0;
}
@@ -4272,7 +4272,7 @@ int32_t Rtcm::set_DF077(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF078(const Gps_Ephemeris& gps_eph)
{
const auto code_on_L2 = static_cast<uint16_t>(gps_eph.i_code_on_L2);
const auto code_on_L2 = static_cast<uint16_t>(gps_eph.code_on_L2);
DF078 = std::bitset<2>(code_on_L2);
return 0;
}
@@ -4280,7 +4280,7 @@ int32_t Rtcm::set_DF078(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF079(const Gps_Ephemeris& gps_eph)
{
const auto idot = static_cast<uint32_t>(std::round(gps_eph.d_IDOT / I_DOT_LSB));
const auto idot = static_cast<uint32_t>(std::round(gps_eph.idot / I_DOT_LSB));
DF079 = std::bitset<14>(idot);
return 0;
}
@@ -4288,7 +4288,7 @@ int32_t Rtcm::set_DF079(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF080(const Gps_Ephemeris& gps_eph)
{
const auto iode = static_cast<uint16_t>(gps_eph.d_IODE_SF2);
const auto iode = static_cast<uint16_t>(gps_eph.IODE_SF2);
DF080 = std::bitset<8>(iode);
return 0;
}
@@ -4296,7 +4296,7 @@ int32_t Rtcm::set_DF080(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF081(const Gps_Ephemeris& gps_eph)
{
const auto toc = static_cast<uint32_t>(std::round(gps_eph.d_Toc / T_OC_LSB));
const auto toc = static_cast<uint32_t>(std::round(gps_eph.toc / T_OC_LSB));
DF081 = std::bitset<16>(toc);
return 0;
}
@@ -4304,7 +4304,7 @@ int32_t Rtcm::set_DF081(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF082(const Gps_Ephemeris& gps_eph)
{
const auto af2 = static_cast<int16_t>(std::round(gps_eph.d_A_f2 / A_F2_LSB));
const auto af2 = static_cast<int16_t>(std::round(gps_eph.af2 / A_F2_LSB));
DF082 = std::bitset<8>(af2);
return 0;
}
@@ -4312,7 +4312,7 @@ int32_t Rtcm::set_DF082(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF083(const Gps_Ephemeris& gps_eph)
{
const auto af1 = static_cast<int32_t>(std::round(gps_eph.d_A_f1 / A_F1_LSB));
const auto af1 = static_cast<int32_t>(std::round(gps_eph.af1 / A_F1_LSB));
DF083 = std::bitset<16>(af1);
return 0;
}
@@ -4320,7 +4320,7 @@ int32_t Rtcm::set_DF083(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF084(const Gps_Ephemeris& gps_eph)
{
const auto af0 = static_cast<int64_t>(std::round(gps_eph.d_A_f0 / A_F0_LSB));
const auto af0 = static_cast<int64_t>(std::round(gps_eph.af0 / A_F0_LSB));
DF084 = std::bitset<22>(af0);
return 0;
}
@@ -4328,7 +4328,7 @@ int32_t Rtcm::set_DF084(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF085(const Gps_Ephemeris& gps_eph)
{
const auto iodc = static_cast<uint32_t>(gps_eph.d_IODC);
const auto iodc = static_cast<uint32_t>(gps_eph.IODC);
DF085 = std::bitset<10>(iodc);
return 0;
}
@@ -4336,7 +4336,7 @@ int32_t Rtcm::set_DF085(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF086(const Gps_Ephemeris& gps_eph)
{
const auto crs = static_cast<int32_t>(std::round(gps_eph.d_Crs / C_RS_LSB));
const auto crs = static_cast<int32_t>(std::round(gps_eph.Crs / C_RS_LSB));
DF086 = std::bitset<16>(crs);
return 0;
}
@@ -4344,7 +4344,7 @@ int32_t Rtcm::set_DF086(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF087(const Gps_Ephemeris& gps_eph)
{
const auto delta_n = static_cast<int32_t>(std::round(gps_eph.d_Delta_n / DELTA_N_LSB));
const auto delta_n = static_cast<int32_t>(std::round(gps_eph.delta_n / DELTA_N_LSB));
DF087 = std::bitset<16>(delta_n);
return 0;
}
@@ -4352,7 +4352,7 @@ int32_t Rtcm::set_DF087(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF088(const Gps_Ephemeris& gps_eph)
{
const auto m0 = static_cast<int64_t>(std::round(gps_eph.d_M_0 / M_0_LSB));
const auto m0 = static_cast<int64_t>(std::round(gps_eph.M_0 / M_0_LSB));
DF088 = std::bitset<32>(m0);
return 0;
}
@@ -4360,14 +4360,14 @@ int32_t Rtcm::set_DF088(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF089(const Gps_Ephemeris& gps_eph)
{
const auto cuc = static_cast<int32_t>(std::round(gps_eph.d_Cuc / C_UC_LSB));
const auto cuc = static_cast<int32_t>(std::round(gps_eph.Cuc / C_UC_LSB));
DF089 = std::bitset<16>(cuc);
return 0;
}
int32_t Rtcm::set_DF090(const Gps_Ephemeris& gps_eph)
{
const auto ecc = static_cast<uint64_t>(std::round(gps_eph.d_e_eccentricity / ECCENTRICITY_LSB));
const auto ecc = static_cast<uint64_t>(std::round(gps_eph.ecc / ECCENTRICITY_LSB));
DF090 = std::bitset<32>(ecc);
return 0;
}
@@ -4375,7 +4375,7 @@ int32_t Rtcm::set_DF090(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF091(const Gps_Ephemeris& gps_eph)
{
const auto cus = static_cast<int32_t>(std::round(gps_eph.d_Cus / C_US_LSB));
const auto cus = static_cast<int32_t>(std::round(gps_eph.Cus / C_US_LSB));
DF091 = std::bitset<16>(cus);
return 0;
}
@@ -4383,7 +4383,7 @@ int32_t Rtcm::set_DF091(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF092(const Gps_Ephemeris& gps_eph)
{
const auto sqr_a = static_cast<uint64_t>(std::round(gps_eph.d_sqrt_A / SQRT_A_LSB));
const auto sqr_a = static_cast<uint64_t>(std::round(gps_eph.sqrtA / SQRT_A_LSB));
DF092 = std::bitset<32>(sqr_a);
return 0;
}
@@ -4391,7 +4391,7 @@ int32_t Rtcm::set_DF092(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF093(const Gps_Ephemeris& gps_eph)
{
const auto toe = static_cast<uint32_t>(std::round(gps_eph.d_Toe / T_OE_LSB));
const auto toe = static_cast<uint32_t>(std::round(gps_eph.toe / T_OE_LSB));
DF093 = std::bitset<16>(toe);
return 0;
}
@@ -4399,7 +4399,7 @@ int32_t Rtcm::set_DF093(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF094(const Gps_Ephemeris& gps_eph)
{
const auto cic = static_cast<int32_t>(std::round(gps_eph.d_Cic / C_IC_LSB));
const auto cic = static_cast<int32_t>(std::round(gps_eph.Cic / C_IC_LSB));
DF094 = std::bitset<16>(cic);
return 0;
}
@@ -4407,7 +4407,7 @@ int32_t Rtcm::set_DF094(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF095(const Gps_Ephemeris& gps_eph)
{
const auto Omega0 = static_cast<int64_t>(std::round(gps_eph.d_OMEGA0 / OMEGA_0_LSB));
const auto Omega0 = static_cast<int64_t>(std::round(gps_eph.OMEGA_0 / OMEGA_0_LSB));
DF095 = std::bitset<32>(Omega0);
return 0;
}
@@ -4415,7 +4415,7 @@ int32_t Rtcm::set_DF095(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF096(const Gps_Ephemeris& gps_eph)
{
const auto cis = static_cast<int32_t>(std::round(gps_eph.d_Cis / C_IS_LSB));
const auto cis = static_cast<int32_t>(std::round(gps_eph.Cis / C_IS_LSB));
DF096 = std::bitset<16>(cis);
return 0;
}
@@ -4423,7 +4423,7 @@ int32_t Rtcm::set_DF096(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF097(const Gps_Ephemeris& gps_eph)
{
const auto i0 = static_cast<int64_t>(std::round(gps_eph.d_i_0 / I_0_LSB));
const auto i0 = static_cast<int64_t>(std::round(gps_eph.i_0 / I_0_LSB));
DF097 = std::bitset<32>(i0);
return 0;
}
@@ -4431,7 +4431,7 @@ int32_t Rtcm::set_DF097(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF098(const Gps_Ephemeris& gps_eph)
{
const auto crc = static_cast<int32_t>(std::round(gps_eph.d_Crc / C_RC_LSB));
const auto crc = static_cast<int32_t>(std::round(gps_eph.Crc / C_RC_LSB));
DF098 = std::bitset<16>(crc);
return 0;
}
@@ -4439,7 +4439,7 @@ int32_t Rtcm::set_DF098(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF099(const Gps_Ephemeris& gps_eph)
{
const auto omega = static_cast<int64_t>(std::round(gps_eph.d_OMEGA / OMEGA_LSB));
const auto omega = static_cast<int64_t>(std::round(gps_eph.omega / OMEGA_LSB));
DF099 = std::bitset<32>(omega);
return 0;
}
@@ -4447,7 +4447,7 @@ int32_t Rtcm::set_DF099(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF100(const Gps_Ephemeris& gps_eph)
{
const auto omegadot = static_cast<int64_t>(std::round(gps_eph.d_OMEGA_DOT / OMEGA_DOT_LSB));
const auto omegadot = static_cast<int64_t>(std::round(gps_eph.OMEGAdot / OMEGA_DOT_LSB));
DF100 = std::bitset<24>(omegadot);
return 0;
}
@@ -4455,7 +4455,7 @@ int32_t Rtcm::set_DF100(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF101(const Gps_Ephemeris& gps_eph)
{
const auto tgd = static_cast<int16_t>(std::round(gps_eph.d_TGD / T_GD_LSB));
const auto tgd = static_cast<int16_t>(std::round(gps_eph.TGD / T_GD_LSB));
DF101 = std::bitset<8>(tgd);
return 0;
}
@@ -4463,7 +4463,7 @@ int32_t Rtcm::set_DF101(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF102(const Gps_Ephemeris& gps_eph)
{
const auto sv_heath = static_cast<uint16_t>(gps_eph.i_SV_health);
const auto sv_heath = static_cast<uint16_t>(gps_eph.SV_health);
DF102 = std::bitset<6>(sv_heath);
return 0;
}
@@ -4471,7 +4471,7 @@ int32_t Rtcm::set_DF102(const Gps_Ephemeris& gps_eph)
int32_t Rtcm::set_DF103(const Gps_Ephemeris& gps_eph)
{
DF103 = std::bitset<1>(gps_eph.b_L2_P_data_flag);
DF103 = std::bitset<1>(gps_eph.L2_P_data_flag);
return 0;
}
@@ -4810,7 +4810,7 @@ int32_t Rtcm::set_DF248(double obs_time)
int32_t Rtcm::set_DF252(const Galileo_Ephemeris& gal_eph)
{
const uint32_t prn_ = gal_eph.i_satellite_PRN;
const uint32_t prn_ = gal_eph.PRN;
if (prn_ > 63)
{
LOG(WARNING) << "Galileo satellite ID must be between 0 and 63, but PRN " << prn_ << " was found";
@@ -4822,7 +4822,7 @@ int32_t Rtcm::set_DF252(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF289(const Galileo_Ephemeris& gal_eph)
{
const auto galileo_week_number = static_cast<uint32_t>(gal_eph.WN_5);
const auto galileo_week_number = static_cast<uint32_t>(gal_eph.WN);
if (galileo_week_number > 4095)
{
LOG(WARNING) << "Error decoding Galileo week number (it has a 4096 roll-off, but " << galileo_week_number << " was detected)";
@@ -4834,7 +4834,7 @@ int32_t Rtcm::set_DF289(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
{
const auto iod_nav = static_cast<uint32_t>(gal_eph.IOD_nav_1);
const auto iod_nav = static_cast<uint32_t>(gal_eph.IOD_nav);
if (iod_nav > 1023)
{
LOG(WARNING) << "Error decoding Galileo IODnav (it has a max of 1023, but " << iod_nav << " was detected)";
@@ -4846,7 +4846,7 @@ int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
{
const auto SISA = static_cast<uint16_t>(gal_eph.SISA_3);
const auto SISA = static_cast<uint16_t>(gal_eph.SISA);
// SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010
DF291 = std::bitset<8>(SISA);
return 0;
@@ -4855,7 +4855,7 @@ int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF292(const Galileo_Ephemeris& gal_eph)
{
const auto idot = static_cast<int32_t>(std::round(gal_eph.iDot_2 / FNAV_IDOT_2_LSB));
const auto idot = static_cast<int32_t>(std::round(gal_eph.idot / FNAV_IDOT_2_LSB));
DF292 = std::bitset<14>(idot);
return 0;
}
@@ -4863,7 +4863,7 @@ int32_t Rtcm::set_DF292(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF293(const Galileo_Ephemeris& gal_eph)
{
const auto toc = static_cast<uint32_t>(gal_eph.t0c_4);
const auto toc = static_cast<uint32_t>(gal_eph.toc);
if (toc > 604740)
{
LOG(WARNING) << "Error decoding Galileo ephemeris time (max of 604740, but " << toc << " was detected)";
@@ -4875,7 +4875,7 @@ int32_t Rtcm::set_DF293(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF294(const Galileo_Ephemeris& gal_eph)
{
const auto af2 = static_cast<int16_t>(std::round(gal_eph.af2_4 / FNAV_AF2_1_LSB));
const auto af2 = static_cast<int16_t>(std::round(gal_eph.af2 / FNAV_AF2_1_LSB));
DF294 = std::bitset<6>(af2);
return 0;
}
@@ -4883,7 +4883,7 @@ int32_t Rtcm::set_DF294(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF295(const Galileo_Ephemeris& gal_eph)
{
const auto af1 = static_cast<int64_t>(std::round(gal_eph.af1_4 / FNAV_AF1_1_LSB));
const auto af1 = static_cast<int64_t>(std::round(gal_eph.af1 / FNAV_AF1_1_LSB));
DF295 = std::bitset<21>(af1);
return 0;
}
@@ -4891,7 +4891,7 @@ int32_t Rtcm::set_DF295(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF296(const Galileo_Ephemeris& gal_eph)
{
const int64_t af0 = static_cast<uint32_t>(std::round(gal_eph.af0_4 / FNAV_AF0_1_LSB));
const int64_t af0 = static_cast<uint32_t>(std::round(gal_eph.af0 / FNAV_AF0_1_LSB));
DF296 = std::bitset<31>(af0);
return 0;
}
@@ -4899,7 +4899,7 @@ int32_t Rtcm::set_DF296(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF297(const Galileo_Ephemeris& gal_eph)
{
const auto crs = static_cast<int32_t>(std::round(gal_eph.C_rs_3 / FNAV_CRS_3_LSB));
const auto crs = static_cast<int32_t>(std::round(gal_eph.Crs / FNAV_CRS_3_LSB));
DF297 = std::bitset<16>(crs);
return 0;
}
@@ -4907,7 +4907,7 @@ int32_t Rtcm::set_DF297(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF298(const Galileo_Ephemeris& gal_eph)
{
const auto delta_n = static_cast<int32_t>(std::round(gal_eph.delta_n_3 / FNAV_DELTAN_3_LSB));
const auto delta_n = static_cast<int32_t>(std::round(gal_eph.delta_n / FNAV_DELTAN_3_LSB));
DF298 = std::bitset<16>(delta_n);
return 0;
}
@@ -4915,7 +4915,7 @@ int32_t Rtcm::set_DF298(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF299(const Galileo_Ephemeris& gal_eph)
{
const auto m0 = static_cast<int64_t>(std::round(gal_eph.M0_1 / FNAV_M0_2_LSB));
const auto m0 = static_cast<int64_t>(std::round(gal_eph.M_0 / FNAV_M0_2_LSB));
DF299 = std::bitset<32>(m0);
return 0;
}
@@ -4923,7 +4923,7 @@ int32_t Rtcm::set_DF299(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF300(const Galileo_Ephemeris& gal_eph)
{
const int32_t cuc = static_cast<uint32_t>(std::round(gal_eph.C_uc_3 / FNAV_CUC_3_LSB));
const int32_t cuc = static_cast<uint32_t>(std::round(gal_eph.Cuc / FNAV_CUC_3_LSB));
DF300 = std::bitset<16>(cuc);
return 0;
}
@@ -4931,7 +4931,7 @@ int32_t Rtcm::set_DF300(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF301(const Galileo_Ephemeris& gal_eph)
{
const auto ecc = static_cast<uint64_t>(std::round(gal_eph.e_1 / FNAV_E_2_LSB));
const auto ecc = static_cast<uint64_t>(std::round(gal_eph.ecc / FNAV_E_2_LSB));
DF301 = std::bitset<32>(ecc);
return 0;
}
@@ -4939,7 +4939,7 @@ int32_t Rtcm::set_DF301(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF302(const Galileo_Ephemeris& gal_eph)
{
const auto cus = static_cast<int32_t>(std::round(gal_eph.C_us_3 / FNAV_CUS_3_LSB));
const auto cus = static_cast<int32_t>(std::round(gal_eph.Cus / FNAV_CUS_3_LSB));
DF302 = std::bitset<16>(cus);
return 0;
}
@@ -4947,7 +4947,7 @@ int32_t Rtcm::set_DF302(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF303(const Galileo_Ephemeris& gal_eph)
{
const auto sqr_a = static_cast<uint64_t>(std::round(gal_eph.A_1 / FNAV_A12_2_LSB));
const auto sqr_a = static_cast<uint64_t>(std::round(gal_eph.sqrtA / FNAV_A12_2_LSB));
DF303 = std::bitset<32>(sqr_a);
return 0;
}
@@ -4955,7 +4955,7 @@ int32_t Rtcm::set_DF303(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF304(const Galileo_Ephemeris& gal_eph)
{
const auto toe = static_cast<uint32_t>(std::round(gal_eph.t0e_1 / FNAV_T0E_3_LSB));
const auto toe = static_cast<uint32_t>(std::round(gal_eph.toe / FNAV_T0E_3_LSB));
DF304 = std::bitset<14>(toe);
return 0;
}
@@ -4963,7 +4963,7 @@ int32_t Rtcm::set_DF304(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF305(const Galileo_Ephemeris& gal_eph)
{
const auto cic = static_cast<int32_t>(std::round(gal_eph.C_ic_4 / FNAV_CIC_4_LSB));
const auto cic = static_cast<int32_t>(std::round(gal_eph.Cic / FNAV_CIC_4_LSB));
DF305 = std::bitset<16>(cic);
return 0;
}
@@ -4971,7 +4971,7 @@ int32_t Rtcm::set_DF305(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF306(const Galileo_Ephemeris& gal_eph)
{
const auto Omega0 = static_cast<int64_t>(std::round(gal_eph.OMEGA_0_2 / FNAV_OMEGA0_2_LSB));
const auto Omega0 = static_cast<int64_t>(std::round(gal_eph.OMEGA_0 / FNAV_OMEGA0_2_LSB));
DF306 = std::bitset<32>(Omega0);
return 0;
}
@@ -4979,7 +4979,7 @@ int32_t Rtcm::set_DF306(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF307(const Galileo_Ephemeris& gal_eph)
{
const auto cis = static_cast<int32_t>(std::round(gal_eph.C_is_4 / FNAV_CIS_4_LSB));
const auto cis = static_cast<int32_t>(std::round(gal_eph.Cis / FNAV_CIS_4_LSB));
DF307 = std::bitset<16>(cis);
return 0;
}
@@ -4987,7 +4987,7 @@ int32_t Rtcm::set_DF307(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF308(const Galileo_Ephemeris& gal_eph)
{
const auto i0 = static_cast<int64_t>(std::round(gal_eph.i_0_2 / FNAV_I0_3_LSB));
const auto i0 = static_cast<int64_t>(std::round(gal_eph.i_0 / FNAV_I0_3_LSB));
DF308 = std::bitset<32>(i0);
return 0;
}
@@ -4995,7 +4995,7 @@ int32_t Rtcm::set_DF308(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF309(const Galileo_Ephemeris& gal_eph)
{
const int32_t crc = static_cast<uint32_t>(std::round(gal_eph.C_rc_3 / FNAV_CRC_3_LSB));
const int32_t crc = static_cast<uint32_t>(std::round(gal_eph.Crc / FNAV_CRC_3_LSB));
DF309 = std::bitset<16>(crc);
return 0;
}
@@ -5003,7 +5003,7 @@ int32_t Rtcm::set_DF309(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF310(const Galileo_Ephemeris& gal_eph)
{
const auto omega = static_cast<int32_t>(std::round(gal_eph.omega_2 / FNAV_OMEGA0_2_LSB));
const auto omega = static_cast<int32_t>(std::round(gal_eph.omega / FNAV_OMEGA0_2_LSB));
DF310 = std::bitset<32>(omega);
return 0;
}
@@ -5011,7 +5011,7 @@ int32_t Rtcm::set_DF310(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF311(const Galileo_Ephemeris& gal_eph)
{
const auto Omegadot = static_cast<int64_t>(std::round(gal_eph.OMEGA_dot_3 / FNAV_OMEGADOT_2_LSB));
const auto Omegadot = static_cast<int64_t>(std::round(gal_eph.OMEGAdot / FNAV_OMEGADOT_2_LSB));
DF311 = std::bitset<24>(Omegadot);
return 0;
}
@@ -5019,7 +5019,7 @@ int32_t Rtcm::set_DF311(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
{
const auto bdg_E1_E5a = static_cast<int32_t>(std::round(gal_eph.BGD_E1E5a_5 / FNAV_BGD_1_LSB));
const auto bdg_E1_E5a = static_cast<int32_t>(std::round(gal_eph.BGD_E1E5a / FNAV_BGD_1_LSB));
DF312 = std::bitset<10>(bdg_E1_E5a);
return 0;
}
@@ -5027,7 +5027,7 @@ int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF313(const Galileo_Ephemeris& gal_eph)
{
const auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b_5));
const auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b));
// bdg_E5b_E1 = 0; // reserved
DF313 = std::bitset<10>(bdg_E5b_E1);
return 0;

114
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -457,7 +457,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
galileo_ephemeris_iter->second.WN,
0);
valid_obs++;
}
@@ -481,7 +481,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
found_E1_obs = true;
break;
@@ -499,7 +499,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
valid_obs++;
}
@@ -527,7 +527,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week,
gps_ephemeris_iter->second.WN,
0,
this->is_pre_2009());
valid_obs++;
@@ -576,7 +576,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2)
valid_obs++;
}
@@ -605,7 +605,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
break;
}
@@ -623,7 +623,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
valid_obs++;
}
@@ -717,7 +717,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0);
valid_obs++;
}
@@ -739,7 +739,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3)
found_B1I_obs = true;
break;
@@ -757,7 +757,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2)
valid_obs++;
}
@@ -791,59 +791,59 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
nav_data.ng = glo_valid_obs;
if (gps_iono.valid)
{
nav_data.ion_gps[0] = gps_iono.d_alpha0;
nav_data.ion_gps[1] = gps_iono.d_alpha1;
nav_data.ion_gps[2] = gps_iono.d_alpha2;
nav_data.ion_gps[3] = gps_iono.d_alpha3;
nav_data.ion_gps[4] = gps_iono.d_beta0;
nav_data.ion_gps[5] = gps_iono.d_beta1;
nav_data.ion_gps[6] = gps_iono.d_beta2;
nav_data.ion_gps[7] = gps_iono.d_beta3;
nav_data.ion_gps[0] = gps_iono.alpha0;
nav_data.ion_gps[1] = gps_iono.alpha1;
nav_data.ion_gps[2] = gps_iono.alpha2;
nav_data.ion_gps[3] = gps_iono.alpha3;
nav_data.ion_gps[4] = gps_iono.beta0;
nav_data.ion_gps[5] = gps_iono.beta1;
nav_data.ion_gps[6] = gps_iono.beta2;
nav_data.ion_gps[7] = gps_iono.beta3;
}
if (!(gps_iono.valid) and gps_cnav_iono.valid)
{
nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0;
nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1;
nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2;
nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3;
nav_data.ion_gps[4] = gps_cnav_iono.d_beta0;
nav_data.ion_gps[5] = gps_cnav_iono.d_beta1;
nav_data.ion_gps[6] = gps_cnav_iono.d_beta2;
nav_data.ion_gps[7] = gps_cnav_iono.d_beta3;
nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
nav_data.ion_gps[4] = gps_cnav_iono.beta0;
nav_data.ion_gps[5] = gps_cnav_iono.beta1;
nav_data.ion_gps[6] = gps_cnav_iono.beta2;
nav_data.ion_gps[7] = gps_cnav_iono.beta3;
}
if (galileo_iono.ai0_5 != 0.0)
if (galileo_iono.ai0 != 0.0)
{
nav_data.ion_gal[0] = galileo_iono.ai0_5;
nav_data.ion_gal[1] = galileo_iono.ai1_5;
nav_data.ion_gal[2] = galileo_iono.ai2_5;
nav_data.ion_gal[0] = galileo_iono.ai0;
nav_data.ion_gal[1] = galileo_iono.ai1;
nav_data.ion_gal[2] = galileo_iono.ai2;
nav_data.ion_gal[3] = 0.0;
}
if (beidou_dnav_iono.valid)
{
nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0;
nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1;
nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2;
nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3;
nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0;
nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0;
nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0;
nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3;
nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
}
if (gps_utc_model.valid)
{
nav_data.utc_gps[0] = gps_utc_model.d_A0;
nav_data.utc_gps[1] = gps_utc_model.d_A1;
nav_data.utc_gps[2] = gps_utc_model.d_t_OT;
nav_data.utc_gps[3] = gps_utc_model.i_WN_T;
nav_data.leaps = gps_utc_model.d_DeltaT_LS;
nav_data.utc_gps[0] = gps_utc_model.A0;
nav_data.utc_gps[1] = gps_utc_model.A1;
nav_data.utc_gps[2] = gps_utc_model.tot;
nav_data.utc_gps[3] = gps_utc_model.WN_T;
nav_data.leaps = gps_utc_model.DeltaT_LS;
}
if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
{
nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0;
nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1;
nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT;
nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T;
nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS;
nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
}
if (glonass_gnav_utc_model.valid)
{
@@ -852,21 +852,21 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
nav_data.utc_glo[2] = 0.0; // ??
nav_data.utc_glo[3] = 0.0; // ??
}
if (galileo_utc_model.A0_6 != 0.0)
if (galileo_utc_model.A0 != 0.0)
{
nav_data.utc_gal[0] = galileo_utc_model.A0_6;
nav_data.utc_gal[1] = galileo_utc_model.A1_6;
nav_data.utc_gal[2] = galileo_utc_model.t0t_6;
nav_data.utc_gal[3] = galileo_utc_model.WNot_6;
nav_data.leaps = galileo_utc_model.Delta_tLS_6;
nav_data.utc_gal[0] = galileo_utc_model.A0;
nav_data.utc_gal[1] = galileo_utc_model.A1;
nav_data.utc_gal[2] = galileo_utc_model.tot;
nav_data.utc_gal[3] = galileo_utc_model.WNot;
nav_data.leaps = galileo_utc_model.Delta_tLS;
}
if (beidou_dnav_utc_model.valid)
{
nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC;
nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC;
nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
nav_data.utc_cmp[2] = 0.0; // ??
nav_data.utc_cmp[3] = 0.0; // ??
nav_data.leaps = beidou_dnav_utc_model.i_DeltaT_LS;
nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
}
/* update carrier wave length using native function call in RTKlib */

140
src/algorithms/PVT/libs/serdes_galileo_eph.h
View File

@@ -80,50 +80,50 @@ public:
std::string data;
monitor_.set_i_satellite_prn(monitor->i_satellite_PRN);
monitor_.set_i_satellite_prn(monitor->PRN);
monitor_.set_iod_ephemeris(monitor->IOD_ephemeris);
monitor_.set_iod_nav_1(monitor->IOD_nav_1);
monitor_.set_m0_1(monitor->M0_1); //!< Mean anomaly at reference time [semi-circles]
monitor_.set_delta_n_3(monitor->delta_n_3); //!< Mean motion difference from computed value [semi-circles/sec]
monitor_.set_e_1(monitor->e_1); //!< Eccentricity
monitor_.set_a_1(monitor->A_1); //!< Square root of the semi-major axis [meters^1/2]
monitor_.set_omega_0_2(monitor->OMEGA_0_2); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor_.set_i_0_2(monitor->i_0_2); //!< Inclination angle at reference time [semi-circles]
monitor_.set_omega_2(monitor->omega_2); //!< Argument of perigee [semi-circles]
monitor_.set_omega_dot_3(monitor->OMEGA_dot_3); //!< Rate of right ascension [semi-circles/sec]
monitor_.set_idot_2(monitor->iDot_2); //!< Rate of inclination angle [semi-circles/sec]
monitor_.set_c_uc_3(monitor->C_uc_3); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_us_3(monitor->C_us_3); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_rc_3(monitor->C_rc_3); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor_.set_c_rs_3(monitor->C_rs_3); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor_.set_c_ic_4(monitor->C_ic_4); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor_.set_c_is_4(monitor->C_is_4); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor_.set_d_toe(monitor->t0e_1); // Ephemeris reference time
monitor_.set_iod_nav_1(monitor->IOD_nav);
monitor_.set_m0_1(monitor->M_0); //!< Mean anomaly at reference time [semi-circles]
monitor_.set_delta_n_3(monitor->delta_n); //!< Mean motion difference from computed value [semi-circles/sec]
monitor_.set_e_1(monitor->ecc); //!< Eccentricity
monitor_.set_a_1(monitor->sqrtA); //!< Square root of the semi-major axis [meters^1/2]
monitor_.set_omega_0_2(monitor->OMEGA_0); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor_.set_i_0_2(monitor->i_0); //!< Inclination angle at reference time [semi-circles]
monitor_.set_omega_2(monitor->omega); //!< Argument of perigee [semi-circles]
monitor_.set_omega_dot_3(monitor->OMEGAdot); //!< Rate of right ascension [semi-circles/sec]
monitor_.set_idot_2(monitor->idot); //!< Rate of inclination angle [semi-circles/sec]
monitor_.set_c_uc_3(monitor->Cuc); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_us_3(monitor->Cus); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_rc_3(monitor->Crc); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor_.set_c_rs_3(monitor->Crs); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor_.set_c_ic_4(monitor->Cic); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor_.set_c_is_4(monitor->Cis); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor_.set_d_toe(monitor->toe); //!< Ephemeris reference time
/*Clock correction parameters*/
monitor_.set_d_toc(monitor->t0c_4); // Clock correction data reference Time of Week
monitor_.set_af0_4(monitor->af0_4); //!< SV clock bias correction coefficient [s]
monitor_.set_af1_4(monitor->af1_4); //!< SV clock drift correction coefficient [s/s]
monitor_.set_af2_4(monitor->af2_4); //!< SV clock drift rate correction coefficient [s/s^2]
monitor_.set_d_toc(monitor->toc); //!< Clock correction data reference Time of Week
monitor_.set_af0_4(monitor->af0); //!< SV clock bias correction coefficient [s]
monitor_.set_af1_4(monitor->af1); //!< SV clock drift correction coefficient [s/s]
monitor_.set_af2_4(monitor->af2); //!< SV clock drift rate correction coefficient [s/s^2]
/*GST*/
// Not belong to ephemeris set (page 1 to 4)
monitor_.set_wn_5(monitor->WN_5); //!< Week number
monitor_.set_tow_5(monitor->TOW_5); //!< Time of Week
monitor_.set_galileo_satclkdrift(monitor->Galileo_satClkDrift);
monitor_.set_galileo_dtr(monitor->Galileo_dtr); //!< relativistic clock correction term
monitor_.set_wn_5(monitor->WN); //!< Week number
monitor_.set_tow_5(monitor->tow); //!< Time of Week
monitor_.set_galileo_satclkdrift(monitor->satClkDrift);
monitor_.set_galileo_dtr(monitor->dtr); //!< relativistic clock correction term
// SV status
monitor_.set_sisa_3(monitor->SISA_3);
monitor_.set_e5a_hs(monitor->E5a_HS); //!< E5a Signal Health Status
monitor_.set_e5b_hs_5(monitor->E5b_HS_5); //!< E5b Signal Health Status
monitor_.set_e1b_hs_5(monitor->E1B_HS_5); //!< E1B Signal Health Status
monitor_.set_e5a_dvs(monitor->E5a_DVS); //!< E5a Data Validity Status
monitor_.set_e5b_dvs_5(monitor->E5b_DVS_5); //!< E5b Data Validity Status
monitor_.set_e1b_dvs_5(monitor->E1B_DVS_5); //!< E1B Data Validity Status
monitor_.set_sisa_3(monitor->SISA);
monitor_.set_e5a_hs(monitor->E5a_HS); //!< E5a Signal Health Status
monitor_.set_e5b_hs_5(monitor->E5b_HS); //!< E5b Signal Health Status
monitor_.set_e1b_hs_5(monitor->E1B_HS); //!< E1B Signal Health Status
monitor_.set_e5a_dvs(monitor->E5a_DVS); //!< E5a Data Validity Status
monitor_.set_e5b_dvs_5(monitor->E5b_DVS); //!< E5b Data Validity Status
monitor_.set_e1b_dvs_5(monitor->E1B_DVS); //!< E1B Data Validity Status
monitor_.set_bgd_e1e5a_5(monitor->BGD_E1E5a_5); //!< E1-E5a Broadcast Group Delay [s]
monitor_.set_bgd_e1e5b_5(monitor->BGD_E1E5b_5); //!< E1-E5b Broadcast Group Delay [s]
monitor_.set_bgd_e1e5a_5(monitor->BGD_E1E5a); //!< E1-E5a Broadcast Group Delay [s]
monitor_.set_bgd_e1e5b_5(monitor->BGD_E1E5b); //!< E1-E5b Broadcast Group Delay [s]
monitor_.SerializeToString(&data);
return data;
@@ -133,51 +133,51 @@ public:
{
Galileo_Ephemeris monitor;
monitor.i_satellite_PRN = mon.i_satellite_prn();
monitor.PRN = mon.i_satellite_prn();
monitor.IOD_ephemeris = mon.iod_ephemeris();
monitor.IOD_nav_1 = mon.iod_nav_1();
monitor.M0_1 = mon.m0_1(); //!< Mean anomaly at reference time [semi-circles]
monitor.delta_n_3 = mon.delta_n_3(); //!< Mean motion difference from computed value [semi-circles/sec]
monitor.e_1 = mon.e_1(); //!< Eccentricity
monitor.A_1 = mon.a_1(); //!< Square root of the semi-major axis [meters^1/2]
monitor.OMEGA_0_2 = mon.omega_0_2(); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor.i_0_2 = mon.i_0_2(); //!< Inclination angle at reference time [semi-circles]
monitor.omega_2 = mon.omega_2(); //!< Argument of perigee [semi-circles]
monitor.OMEGA_dot_3 = mon.omega_dot_3(); //!< Rate of right ascension [semi-circles/sec]
monitor.iDot_2 = mon.idot_2(); //!< Rate of inclination angle [semi-circles/sec]
monitor.C_uc_3 = mon.c_uc_3(); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor.C_us_3 = mon.c_us_3(); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor.C_rc_3 = mon.c_rc_3(); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor.C_rs_3 = mon.c_rs_3(); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor.C_ic_4 = mon.c_ic_4(); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor.C_is_4 = mon.c_is_4(); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor.t0e_1 = mon.d_toe(); // Ephemeris reference time
monitor.IOD_nav = mon.iod_nav_1();
monitor.M_0 = mon.m0_1(); //!< Mean anomaly at reference time [semi-circles]
monitor.delta_n = mon.delta_n_3(); //!< Mean motion difference from computed value [semi-circles/sec]
monitor.ecc = mon.e_1(); //!< Eccentricity
monitor.sqrtA = mon.a_1(); //!< Square root of the semi-major axis [meters^1/2]
monitor.OMEGA_0 = mon.omega_0_2(); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor.i_0 = mon.i_0_2(); //!< Inclination angle at reference time [semi-circles]
monitor.omega = mon.omega_2(); //!< Argument of perigee [semi-circles]
monitor.OMEGAdot = mon.omega_dot_3(); //!< Rate of right ascension [semi-circles/sec]
monitor.idot = mon.idot_2(); //!< Rate of inclination angle [semi-circles/sec]
monitor.Cuc = mon.c_uc_3(); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor.Cus = mon.c_us_3(); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor.Crc = mon.c_rc_3(); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor.Crs = mon.c_rs_3(); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor.Cic = mon.c_ic_4(); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor.Cis = mon.c_is_4(); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor.toe = mon.d_toe(); // Ephemeris reference time
/*Clock correction parameters*/
monitor.t0c_4 = mon.d_toc(); // Clock correction data reference Time of Week
monitor.af0_4 = mon.af0_4(); //!< SV clock bias correction coefficient [s]
monitor.af1_4 = mon.af1_4(); //!< SV clock drift correction coefficient [s/s]
monitor.af2_4 = mon.af2_4(); //!< SV clock drift rate correction coefficient [s/s^2]
monitor.toc = mon.d_toc(); // Clock correction data reference Time of Week
monitor.af0 = mon.af0_4(); //!< SV clock bias correction coefficient [s]
monitor.af1 = mon.af1_4(); //!< SV clock drift correction coefficient [s/s]
monitor.af2 = mon.af2_4(); //!< SV clock drift rate correction coefficient [s/s^2]
/*GST*/
// Not belong to ephemeris set (page 1 to 4)
monitor.WN_5 = mon.wn_5(); //!< Week number
monitor.TOW_5 = mon.tow_5(); //!< Time of Week
monitor.Galileo_satClkDrift = mon.galileo_satclkdrift();
monitor.Galileo_dtr = mon.galileo_dtr(); //!< relativistic clock correction term
monitor.WN = mon.wn_5(); //!< Week number
monitor.tow = mon.tow_5(); //!< Time of Week
monitor.satClkDrift = mon.galileo_satclkdrift();
monitor.dtr = mon.galileo_dtr(); //!< relativistic clock correction term
// SV status
monitor.SISA_3 = mon.sisa_3();
monitor.E5a_HS = mon.e5a_hs(); //!< E5a Signal Health Status
monitor.E5b_HS_5 = mon.e5b_hs_5(); //!< E5b Signal Health Status
monitor.E1B_HS_5 = mon.e1b_hs_5(); //!< E1B Signal Health Status
monitor.E5a_DVS = mon.e5a_dvs(); //!< E5a Data Validity Status
monitor.E5b_DVS_5 = mon.e5b_dvs_5(); //!< E5b Data Validity Status
monitor.E1B_DVS_5 = mon.e1b_dvs_5(); //!< E1B Data Validity Status
monitor.SISA = mon.sisa_3();
monitor.E5a_HS = mon.e5a_hs(); //!< E5a Signal Health Status
monitor.E5b_HS = mon.e5b_hs_5(); //!< E5b Signal Health Status
monitor.E1B_HS = mon.e1b_hs_5(); //!< E1B Signal Health Status
monitor.E5a_DVS = mon.e5a_dvs(); //!< E5a Data Validity Status
monitor.E5b_DVS = mon.e5b_dvs_5(); //!< E5b Data Validity Status
monitor.E1B_DVS = mon.e1b_dvs_5(); //!< E1B Data Validity Status
monitor.BGD_E1E5a_5 = mon.bgd_e1e5a_5(); //!< E1-E5a Broadcast Group Delay [s]
monitor.BGD_E1E5b_5 = mon.bgd_e1e5b_5(); //!< E1-E5b Broadcast Group Delay [s]
monitor.BGD_E1E5a = mon.bgd_e1e5a_5(); //!< E1-E5a Broadcast Group Delay [s]
monitor.BGD_E1E5b = mon.bgd_e1e5b_5(); //!< E1-E5b Broadcast Group Delay [s]
return monitor;
}

136
src/algorithms/PVT/libs/serdes_gps_eph.h
View File

@@ -78,47 +78,47 @@ public:
{
monitor_.Clear();
std::string data;
monitor_.set_i_satellite_prn(monitor->i_satellite_PRN); // SV PRN NUMBER
monitor_.set_d_tow(monitor->d_TOW); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor_.set_d_crs(monitor->d_Crs); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor_.set_d_delta_n(monitor->d_Delta_n); //!< mean motion difference from computed value [semi-circles/s]
monitor_.set_d_m_0(monitor->d_M_0); //!< mean anomaly at reference time [semi-circles]
monitor_.set_d_cuc(monitor->d_Cuc); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_e_eccentricity(monitor->d_e_eccentricity); //!< eccentricity [dimensionless]
monitor_.set_d_cus(monitor->d_Cus); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_sqrt_a(monitor->d_sqrt_A); //!< square root of the semi-major axis [sqrt(m)]
monitor_.set_d_toe(monitor->d_Toe); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor_.set_d_toc(monitor->d_Toc); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor_.set_d_cic(monitor->d_Cic); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_omega0(monitor->d_OMEGA0); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor_.set_d_cis(monitor->d_Cis); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_i_0(monitor->d_i_0); //!< inclination angle at reference time [semi-circles]
monitor_.set_d_crc(monitor->d_Crc); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor_.set_d_omega(monitor->d_OMEGA); //!< argument of perigee [semi-cicles]
monitor_.set_d_omega_dot(monitor->d_OMEGA_DOT); //!< rate of right ascension [semi-circles/s]
monitor_.set_d_idot(monitor->d_IDOT); //!< rate of inclination angle [semi-circles/s]
monitor_.set_i_code_on_l2(monitor->i_code_on_L2); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor_.set_i_gps_week(monitor->i_GPS_week); //!< gps week number, aka wn [week]
monitor_.set_b_l2_p_data_flag(monitor->b_L2_P_data_flag); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor_.set_i_sv_accuracy(monitor->i_SV_accuracy); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor_.set_i_sv_health(monitor->i_SV_health);
monitor_.set_d_tgd(monitor->d_TGD); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor_.set_d_iodc(monitor->d_IODC); //!< issue of data, clock
monitor_.set_d_iode_sf2(monitor->d_IODE_SF2); //!< issue of data, ephemeris (iode), subframe 2
monitor_.set_d_iode_sf3(monitor->d_IODE_SF3); //!< issue of data, ephemeris(iode), subframe 3
monitor_.set_i_aodo(monitor->i_AODO); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor_.set_i_satellite_prn(monitor->PRN); //!< SV PRN NUMBER
monitor_.set_d_tow(monitor->tow); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor_.set_d_crs(monitor->Crs); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor_.set_d_delta_n(monitor->delta_n); //!< mean motion difference from computed value [semi-circles/s]
monitor_.set_d_m_0(monitor->M_0); //!< mean anomaly at reference time [semi-circles]
monitor_.set_d_cuc(monitor->Cuc); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_e_eccentricity(monitor->ecc); //!< eccentricity [dimensionless]
monitor_.set_d_cus(monitor->Cus); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_sqrt_a(monitor->sqrtA); //!< square root of the semi-major axis [sqrt(m)]
monitor_.set_d_toe(monitor->toe); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor_.set_d_toc(monitor->toc); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor_.set_d_cic(monitor->Cic); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_omega0(monitor->OMEGA_0); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor_.set_d_cis(monitor->Cis); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_i_0(monitor->i_0); //!< inclination angle at reference time [semi-circles]
monitor_.set_d_crc(monitor->Crc); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor_.set_d_omega(monitor->omega); //!< argument of perigee [semi-cicles]
monitor_.set_d_omega_dot(monitor->OMEGAdot); //!< rate of right ascension [semi-circles/s]
monitor_.set_d_idot(monitor->idot); //!< rate of inclination angle [semi-circles/s]
monitor_.set_i_code_on_l2(monitor->code_on_L2); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor_.set_i_gps_week(monitor->WN); //!< gps week number, aka wn [week]
monitor_.set_b_l2_p_data_flag(monitor->L2_P_data_flag); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor_.set_i_sv_accuracy(monitor->SV_accuracy); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor_.set_i_sv_health(monitor->SV_health);
monitor_.set_d_tgd(monitor->TGD); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor_.set_d_iodc(monitor->IODC); //!< issue of data, clock
monitor_.set_d_iode_sf2(monitor->IODE_SF2); //!< issue of data, ephemeris (iode), subframe 2
monitor_.set_d_iode_sf3(monitor->IODE_SF3); //!< issue of data, ephemeris(iode), subframe 3
monitor_.set_i_aodo(monitor->AODO); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor_.set_b_fit_interval_flag(monitor->b_fit_interval_flag); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor_.set_d_spare1(monitor->d_spare1);
monitor_.set_d_spare2(monitor->d_spare2);
monitor_.set_d_a_f0(monitor->d_A_f0); //!< coefficient 0 of code phase offset model [s]
monitor_.set_d_a_f1(monitor->d_A_f1); //!< coefficient 1 of code phase offset model [s/s]
monitor_.set_d_a_f2(monitor->d_A_f2); //!< coefficient 2 of code phase offset model [s/s^2]
monitor_.set_d_a_f0(monitor->af0); //!< coefficient 0 of code phase offset model [s]
monitor_.set_d_a_f1(monitor->af1); //!< coefficient 1 of code phase offset model [s/s]
monitor_.set_d_a_f2(monitor->af2); //!< coefficient 2 of code phase offset model [s/s^2]
monitor_.set_b_integrity_status_flag(monitor->b_integrity_status_flag);
monitor_.set_b_alert_flag(monitor->b_alert_flag); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor_.set_b_antispoofing_flag(monitor->b_antispoofing_flag); //!< if true, the antispoofing mode is on in that sv
monitor_.set_b_alert_flag(monitor->b_alert_flag); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor_.set_b_antispoofing_flag(monitor->b_antispoofing_flag); //!< if true, the antispoofing mode is on in that sv
monitor_.SerializeToString(&data);
return data;
@@ -128,47 +128,47 @@ public:
{
Gps_Ephemeris monitor;
monitor.i_satellite_PRN = mon.i_satellite_prn(); // SV PRN NUMBER
monitor.d_TOW = mon.d_tow(); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor.d_Crs = mon.d_crs(); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor.d_Delta_n = mon.d_delta_n(); //!< mean motion difference from computed value [semi-circles/s]
monitor.d_M_0 = mon.d_m_0(); //!< mean anomaly at reference time [semi-circles]
monitor.d_Cuc = mon.d_cuc(); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor.d_e_eccentricity = mon.d_e_eccentricity(); //!< eccentricity [dimensionless]
monitor.d_Cus = mon.d_cus(); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor.d_sqrt_A = mon.d_sqrt_a(); //!< square root of the semi-major axis [sqrt(m)]
monitor.d_Toe = mon.d_toe(); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor.d_Toc = mon.d_toc(); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor.d_Cic = mon.d_cic(); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor.d_OMEGA0 = mon.d_omega0(); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor.d_Cis = mon.d_cis(); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor.d_i_0 = mon.d_i_0(); //!< inclination angle at reference time [semi-circles]
monitor.d_Crc = mon.d_crc(); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor.d_OMEGA = mon.d_omega(); //!< argument of perigee [semi-cicles]
monitor.d_OMEGA_DOT = mon.d_omega_dot(); //!< rate of right ascension [semi-circles/s]
monitor.d_IDOT = mon.d_idot(); //!< rate of inclination angle [semi-circles/s]
monitor.i_code_on_L2 = mon.i_code_on_l2(); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor.i_GPS_week = mon.i_gps_week(); //!< gps week number, aka wn [week]
monitor.b_L2_P_data_flag = mon.b_l2_p_data_flag(); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor.i_SV_accuracy = mon.i_sv_accuracy(); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor.i_SV_health = mon.i_sv_health();
monitor.d_TGD = mon.d_tgd(); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor.d_IODC = mon.d_iodc(); //!< issue of data, clock
monitor.d_IODE_SF2 = mon.d_iode_sf2(); //!< issue of data, ephemeris (iode), subframe 2
monitor.d_IODE_SF3 = mon.d_iode_sf3(); //!< issue of data, ephemeris(iode), subframe 3
monitor.i_AODO = mon.i_aodo(); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor.PRN = mon.i_satellite_prn(); //!< SV PRN NUMBER
monitor.tow = mon.d_tow(); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor.Crs = mon.d_crs(); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor.delta_n = mon.d_delta_n(); //!< mean motion difference from computed value [semi-circles/s]
monitor.M_0 = mon.d_m_0(); //!< mean anomaly at reference time [semi-circles]
monitor.Cuc = mon.d_cuc(); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor.ecc = mon.d_e_eccentricity(); //!< eccentricity [dimensionless]
monitor.Cus = mon.d_cus(); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor.sqrtA = mon.d_sqrt_a(); //!< square root of the semi-major axis [sqrt(m)]
monitor.toe = mon.d_toe(); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor.toc = mon.d_toc(); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor.Cic = mon.d_cic(); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor.OMEGA_0 = mon.d_omega0(); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor.Cis = mon.d_cis(); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor.i_0 = mon.d_i_0(); //!< inclination angle at reference time [semi-circles]
monitor.Crc = mon.d_crc(); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor.omega = mon.d_omega(); //!< argument of perigee [semi-cicles]
monitor.OMEGAdot = mon.d_omega_dot(); //!< rate of right ascension [semi-circles/s]
monitor.idot = mon.d_idot(); //!< rate of inclination angle [semi-circles/s]
monitor.code_on_L2 = mon.i_code_on_l2(); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor.WN = mon.i_gps_week(); //!< gps week number, aka wn [week]
monitor.L2_P_data_flag = mon.b_l2_p_data_flag(); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor.SV_accuracy = mon.i_sv_accuracy(); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor.SV_health = mon.i_sv_health();
monitor.TGD = mon.d_tgd(); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor.IODC = mon.d_iodc(); //!< issue of data, clock
monitor.IODE_SF2 = mon.d_iode_sf2(); //!< issue of data, ephemeris (iode), subframe 2
monitor.IODE_SF3 = mon.d_iode_sf3(); //!< issue of data, ephemeris(iode), subframe 3
monitor.AODO = mon.i_aodo(); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor.b_fit_interval_flag = mon.b_fit_interval_flag(); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor.d_spare1 = mon.d_spare1();
monitor.d_spare2 = mon.d_spare2();
monitor.d_A_f0 = mon.d_a_f0(); //!< coefficient 0 of code phase offset model [s]
monitor.d_A_f1 = mon.d_a_f1(); //!< coefficient 1 of code phase offset model [s/s]
monitor.d_A_f2 = mon.d_a_f2(); //!< coefficient 2 of code phase offset model [s/s^2]
monitor.af0 = mon.d_a_f0(); //!< coefficient 0 of code phase offset model [s]
monitor.af1 = mon.d_a_f1(); //!< coefficient 1 of code phase offset model [s/s]
monitor.af2 = mon.d_a_f2(); //!< coefficient 2 of code phase offset model [s/s^2]
monitor.b_integrity_status_flag = mon.b_integrity_status_flag();
monitor.b_alert_flag = mon.b_alert_flag(); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor.b_antispoofing_flag = mon.b_antispoofing_flag(); //!< if true, the antispoofing mode is on in that sv
monitor.b_alert_flag = mon.b_alert_flag(); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor.b_antispoofing_flag = mon.b_antispoofing_flag(); //!< if true, the antispoofing mode is on in that sv
return monitor;
}

8
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@@ -162,13 +162,13 @@ void pcps_assisted_acquisition_cc::get_assistance()
// TODO: use the LO tolerance here
if (gps_acq_assisistance.dopplerUncertainty >= 1000)
{
d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
d_doppler_max = gps_acq_assisistance.Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
d_doppler_min = gps_acq_assisistance.Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
}
else
{
d_doppler_max = gps_acq_assisistance.d_Doppler0 + 1000;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000;
d_doppler_max = gps_acq_assisistance.Doppler0 + 1000;
d_doppler_min = gps_acq_assisistance.Doppler0 - 1000;
}
this->d_disable_assist = false;
std::cout << "Acq assist ENABLED for GPS SV " << this->d_gnss_synchro->PRN << " (Doppler max,Doppler min)=("

270
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@@ -168,36 +168,36 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph)
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
// Galileo is the third satellite system for RTKLIB, so, add the required offset to discriminate Galileo ephemeris
rtklib_sat.sat = gal_eph.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.A_1 * gal_eph.A_1;
rtklib_sat.M0 = gal_eph.M0_1;
rtklib_sat.deln = gal_eph.delta_n_3;
rtklib_sat.OMG0 = gal_eph.OMEGA_0_2;
rtklib_sat.OMGd = gal_eph.OMEGA_dot_3;
rtklib_sat.omg = gal_eph.omega_2;
rtklib_sat.i0 = gal_eph.i_0_2;
rtklib_sat.idot = gal_eph.iDot_2;
rtklib_sat.e = gal_eph.e_1;
rtklib_sat.sat = gal_eph.PRN + NSATGPS + NSATGLO;
rtklib_sat.A = gal_eph.sqrtA * gal_eph.sqrtA;
rtklib_sat.M0 = gal_eph.M_0;
rtklib_sat.deln = gal_eph.delta_n;
rtklib_sat.OMG0 = gal_eph.OMEGA_0;
rtklib_sat.OMGd = gal_eph.OMEGAdot;
rtklib_sat.omg = gal_eph.omega;
rtklib_sat.i0 = gal_eph.i_0;
rtklib_sat.idot = gal_eph.idot;
rtklib_sat.e = gal_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = gal_eph.WN_5 + 1024; /* week of tow in GPS (not mod-1024) week scale */
rtklib_sat.cic = gal_eph.C_ic_4;
rtklib_sat.cis = gal_eph.C_is_4;
rtklib_sat.cuc = gal_eph.C_uc_3;
rtklib_sat.cus = gal_eph.C_us_3;
rtklib_sat.crc = gal_eph.C_rc_3;
rtklib_sat.crs = gal_eph.C_rs_3;
rtklib_sat.f0 = gal_eph.af0_4;
rtklib_sat.f1 = gal_eph.af1_4;
rtklib_sat.f2 = gal_eph.af2_4;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
rtklib_sat.week = gal_eph.WN + 1024; /* week of tow in GPS (not mod-1024) week scale */
rtklib_sat.cic = gal_eph.Cic;
rtklib_sat.cis = gal_eph.Cis;
rtklib_sat.cuc = gal_eph.Cuc;
rtklib_sat.cus = gal_eph.Cus;
rtklib_sat.crc = gal_eph.Crc;
rtklib_sat.crs = gal_eph.Crs;
rtklib_sat.f0 = gal_eph.af0;
rtklib_sat.f1 = gal_eph.af1;
rtklib_sat.f2 = gal_eph.af2;
rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a;
rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b;
rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.t0c_4);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.TOW_5);
rtklib_sat.toes = gal_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gal_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gal_eph.tow);
/* adjustment for week handover */
double tow;
@@ -226,36 +226,36 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph, bool pre_2009_file)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = gps_eph.i_satellite_PRN;
rtklib_sat.A = gps_eph.d_sqrt_A * gps_eph.d_sqrt_A;
rtklib_sat.M0 = gps_eph.d_M_0;
rtklib_sat.deln = gps_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_eph.d_OMEGA0;
rtklib_sat.OMGd = gps_eph.d_OMEGA_DOT;
rtklib_sat.omg = gps_eph.d_OMEGA;
rtklib_sat.i0 = gps_eph.d_i_0;
rtklib_sat.idot = gps_eph.d_IDOT;
rtklib_sat.e = gps_eph.d_e_eccentricity;
rtklib_sat.sat = gps_eph.PRN;
rtklib_sat.A = gps_eph.sqrtA * gps_eph.sqrtA;
rtklib_sat.M0 = gps_eph.M_0;
rtklib_sat.deln = gps_eph.delta_n;
rtklib_sat.OMG0 = gps_eph.OMEGA_0;
rtklib_sat.OMGd = gps_eph.OMEGAdot;
rtklib_sat.omg = gps_eph.omega;
rtklib_sat.i0 = gps_eph.i_0;
rtklib_sat.idot = gps_eph.idot;
rtklib_sat.e = gps_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_eph.i_GPS_week, pre_2009_file); /* week of tow */
rtklib_sat.cic = gps_eph.d_Cic;
rtklib_sat.cis = gps_eph.d_Cis;
rtklib_sat.cuc = gps_eph.d_Cuc;
rtklib_sat.cus = gps_eph.d_Cus;
rtklib_sat.crc = gps_eph.d_Crc;
rtklib_sat.crs = gps_eph.d_Crs;
rtklib_sat.f0 = gps_eph.d_A_f0;
rtklib_sat.f1 = gps_eph.d_A_f1;
rtklib_sat.f2 = gps_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_eph.d_TGD;
rtklib_sat.week = adjgpsweek(gps_eph.WN, pre_2009_file); /* week of tow */
rtklib_sat.cic = gps_eph.Cic;
rtklib_sat.cis = gps_eph.Cis;
rtklib_sat.cuc = gps_eph.Cuc;
rtklib_sat.cus = gps_eph.Cus;
rtklib_sat.crc = gps_eph.Crc;
rtklib_sat.crs = gps_eph.Crs;
rtklib_sat.f0 = gps_eph.af0;
rtklib_sat.f1 = gps_eph.af1;
rtklib_sat.f2 = gps_eph.af2;
rtklib_sat.tgd[0] = gps_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = gps_eph.d_Toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.d_TOW);
rtklib_sat.toes = gps_eph.toe;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_eph.tow);
/* adjustment for week handover */
double tow;
@@ -284,45 +284,45 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.d_sqrt_A * bei_eph.d_sqrt_A;
rtklib_sat.M0 = bei_eph.d_M_0;
rtklib_sat.deln = bei_eph.d_Delta_n;
rtklib_sat.OMG0 = bei_eph.d_OMEGA0;
rtklib_sat.OMGd = bei_eph.d_OMEGA_DOT;
rtklib_sat.omg = bei_eph.d_OMEGA;
rtklib_sat.i0 = bei_eph.d_i_0;
rtklib_sat.idot = bei_eph.d_IDOT;
rtklib_sat.e = bei_eph.d_eccentricity;
rtklib_sat.sat = bei_eph.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.sqrtA * bei_eph.sqrtA;
rtklib_sat.M0 = bei_eph.M_0;
rtklib_sat.deln = bei_eph.delta_n;
rtklib_sat.OMG0 = bei_eph.OMEGA_0;
rtklib_sat.OMGd = bei_eph.OMEGAdot;
rtklib_sat.omg = bei_eph.omega;
rtklib_sat.i0 = bei_eph.i_0;
rtklib_sat.idot = bei_eph.idot;
rtklib_sat.e = bei_eph.ecc;
rtklib_sat.Adot = 0; // only in CNAV;
rtklib_sat.ndot = 0; // only in CNAV;
rtklib_sat.svh = bei_eph.i_SV_health;
rtklib_sat.sva = bei_eph.i_SV_accuracy;
rtklib_sat.svh = bei_eph.SV_health;
rtklib_sat.sva = bei_eph.SV_accuracy;
rtklib_sat.code = bei_eph.i_sig_type; /* B1I data */
rtklib_sat.flag = bei_eph.i_nav_type; /* MEO/IGSO satellite */
rtklib_sat.iode = static_cast<int32_t>(bei_eph.d_AODE); /* AODE */
rtklib_sat.iodc = static_cast<int32_t>(bei_eph.d_AODC); /* AODC */
rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */
rtklib_sat.cic = bei_eph.d_Cic;
rtklib_sat.cis = bei_eph.d_Cis;
rtklib_sat.cuc = bei_eph.d_Cuc;
rtklib_sat.cus = bei_eph.d_Cus;
rtklib_sat.crc = bei_eph.d_Crc;
rtklib_sat.crs = bei_eph.d_Crs;
rtklib_sat.f0 = bei_eph.d_A_f0;
rtklib_sat.f1 = bei_eph.d_A_f1;
rtklib_sat.f2 = bei_eph.d_A_f2;
rtklib_sat.week = bei_eph.WN; /* week of tow */
rtklib_sat.cic = bei_eph.Cic;
rtklib_sat.cis = bei_eph.Cis;
rtklib_sat.cuc = bei_eph.Cuc;
rtklib_sat.cus = bei_eph.Cus;
rtklib_sat.crc = bei_eph.Crc;
rtklib_sat.crs = bei_eph.Crs;
rtklib_sat.f0 = bei_eph.af0;
rtklib_sat.f1 = bei_eph.af1;
rtklib_sat.f2 = bei_eph.af2;
rtklib_sat.tgd[0] = bei_eph.d_TGD1;
rtklib_sat.tgd[1] = bei_eph.d_TGD2;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = bei_eph.d_Toe;
rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toe));
rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_Toc));
rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.d_TOW));
rtklib_sat.toes = bei_eph.toe;
rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toe));
rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toc));
rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.tow));
/* adjustment for week handover */
double tow;
double toc;
@@ -353,44 +353,40 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = gps_cnav_eph.i_satellite_PRN;
const double A_REF = 26559710.0; // See IS-GPS-200L, pp. 161
rtklib_sat.A = A_REF + gps_cnav_eph.d_DELTA_A;
rtklib_sat.M0 = gps_cnav_eph.d_M_0;
rtklib_sat.deln = gps_cnav_eph.d_Delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.d_OMEGA0;
// Compute the angle between the ascending node and the Greenwich meridian
const double OMEGA_DOT_REF = -2.6e-9; // semicircles / s, see IS-GPS-200L pp. 160
double d_OMEGA_DOT = OMEGA_DOT_REF * GNSS_PI + gps_cnav_eph.d_DELTA_OMEGA_DOT;
rtklib_sat.OMGd = d_OMEGA_DOT;
rtklib_sat.omg = gps_cnav_eph.d_OMEGA;
rtklib_sat.i0 = gps_cnav_eph.d_i_0;
rtklib_sat.idot = gps_cnav_eph.d_IDOT;
rtklib_sat.e = gps_cnav_eph.d_e_eccentricity;
rtklib_sat.Adot = gps_cnav_eph.d_A_DOT; // only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.d_DELTA_DOT_N; // only in CNAV;
rtklib_sat.sat = gps_cnav_eph.PRN;
rtklib_sat.A = gps_cnav_eph.sqrtA * gps_cnav_eph.sqrtA;
rtklib_sat.M0 = gps_cnav_eph.M_0;
rtklib_sat.deln = gps_cnav_eph.delta_n;
rtklib_sat.OMG0 = gps_cnav_eph.OMEGA_0;
rtklib_sat.OMGd = gps_cnav_eph.OMEGAdot;
rtklib_sat.omg = gps_cnav_eph.omega;
rtklib_sat.i0 = gps_cnav_eph.i_0;
rtklib_sat.idot = gps_cnav_eph.idot;
rtklib_sat.e = gps_cnav_eph.ecc;
rtklib_sat.Adot = gps_cnav_eph.Adot; // only in CNAV;
rtklib_sat.ndot = gps_cnav_eph.delta_ndot; // only in CNAV;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.i_GPS_week); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.d_Cic;
rtklib_sat.cis = gps_cnav_eph.d_Cis;
rtklib_sat.cuc = gps_cnav_eph.d_Cuc;
rtklib_sat.cus = gps_cnav_eph.d_Cus;
rtklib_sat.crc = gps_cnav_eph.d_Crc;
rtklib_sat.crs = gps_cnav_eph.d_Crs;
rtklib_sat.f0 = gps_cnav_eph.d_A_f0;
rtklib_sat.f1 = gps_cnav_eph.d_A_f1;
rtklib_sat.f2 = gps_cnav_eph.d_A_f2;
rtklib_sat.tgd[0] = gps_cnav_eph.d_TGD;
rtklib_sat.week = adjgpsweek(gps_cnav_eph.WN); /* week of tow */
rtklib_sat.cic = gps_cnav_eph.Cic;
rtklib_sat.cis = gps_cnav_eph.Cis;
rtklib_sat.cuc = gps_cnav_eph.Cuc;
rtklib_sat.cus = gps_cnav_eph.Cus;
rtklib_sat.crc = gps_cnav_eph.Crc;
rtklib_sat.crs = gps_cnav_eph.Crs;
rtklib_sat.f0 = gps_cnav_eph.af0;
rtklib_sat.f1 = gps_cnav_eph.af1;
rtklib_sat.f2 = gps_cnav_eph.af2;
rtklib_sat.tgd[0] = gps_cnav_eph.TGD;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.isc[0] = gps_cnav_eph.d_ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.d_ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.d_ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.d_ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.d_Toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.d_Toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.d_TOW);
rtklib_sat.isc[0] = gps_cnav_eph.ISCL1;
rtklib_sat.isc[1] = gps_cnav_eph.ISCL2;
rtklib_sat.isc[2] = gps_cnav_eph.ISCL5I;
rtklib_sat.isc[3] = gps_cnav_eph.ISCL5Q;
rtklib_sat.toes = gps_cnav_eph.toe1;
rtklib_sat.toc = gpst2time(rtklib_sat.week, gps_cnav_eph.toc);
rtklib_sat.ttr = gpst2time(rtklib_sat.week, gps_cnav_eph.tow);
/* adjustment for week handover */
double tow;
@@ -421,24 +417,24 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gps_alm.i_satellite_PRN;
rtklib_alm.svh = gps_alm.i_SV_health;
rtklib_alm.svconf = gps_alm.i_AS_status;
rtklib_alm.week = gps_alm.i_WNa;
rtklib_alm.sat = gps_alm.PRN;
rtklib_alm.svh = gps_alm.SV_health;
rtklib_alm.svconf = gps_alm.AS_status;
rtklib_alm.week = gps_alm.WNa;
gtime_t toa;
toa.time = gps_alm.i_Toa;
toa.time = gps_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
rtklib_alm.e = gps_alm.d_e_eccentricity;
rtklib_alm.i0 = (gps_alm.d_Delta_i + 0.3) * GNSS_PI;
rtklib_alm.OMG0 = gps_alm.d_OMEGA0 * GNSS_PI;
rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT * GNSS_PI;
rtklib_alm.omg = gps_alm.d_OMEGA * GNSS_PI;
rtklib_alm.M0 = gps_alm.d_M_0 * GNSS_PI;
rtklib_alm.f0 = gps_alm.d_A_f0;
rtklib_alm.f1 = gps_alm.d_A_f1;
rtklib_alm.toas = gps_alm.i_Toa;
rtklib_alm.A = gps_alm.sqrtA * gps_alm.sqrtA;
rtklib_alm.e = gps_alm.ecc;
rtklib_alm.i0 = (gps_alm.delta_i + 0.3) * GNSS_PI;
rtklib_alm.OMG0 = gps_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gps_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gps_alm.omega * GNSS_PI;
rtklib_alm.M0 = gps_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gps_alm.af0;
rtklib_alm.f1 = gps_alm.af1;
rtklib_alm.toas = gps_alm.toa;
return rtklib_alm;
}
@@ -450,25 +446,25 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
rtklib_alm.sat = gal_alm.i_satellite_PRN + NSATGPS + NSATGLO;
rtklib_alm.sat = gal_alm.PRN + NSATGPS + NSATGLO;
rtklib_alm.svh = gal_alm.E1B_HS;
rtklib_alm.svconf = gal_alm.E1B_HS;
rtklib_alm.week = gal_alm.i_WNa;
rtklib_alm.week = gal_alm.WNa;
gtime_t toa;
toa.time = gal_alm.i_Toa;
toa.time = gal_alm.toa;
toa.sec = 0.0;
rtklib_alm.toa = toa;
rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
rtklib_alm.A = 5440.588203494 + gal_alm.delta_sqrtA;
rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
rtklib_alm.e = gal_alm.d_e_eccentricity;
rtklib_alm.i0 = (gal_alm.d_Delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.d_OMEGA0 * GNSS_PI;
rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT * GNSS_PI;
rtklib_alm.omg = gal_alm.d_OMEGA * GNSS_PI;
rtklib_alm.M0 = gal_alm.d_M_0 * GNSS_PI;
rtklib_alm.f0 = gal_alm.d_A_f0;
rtklib_alm.f1 = gal_alm.d_A_f1;
rtklib_alm.toas = gal_alm.i_Toa;
rtklib_alm.e = gal_alm.ecc;
rtklib_alm.i0 = (gal_alm.delta_i + 56.0 / 180.0) * GNSS_PI;
rtklib_alm.OMG0 = gal_alm.OMEGA_0 * GNSS_PI;
rtklib_alm.OMGd = gal_alm.OMEGAdot * GNSS_PI;
rtklib_alm.omg = gal_alm.omega * GNSS_PI;
rtklib_alm.M0 = gal_alm.M_0 * GNSS_PI;
rtklib_alm.f0 = gal_alm.af0;
rtklib_alm.f1 = gal_alm.af1;
rtklib_alm.toas = gal_alm.toa;
return rtklib_alm;
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@@ -381,7 +381,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G_10), 64.0)));
d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
}
if (d_inav_nav.have_new_almanac() == true)

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@@ -411,7 +411,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
// {
// delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
// delta_t = d_nav.A_0G + d_nav.A_1G * (d_TOW_at_current_symbol - d_nav.t_0G + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G), 64)));
// }
if (d_flag_frame_sync == true and d_nav.is_flag_TOW_set() == true)

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@@ -410,7 +410,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
// {
// delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64)));
// delta_t = d_nav.A_0G + d_nav.A_1G * (d_TOW_at_current_symbol - d_nav.t_0G + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G), 64)));
// }
if (d_flag_frame_sync == true and d_nav.is_flag_TOW_set() == true)