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bds_b1i: Adding support for d2 nav decoding

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This commit is contained in:
Damian Miralles 2018-12-26 12:54:23 -06:00
parent 7cdd2ee477
commit 7cef679744
12 changed files with 637 additions and 1222 deletions
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8
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc
View File

@ -34,10 +34,10 @@
#include "configuration_interface.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "../../../core/system_parameters/beidou_dnav_almanac.h"
#include "../../../core/system_parameters/beidou_dnav_ephemeris.h"
#include "../../../core/system_parameters/beidou_dnav_iono.h"
#include "../../../core/system_parameters/beidou_dnav_utc_model.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
using google::LogMessage;

6
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h
View File

@ -35,12 +35,12 @@
#include "telemetry_decoder_interface.h"
#include <string>
#include "../gnuradio_blocks/beidou_b1i_telemetry_decoder_cc_old.h"
#include "beidou_b1i_telemetry_decoder_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a NAV data decoder for GPS L1 C/A
* \brief This class implements a NAV data decoder for BEIDOU B1I
*/
class BeidouB1iTelemetryDecoder : public TelemetryDecoderInterface
{
@ -57,7 +57,7 @@ public:
return role_;
}
//! Returns "GPS_L1_CA_Telemetry_Decoder"
//! Returns "BEIDOU_B1I_Telemetry_Decoder"
inline std::string implementation() override
{
return "BEIDOU_B1I_Telemetry_Decoder";

83
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc
View File

@ -66,16 +66,50 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B2a Telemetry Decoding";
// Define the number of sampes per symbol. Notice that BEIDOU has 2 rates, !!!Change
//one for the navigation data and the other for the preamble information
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_B1I_SYMBOL_RATE_SPS;
LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite "<< this->d_satellite;
// GEO Satellites (PRN 1 to 5) use D2 NAV message
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
// set the preamble
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = nullptr;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// preamble symbols to samples
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
}
else // MEO/IGSO Satellites (PRN 6 to 37) use D1 NAV message
{
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
@ -123,12 +157,14 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
}
// Generic settings
d_sample_counter = 0;
d_stat = 0;
d_preamble_index = 0;
d_flag_frame_sync = false;
d_TOW_at_current_symbol_ms = 0;
Flag_valid_word = false;
d_CRC_error_counter = 0;
@ -136,8 +172,6 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_channel = 0;
flag_SOW_set = false;
}
@ -252,7 +286,15 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
}
}
d_nav.subframe_decoder(data_bits);
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
d_nav.d2_subframe_decoder(data_bits);
}
else
{
d_nav.d1_subframe_decoder(data_bits);
}
// 3. Check operation executed correctly
if (d_nav.flag_crc_test == true)
@ -417,6 +459,13 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
@ -425,6 +474,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
}
}
}
else //180 deg. inverted carrier phase PLL lock
{
int k = 0;
@ -433,6 +483,13 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
@ -441,9 +498,11 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
}
}
}
//call the decoder
decode_subframe(d_subframe_symbols, d_subframe_length_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;

550
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc_old.cc
View File

@ -1,550 +0,0 @@
/*!
* \file beidou_b1i_telemetry_decoder_cc.cc
* \brief Implementation of a NAV message demodulator block based on
* Kay Borre book MATLAB-based GPS receiver
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "beidou_b1i_telemetry_decoder_cc_old.h"
#include "control_message_factory.h"
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
using google::LogMessage;
beidou_b1i_telemetry_decoder_cc_sptr
beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump)
{
return beidou_b1i_telemetry_decoder_cc_sptr(new beidou_b1i_telemetry_decoder_cc(satellite, dump));
}
beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
const Gnss_Satellite &satellite,
bool dump) : gr::block("beidou_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
// set the preamble
unsigned short int preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = BEIDOU_DNAV_PREAMBLE;
// preamble bits to sampled symbols
d_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment()));
int n = 0;
for (int i = 0; i < BEIDOU_B1I_PREAMBLE_LENGTH_BITS; i++)
{
if (preambles_bits[i] == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
d_samples_per_symbol = 20;
d_bits_per_preamble = 11;
d_samples_per_preamble = 11 * d_samples_per_symbol;
d_required_symbols = static_cast<uint32_t>(6000) * d_samples_per_symbol + d_samples_per_preamble;
d_stat = 0;
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
d_frame_bit_index = 0;
d_flag_frame_sync = false;
d_BEIDOU_frame_4bytes = 0;
d_prev_BEIDOU_frame_4bytes = 0;
d_flag_parity = false;
d_TOW_at_Preamble_ms = 0;
flag_TOW_set = false;
d_flag_preamble = false;
d_flag_new_tow_available = false;
word_number = 0;
d_channel = 0;
flag_PLL_180_deg_phase_locked = false;
d_preamble_time_samples = 0;
d_TOW_at_current_symbol_ms = 0;
d_symbol_history.resize(BEIDOU_B1I_PREAMBLE_LENGTH_BITS); // Change fixed buffer size
d_symbol_nh_history.resize(BEIDOU_B1I_SECONDARY_CODE_LENGTH); // Change fixed buffer size
d_bit_buffer.resize(30); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
d_symbol_nh_history.clear();
d_bit_buffer.clear();
d_make_correlation = true;
d_symbol_counter_corr = 0;
for (int aux = 0; aux < BEIDOU_B1I_SECONDARY_CODE_LENGTH; aux++)
{
if (BEIDOU_B1I_SECONDARY_CODE[aux] == 0)
{
bits_NH[aux] = -1.0;
}
else
{
bits_NH[aux] = 1.0;
}
}
sync_NH = false;
new_sym = false;
}
beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
{
volk_gnsssdr_free(d_preambles_symbols);
if (d_dump_file.is_open() == true)
{
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
d_BEIDOU_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void beidou_b1i_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
d_BEIDOU_FSM.i_channel_ID = channel;
DLOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void beidou_b1i_telemetry_decoder_cc::decodebch_bi1(int *bits, int *decbits)
{
int bit, err, reg[4] = {1, 1, 1, 1};
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (unsigned int i = 0; i < 15; i++)
{
decbits[i] = bits[i];
}
for (unsigned int i = 0; i < 15; i++)
{
bit = reg[3];
reg[3] = reg[2];
reg[2] = reg[1];
reg[1] = reg[0];
reg[0] = bits[i] * bit;
reg[1] *= bit;
}
err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8];
if (err > 0)
{
decbits[err - 1] *= -1;
}
}
void beidou_b1i_telemetry_decoder_cc::decode_word(int word_counter, boost::circular_buffer<signed int> *d_bit_buffer, unsigned int& d_BEIDOU_frame_4bytes)
{
d_BEIDOU_frame_4bytes = 0;
int bitsdec[30], bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1)
{
for (unsigned int j = 0; j < 30; j++)
{
bitsdec[j] = d_bit_buffer->at(j);
}
}
else
{
for (unsigned int r = 0; r < 2; r++)
{
for (unsigned int c = 0; c < 15; c++)
{
bitsbch[r*15 + c] = d_bit_buffer->at(c*2 + r);
}
}
decodebch_bi1(&bitsbch[0], first_branch);
decodebch_bi1(&bitsbch[15], second_branch);
for (unsigned int j = 0; j < 11; j++)
{
bitsdec[j] = first_branch[j];
bitsdec[j + 11] = second_branch[j];
}
for (unsigned int j = 0; j < 4; j++)
{
bitsdec[j + 22] = first_branch[11 + j];
bitsdec[j + 26] = second_branch[11 + j];
}
}
for (unsigned int k = 0; k < 30 ; k++)
{
if (bitsdec[k] == 1)
{
d_BEIDOU_frame_4bytes++;
}
d_BEIDOU_frame_4bytes <<= 1;
}
d_BEIDOU_frame_4bytes >>= 1;
}
int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int corr_value = 0;
int preamble_diff_ms = 0;
int corr_NH = 0;
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
new_sym = false;
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_symbol = in[0][0];
double current_time_samples = current_symbol.Tracking_sample_counter;
double current_samples_fs = current_symbol.fs;
int symbol_value = 0;
d_symbol_nh_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
consume_each(1);
if (d_symbol_nh_history.size() == BEIDOU_B1I_SECONDARY_CODE_LENGTH)
{
for (int i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if ((bits_NH[i] * d_symbol_nh_history.at(i)) > 0.0)
{
corr_NH += 1;
}
else
{
corr_NH -= 1;
}
}
if (abs(corr_NH) == BEIDOU_B1I_SECONDARY_CODE_LENGTH)
{
sync_NH = true;
if (corr_NH > 0)
{
symbol_value = 1;
}
else
{
symbol_value = -1;
}
//std::cout << symbol_value << std::endl;
d_symbol_history.push_back(symbol_value);
new_sym = true;
d_symbol_nh_history.clear();
}
else
{
d_symbol_nh_history.pop_front();
sync_NH = false;
new_sym = false;
}
}
if ((d_symbol_history.size() >= BEIDOU_B1I_PREAMBLE_LENGTH_BITS) and (d_make_correlation or !d_flag_frame_sync))
{
//******* preamble correlation ********
for (unsigned int i = 0; i < BEIDOU_B1I_PREAMBLE_LENGTH_BITS; i++)
{
if (d_symbol_history.at(i) < 0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
}
//std::cout << corr_value << std::endl;
if (std::abs(corr_value) >= BEIDOU_B1I_PREAMBLE_LENGTH_BITS)
{
/* for (unsigned int i = 0; i < d_symbol_history.size() ; i++)
{
std::cout << d_symbol_history.at(i);
}
std::cout << std::endl;
*/
// std::cout << "SUCCESSFUL PREAMBLE CORRELATION" << std::endl;
d_symbol_history.clear();
d_symbol_counter_corr++;
}
}
/*if (new_sym and )
{
flag_new_cnav_frame = beidou_nav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay);
new_sym = false;
}*/
d_flag_preamble = false;
//******* frame sync ******************
if (std::abs(corr_value) == BEIDOU_B1I_PREAMBLE_LENGTH_BITS)
{
// std::cout << "FRAME SYNC" << std::endl;
//TODO: Rewrite with state machine
if (d_stat == 0)
{
// std::cout << "STATE MACHINE" << std::endl;
d_BEIDOU_FSM.Event_beidou_word_preamble();
//record the preamble sample stamp
d_preamble_time_samples = current_time_samples; // record the preamble sample stamp
DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "current_time_samples=" << current_time_samples;
//sync the symbol to bits integrator
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
d_stat = 1; // enter into frame pre-detection status
}
else if (d_stat == 1) //check 6 seconds of preamble separation
{
// std::cout << "6 SECONDS" << std::endl;
preamble_diff_ms = std::round(((static_cast<double>(current_time_samples) - d_preamble_time_samples) / static_cast<double>(current_samples_fs)) * 1000.0);
if (std::abs(preamble_diff_ms - BEIDOU_SUBFRAME_MS) < 1)
{
std::cout << "Preamble confirmation for SAT" << std::endl;
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
d_BEIDOU_FSM.Event_beidou_word_preamble();
d_flag_preamble = true;
d_make_correlation = false;
d_symbol_counter_corr = 0;
d_preamble_time_samples = current_time_samples; // record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
if (corr_value < 0)
{
flag_PLL_180_deg_phase_locked = true; // PLL is locked to opposite phase!
DLOG(INFO) << " PLL in opposite phase for Sat " << this->d_satellite.get_PRN();
}
else
{
flag_PLL_180_deg_phase_locked = false;
}
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
<< static_cast<double>(d_preamble_time_samples) / static_cast<double>(current_samples_fs) << " [s]";
}
}
d_frame_bit_index = 10;
d_symbol_history.clear();
for (int i = 0; i < BEIDOU_B1I_PREAMBLE_LENGTH_BITS; i++)
{
d_bit_buffer.push_back(d_preambles_symbols[i]);
}
word_number = 0;
}
}
else
{
d_symbol_counter_corr++;
if (d_symbol_counter_corr > (BEIDOU_SUBFRAME_MS - BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT))
{
d_make_correlation = true;
}
if (d_stat == 1)
{
preamble_diff_ms = round(((static_cast<double>(current_time_samples) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(current_samples_fs)) * 1000.0);
if (preamble_diff_ms > BEIDOU_SUBFRAME_MS + 1)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
d_stat = 0; //lost of frame sync
d_flag_frame_sync = false;
flag_TOW_set = false;
d_make_correlation = true;
d_symbol_counter_corr = 0;
}
}
}
if (d_flag_frame_sync and new_sym)
{
// std::cout << symbol_value << std::endl;
if (flag_PLL_180_deg_phase_locked)
{
d_bit_buffer.push_back(-symbol_value);
}
else
{
d_bit_buffer.push_back(symbol_value);
}
//******* bits to words ******
d_frame_bit_index++;
if (d_frame_bit_index == 30)
{
word_number++;
beidou_b1i_telemetry_decoder_cc::decode_word(word_number, &d_bit_buffer, d_BEIDOU_frame_4bytes);
// std::cout << d_BEIDOU_frame_4bytes << std::endl;
d_bit_buffer.clear();
d_frame_bit_index = 0;
memcpy(&d_BEIDOU_FSM.d_BEIDOU_frame_4bytes, &d_BEIDOU_frame_4bytes, sizeof(char) * 4);
//d_BEIDOU_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
d_BEIDOU_FSM.Event_beidou_word_valid();
// send TLM data to PVT using asynchronous message queues
if (d_BEIDOU_FSM.d_flag_new_subframe == true)
{
/* switch (d_BEIDOU_FSM.d_subframe_ID)
{
case 3: //we have a new set of ephemeris data for the current SV
*/ if (d_BEIDOU_FSM.d_nav.satellite_validation() == true)
{
// get ephemeris object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_BEIDOU_FSM.d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
/* break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
*/ if (d_BEIDOU_FSM.d_nav.flag_iono_valid == true)
{
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_BEIDOU_FSM.d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_BEIDOU_FSM.d_nav.flag_utc_model_valid == true)
{
std::cout << " we have a new set of utc data for the current SV "<< std::endl;
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj = std::make_shared<Beidou_Dnav_Utc_Model>(d_BEIDOU_FSM.d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
/* break;
case 5:
// get almanac (if available)
//TODO: implement almanac reader in navigation_message
break;
default:
break;
}
*/ d_BEIDOU_FSM.clear_flag_new_subframe();
d_flag_new_tow_available = true;
}
}
}
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
{
d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_BEIDOU_FSM.d_nav.d_SOW +14) * 1000 ;
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
flag_TOW_set = true;
d_flag_new_tow_available = false;
}
else
{
d_TOW_at_current_symbol_ms += BEIDOU_B1I_CODE_PERIOD_MS;
}
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the Costas loop phase shift, if required
current_symbol.Carrier_phase_rads += BEIDOU_PI;
}
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) * 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}

135
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc_old.h
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@ -1,135 +0,0 @@
/*!
* \file beidou_b1i_telemetry_decoder_cc.h
* \brief Interface of a NAV message demodulator block based on
* Kay Borre book MATLAB-based GPS receiver
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H
#include "beidou_b1i_subframe_fsm.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <fstream>
#include <string>
#include <boost/circular_buffer.hpp>
#include "Beidou_B1I.h"
class beidou_b1i_telemetry_decoder_cc;
typedef boost::shared_ptr<beidou_b1i_telemetry_decoder_cc> beidou_b1i_telemetry_decoder_cc_sptr;
beidou_b1i_telemetry_decoder_cc_sptr
beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
/*!
* \brief This class implements a block that decodes the NAV data defined in IS-GPS-200E
*
*/
class beidou_b1i_telemetry_decoder_cc : public gr::block
{
public:
~beidou_b1i_telemetry_decoder_cc();
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel);
void decode_word(int word_counter, boost::circular_buffer<signed int> *d_bit_buffer, unsigned int& d_BEIDOU_frame_4bytes);
void decodebch_bi1(int *bits, int *decbits);
unsigned int getbitu(const unsigned char *buff, int pos, int len);
void bits2byte(int *bits, int nbits, int nbin, int right, uint8_t *bin);
/*!
* \brief This is where all signal processing takes place
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
private:
friend beidou_b1i_telemetry_decoder_cc_sptr
beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
bool beidou_word_parityCheck(unsigned int beidouword);
// class private vars
int *d_preambles_symbols;
unsigned int d_stat;
bool d_flag_frame_sync;
// symbols
boost::circular_buffer<signed int> d_symbol_history;
boost::circular_buffer<signed int> d_symbol_nh_history;
boost::circular_buffer<signed int> d_bit_buffer;
double d_symbol_accumulator;
short int d_symbol_accumulator_counter;
// symbol counting
bool d_make_correlation;
unsigned int d_symbol_counter_corr;
//bits and frame
unsigned short int d_frame_bit_index;
double bits_NH[BEIDOU_B1I_SECONDARY_CODE_LENGTH];
unsigned int d_BEIDOU_frame_4bytes;
unsigned int d_prev_BEIDOU_frame_4bytes;
bool d_flag_parity;
bool d_flag_preamble;
bool d_flag_new_tow_available;
int d_word_number;
uint32_t d_samples_per_symbol;
int32_t d_bits_per_preamble;
int32_t d_samples_per_preamble;
uint32_t d_required_symbols;
// navigation message vars
Beidou_Dnav_Navigation_Message d_nav;
BeidouB1iSubframeFsm d_BEIDOU_FSM;
bool d_dump;
Gnss_Satellite d_satellite;
int d_channel;
unsigned long int d_preamble_time_samples;
unsigned int d_TOW_at_Preamble_ms;
unsigned int d_TOW_at_current_symbol_ms;
unsigned int word_number;
bool flag_TOW_set;
bool flag_PLL_180_deg_phase_locked;
std::string d_dump_filename;
std::ofstream d_dump_file;
bool sync_NH;
bool new_sym;
};
#endif

2
src/algorithms/telemetry_decoder/libs/CMakeLists.txt
View File

@ -20,14 +20,12 @@
add_subdirectory(libswiftcnav)
set(TELEMETRY_DECODER_LIB_SOURCES
beidou_b1i_subframe_fsm.cc
viterbi_decoder.cc
)
set(TELEMETRY_DECODER_LIB_HEADERS
viterbi_decoder.h
convolutional.h
beidou_b1i_subframe_fsm.h
)
include_directories(

289
src/algorithms/telemetry_decoder/libs/beidou_b1i_subframe_fsm.cc
View File

@ -1,289 +0,0 @@
/*!
* \file beidou_b1i_subframe_fsm.cc
* \brief Implementation of a BEIDOU NAV message word-to-subframe decoder state machine
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "beidou_b1i_subframe_fsm.h"
#include "gnss_satellite.h"
#include <boost/statechart/simple_state.hpp>
#include <boost/statechart/state.hpp>
#include <boost/statechart/transition.hpp>
#include <boost/statechart/custom_reaction.hpp>
#include <boost/mpl/list.hpp>
#include <cstring>
#include <iostream>
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
struct Ev_beidou_word_valid : sc::event<Ev_beidou_word_valid>
{
};
struct Ev_beidou_word_invalid : sc::event<Ev_beidou_word_invalid>
{
};
struct Ev_beidou_word_preamble : sc::event<Ev_beidou_word_preamble>
{
};
struct beidou_subframe_fsm_S0 : public sc::state<beidou_subframe_fsm_S0, BeidouB1iSubframeFsm>
{
public:
// sc::transition(event,next_status)
typedef sc::transition<Ev_beidou_word_preamble, beidou_subframe_fsm_S1> reactions;
beidou_subframe_fsm_S0(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S0 "<<std::endl;
}
};
struct beidou_subframe_fsm_S1 : public sc::state<beidou_subframe_fsm_S1, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S2> >
reactions;
beidou_subframe_fsm_S1(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S1 "<<std::endl;
}
};
struct beidou_subframe_fsm_S2 : public sc::state<beidou_subframe_fsm_S2, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S3> >
reactions;
beidou_subframe_fsm_S2(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S2 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(0);
}
};
struct beidou_subframe_fsm_S3 : public sc::state<beidou_subframe_fsm_S3, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S4> >
reactions;
beidou_subframe_fsm_S3(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S3 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(1);
}
};
struct beidou_subframe_fsm_S4 : public sc::state<beidou_subframe_fsm_S4, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S5> >
reactions;
beidou_subframe_fsm_S4(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S4 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(2);
}
};
struct beidou_subframe_fsm_S5 : public sc::state<beidou_subframe_fsm_S5, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S6> >
reactions;
beidou_subframe_fsm_S5(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S5 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(3);
}
};
struct beidou_subframe_fsm_S6 : public sc::state<beidou_subframe_fsm_S6, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S7> >
reactions;
beidou_subframe_fsm_S6(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S6 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(4);
}
};
struct beidou_subframe_fsm_S7 : public sc::state<beidou_subframe_fsm_S7, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S8> >
reactions;
beidou_subframe_fsm_S7(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S7 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(5);
}
};
struct beidou_subframe_fsm_S8 : public sc::state<beidou_subframe_fsm_S8, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S9> >
reactions;
beidou_subframe_fsm_S8(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S8 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(6);
}
};
struct beidou_subframe_fsm_S9 : public sc::state<beidou_subframe_fsm_S9, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S10> >
reactions;
beidou_subframe_fsm_S9(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S9 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(7);
}
};
struct beidou_subframe_fsm_S10 : public sc::state<beidou_subframe_fsm_S10, BeidouB1iSubframeFsm>
{
public:
typedef mpl::list<sc::transition<Ev_beidou_word_invalid, beidou_subframe_fsm_S0>,
sc::transition<Ev_beidou_word_valid, beidou_subframe_fsm_S11> >
reactions;
beidou_subframe_fsm_S10(my_context ctx) : my_base(ctx)
{
//std::cout<<"Enter S10 "<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(8);
}
};
struct beidou_subframe_fsm_S11 : public sc::state<beidou_subframe_fsm_S11, BeidouB1iSubframeFsm>
{
public:
typedef sc::transition<Ev_beidou_word_preamble, beidou_subframe_fsm_S1> reactions;
beidou_subframe_fsm_S11(my_context ctx) : my_base(ctx)
{
//std::cout<<"Completed GPS Subframe!"<<std::endl;
context<BeidouB1iSubframeFsm>().beidou_word_to_subframe(9);
context<BeidouB1iSubframeFsm>().beidou_subframe_to_nav_msg(); //decode the subframe
// DECODE SUBFRAME
//std::cout<<"Enter S11"<<std::endl;
}
};
BeidouB1iSubframeFsm::BeidouB1iSubframeFsm()
{
d_nav.reset();
i_channel_ID = 0;
i_satellite_PRN = 0;
d_subframe_ID = 0;
d_flag_new_subframe = false;
initiate(); //start the FSM
}
void BeidouB1iSubframeFsm::beidou_word_to_subframe(int position)
{
// insert the word in the correct position of the subframe
std::memcpy(&d_subframe[position * BEIDOU_WORD_LENGTH], &d_BEIDOU_frame_4bytes, sizeof(char) * BEIDOU_WORD_LENGTH);
}
void BeidouB1iSubframeFsm::clear_flag_new_subframe()
{
d_flag_new_subframe = false;
}
void BeidouB1iSubframeFsm::beidou_subframe_to_nav_msg()
{
//int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED!
d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
std::cout << "New BEIDOU NAV message received in channel " << i_channel_ID << ": "
<< "subframe "
<< d_subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("Beidou"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN;
d_nav.i_channel_ID = i_channel_ID;
d_flag_new_subframe = true;
}
void BeidouB1iSubframeFsm::Event_beidou_word_valid()
{
this->process_event(Ev_beidou_word_valid());
}
void BeidouB1iSubframeFsm::Event_beidou_word_invalid()
{
this->process_event(Ev_beidou_word_invalid());
}
void BeidouB1iSubframeFsm::Event_beidou_word_preamble()
{
this->process_event(Ev_beidou_word_preamble());
}

100
src/algorithms/telemetry_decoder/libs/beidou_b1i_subframe_fsm.h
View File

@ -1,100 +0,0 @@
/*!
* \file beidou_b1i_subframe_fsm.h
* \brief Interface of a BEIDOU NAV message word-to-subframe decoder state machine
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_BEIDOU_B1I_SUBFRAME_FSM_H_
#define GNSS_SDR_BEIDOU_B1I_SUBFRAME_FSM_H_
#include <boost/statechart/state_machine.hpp>
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_navigation_message.h"
#include "beidou_dnav_utc_model.h"
#include "Beidou_B1I.h"
namespace sc = boost::statechart;
namespace mpl = boost::mpl;
struct beidou_subframe_fsm_S0;
struct beidou_subframe_fsm_S1;
struct beidou_subframe_fsm_S2;
struct beidou_subframe_fsm_S3;
struct beidou_subframe_fsm_S4;
struct beidou_subframe_fsm_S5;
struct beidou_subframe_fsm_S6;
struct beidou_subframe_fsm_S7;
struct beidou_subframe_fsm_S8;
struct beidou_subframe_fsm_S9;
struct beidou_subframe_fsm_S10;
struct beidou_subframe_fsm_S11;
/*!
* \brief This class implements a Finite State Machine that handles the decoding
* of the GPS L1 C/A NAV message
*/
class BeidouB1iSubframeFsm : public sc::state_machine<BeidouB1iSubframeFsm, beidou_subframe_fsm_S0>
{
public:
BeidouB1iSubframeFsm(); //!< The constructor starts the Finite State Machine
void clear_flag_new_subframe();
// channel and satellite info
int i_channel_ID; //!< Channel id
unsigned int i_satellite_PRN; //!< Satellite PRN number
Beidou_Dnav_Navigation_Message d_nav; //!< GPS L1 C/A navigation message object
// GPS SV and System parameters
Beidou_Dnav_Ephemeris ephemeris; //!< Object that handles GPS ephemeris parameters
Beidou_Dnav_Almanac almanac; //!< Object that handles GPS almanac data
Beidou_Dnav_Utc_Model utc_model; //!< Object that handles UTM model parameters
Beidou_Dnav_Iono iono; //!< Object that handles ionospheric parameters
char d_subframe[BEIDOU_SUBFRAME_LENGTH];
int d_subframe_ID;
bool d_flag_new_subframe;
char d_BEIDOU_frame_4bytes[BEIDOU_WORD_LENGTH];
//double d_preamble_time_ms;
void beidou_word_to_subframe(int position); //!< inserts the word in the correct position of the subframe
/*!
* \brief This function decodes a NAv message subframe and pushes the information to the right queues
*/
void beidou_subframe_to_nav_msg();
//FSM EVENTS
void Event_beidou_word_valid(); //!< FSM event: the received word is valid
void Event_beidou_word_invalid(); //!< FSM event: the received word is not valid
void Event_beidou_word_preamble(); //!< FSM event: word preamble detected
};
#endif

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -1492,6 +1492,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
next_state = acquire_secondary();
if (next_state)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
@ -1523,7 +1525,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
if (corr_value == d_preamble_length_symbols)
{
//std::cout << "Preamble detected at tracking!" << std::endl;
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
next_state = true;
}
else

173
src/core/system_parameters/Beidou_B1I.h
View File

@ -100,7 +100,8 @@ const double BEIDOU_DNAV_DATA_BITS = 300;
const double BEIDOU_DNAV_WORDS_SUBFRAME = 10;
const double BEIDOU_DNAV_WORD_LENGTH_BITS = 30;
const double BEIDOU_B1I_SYMBOL_RATE_SPS = 50; //BEIDOU symbol rate
const double BEIDOU_D1NAV_SYMBOL_RATE_SPS = 50;
const double BEIDOU_D2NAV_SYMBOL_RATE_SPS = 500;
const double BEIDOU_B1I_PREAMBLE_PERIOD_SYMBOLS = 300;
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
@ -110,99 +111,111 @@ const std::vector<std::pair<int,int> > D1_FRAID( { {16,3} } );
const std::vector<std::pair<int,int> > D1_SOW( { {19,8},{31,12} } );
const std::vector<std::pair<int,int> > D1_PNUM( { {44,7} } );
// DNAV SCALE FACTORS
// EPH
const double D1_TOC_LSB = TWO_P3;
const double D1_TGD1_LSB = 0.1;
const double D1_TGD2_LSB = 0.1;
const double D1_ALPHA0_LSB = TWO_N30;
const double D1_ALPHA1_LSB = TWO_N27;
const double D1_ALPHA2_LSB = TWO_N24;
const double D1_ALPHA3_LSB = TWO_N24;
const double D1_BETA0_LSB = TWO_P11;
const double D1_BETA1_LSB = TWO_P14;
const double D1_BETA2_LSB = TWO_P16;
const double D1_BETA3_LSB = TWO_P16;
const double D1_A2_LSB = TWO_N66;
const double D1_A0_LSB = TWO_N33;
const double D1_A1_LSB = TWO_N50;
const double D1_DELTA_N_LSB = PI_TWO_N43;
const double D1_CUC_LSB = TWO_N31;
const double D1_M0_LSB = PI_TWO_N31;
const double D1_E_LSB = TWO_N33;
const double D1_CUS_LSB = TWO_N31;
const double D1_CRC_LSB = TWO_N6;
const double D1_CRS_LSB = TWO_N6;
const double D1_SQRT_A_LSB = TWO_N19;
const double D1_TOE_LSB = TWO_P3;
const double D1_I0_LSB = PI_TWO_N31;
const double D1_CIC_LSB = TWO_N31;
const double D1_OMEGA_DOT_LSB = PI_TWO_N43;
const double D1_CIS_LSB = TWO_N31;
const double D1_IDOT_LSB = PI_TWO_N43;
const double D1_OMEGA0_LSB = PI_TWO_N31;
const double D1_OMEGA_LSB = PI_TWO_N31;
//ALM
const double D1_SQRT_A_ALMANAC_LSB = TWO_N11;
const double D1_A1_ALMANAC_LSB = TWO_N38;
const double D1_A0_ALMANAC_LSB = TWO_N20;
const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23;
const double D1_E_ALMANAC_LSB = TWO_N21;
const double D1_DELTA_I_LSB = PI_TWO_N19;
const double D1_TOA_LSB = TWO_P12;
const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38;
const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23;
const double D1_M0_ALMANAC_LSB = PI_TWO_N23;
const double D1_A0GPS_LSB = 0.1;
const double D1_A1GPS_LSB = 0.1;
const double D1_A0GAL_LSB = 0.1;
const double D1_A1GAL_LSB = 0.1;
const double D1_A0GLO_LSB = 0.1;
const double D1_A1GLO_LSB = 0.1;
const double D1_A0UTC_LSB = TWO_N30;
const double D1_A1UTC_LSB = TWO_N50;
// SUBFRAME 1
const std::vector<std::pair<int,int> > D1_SAT_H1( { {43,1} } );
const std::vector<std::pair<int,int> > D1_AODC( { {44,5} } );
const std::vector<std::pair<int,int> > D1_URAI( { {49,4} } );
const std::vector<std::pair<int,int> > D1_WN( { {61,13} } );
const std::vector<std::pair<int,int> > D1_TOC( { {74,9},{91,8} } );
const double D1_TOC_LSB = TWO_P3;
const std::vector<std::pair<int,int> > D1_TGD1( { {99,10} } );
const double D1_TGD1_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_TGD2( { {121,6} } );
const double D1_TGD2_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_ALPHA0( { {127,8} } );
const double D1_ALPHA0_LSB = TWO_N30;
const std::vector<std::pair<int,int> > D1_ALPHA1( { {135,8} } );
const double D1_ALPHA1_LSB = TWO_N27;
const std::vector<std::pair<int,int> > D1_ALPHA2( { {151,8} } );
const double D1_ALPHA2_LSB = TWO_N24;
const std::vector<std::pair<int,int> > D1_ALPHA3( { {159,8} } );
const double D1_ALPHA3_LSB = TWO_N24;
const std::vector<std::pair<int,int> > D1_BETA0( { {167,6}, {181,2} } );
const double D1_BETA0_LSB = TWO_P11;
const std::vector<std::pair<int,int> > D1_BETA1( { {183,8} } );
const double D1_BETA1_LSB = TWO_P14;
const std::vector<std::pair<int,int> > D1_BETA2( { {191,8} } );
const double D1_BETA2_LSB = TWO_P16;
const std::vector<std::pair<int,int> > D1_BETA3( { {199,4},{211,4} } );
const double D1_BETA3_LSB = TWO_P16;
const std::vector<std::pair<int,int> > D1_A2( { {215,11} } );
const double D1_A2_LSB = TWO_N66;
const std::vector<std::pair<int,int> > D1_A0( { {226,7},{241,17} } );
const double D1_A0_LSB = TWO_N33;
const std::vector<std::pair<int,int> > D1_A1( { {258,5},{271,17} } );
const double D1_A1_LSB = TWO_N50;
const std::vector<std::pair<int,int> > D1_AODE( { {288,5} } );
//SUBFRAME 2
const std::vector<std::pair<int,int> > D1_DELTA_N( { {43,10},{61,6} } );
const double D1_DELTA_N_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int> > D1_CUC( { {67,16},{91,2} } );
const double D1_CUC_LSB = TWO_N31;
const std::vector<std::pair<int,int> > D1_M0( { {93,20}, {121,12} } );
const double D1_M0_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int> > D1_E( { {133,10},{151,22} } );
const double D1_E_LSB = TWO_N33;
const std::vector<std::pair<int,int> > D1_CUS( { {181,18} } );
const double D1_CUS_LSB = TWO_N31;
const std::vector<std::pair<int,int> > D1_CRC( { {199,4},{211,14} } );
const double D1_CRC_LSB = TWO_N6;
const std::vector<std::pair<int,int> > D1_CRS( { {225,8},{241,10} } );
const double D1_CRS_LSB = TWO_N6;
const std::vector<std::pair<int,int> > D1_SQRT_A( { {251,12},{271,20} } );
const double D1_SQRT_A_LSB = TWO_N19;
const std::vector<std::pair<int,int> > D1_TOE_SF2( { {291,2} } );
const double D1_TOE_LSB = TWO_P3;
//SUBFRAME 3
const std::vector<std::pair<int,int> > D1_TOE_SF3( { {43,10},{61,5} } );
const std::vector<std::pair<int,int> > D1_I0( { {66,17},{91,15} } );
const double D1_I0_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int> > D1_CIC( { {106,7},{121,11} } );
const double D1_CIC_LSB = TWO_N31;
const std::vector<std::pair<int,int> > D1_OMEGA_DOT( { {132,11},{151,13} } );
const double D1_OMEGA_DOT_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int> > D1_CIS( { {164,9},{181,9} } );
const double D1_CIS_LSB = TWO_N31;
const std::vector<std::pair<int,int> > D1_IDOT( { {190,13},{211,1} } );
const double D1_IDOT_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int> > D1_OMEGA0( { {212,21},{241,11} } );
const double D1_OMEGA0_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int> > D1_OMEGA( { {252,11},{271,21} } );
const double D1_OMEGA_LSB = PI_TWO_N31;
//SUBFRAME 4 AND PAGES 1 THROUGH 6 IN SUBFRAME 5
const std::vector<std::pair<int,int> > D1_SQRT_A_ALMANAC( { {51,2},{61,22} } );
const double D1_SQRT_A_ALMANAC_LSB = TWO_N11;
const std::vector<std::pair<int,int> > D1_A1_ALMANAC( { {91,11} } );
const double D1_A1_ALMANAC_LSB = TWO_N38;
const std::vector<std::pair<int,int> > D1_A0_ALMANAC( { {102,11} } );
const double D1_A0_ALMANAC_LSB = TWO_N20;
const std::vector<std::pair<int,int> > D1_OMEGA0_ALMANAC( { {121,22},{151,2} } );
const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23;
const std::vector<std::pair<int,int> > D1_E_ALMANAC( { {153,17} } );
const double D1_E_ALMANAC_LSB = TWO_N21;
const std::vector<std::pair<int,int> > D1_DELTA_I( { {170,3},{181,13} } );
const double D1_DELTA_I_LSB = PI_TWO_N19;
const std::vector<std::pair<int,int> > D1_TOA( { {194,8} } );
const double D1_TOA_LSB = TWO_P12;
const std::vector<std::pair<int,int> > D1_OMEGA_DOT_ALMANAC( { {202,1}, {211,16} } );
const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38;
const std::vector<std::pair<int,int> > D1_OMEGA_ALMANAC( { {227,6},{241,18} } );
const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23;
const std::vector<std::pair<int,int> > D1_M0_ALMANAC( { {259,4},{271,20} } );
const double D1_M0_ALMANAC_LSB = PI_TWO_N23;
//SUBFRAME 5 PAGE 7
const std::vector<std::pair<int,int> > D1_HEA1( { {51,2},{61,7} } );
@ -225,8 +238,6 @@ const std::vector<std::pair<int,int> > D1_HEA17( { {251,9} } );
const std::vector<std::pair<int,int> > D1_HEA18( { {260,3},{271,6} } );
const std::vector<std::pair<int,int> > D1_HEA19( { {277,9} } );
//SUBFRAME 5 PAGE 8
const std::vector<std::pair<int,int> > D1_HEA20( { {51,2},{61,7} } );
const std::vector<std::pair<int,int> > D1_HEA21( { {68,9} } );
@ -244,26 +255,86 @@ const std::vector<std::pair<int,int> > D1_TOA2( { {198,5},{211,3} } );
//SUBFRAME 5 PAGE 9
const std::vector<std::pair<int,int> > D1_A0GPS( { {97,14} } );
const double D1_A0GPS_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_A1GPS( { {111,2},{121,14} } );
const double D1_A1GPS_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_A0GAL( { {135,8},{151,6} } );
const double D1_A0GAL_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_A1GAL( { {157,16} } );
const double D1_A1GAL_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_A0GLO( { {181,14} } );
const double D1_A0GLO_LSB = 0.1;
const std::vector<std::pair<int,int> > D1_A1GLO( { {195,8},{211,8} } );
const double D1_A1GLO_LSB = 0.1;
//SUBFRAME 5 PAGE 10
const std::vector<std::pair<int,int> > D1_DELTA_T_LS( { {51,2},{61,6} } );
const std::vector<std::pair<int,int> > D1_DELTA_T_LSF( { {67,8} } );
const std::vector<std::pair<int,int> > D1_WN_LSF( { {75,8} } );
const std::vector<std::pair<int,int> > D1_A0UTC( { {91,22},{121,10} } );
const double D1_A0UTC_LSB = TWO_N30;
const std::vector<std::pair<int,int> > D1_A1UTC( { {131,12},{151,12} } );
const double D1_A1UTC_LSB = TWO_N50;
const std::vector<std::pair<int,int> > D1_DN( { {163,8} } );
// D2 NAV Message Decoding Information
const std::vector<std::pair<int,int> > D2_PRE( { {1,11} } );
const std::vector<std::pair<int,int> > D2_FRAID( { {16,3} } );
const std::vector<std::pair<int,int> > D2_SOW( { {19,8},{31,12} } );
const std::vector<std::pair<int,int> > D2_PNUM( { {43,4} } );
// D2 NAV, SUBFRAME 1, PAGE 1
const std::vector<std::pair<int,int> > D2_SAT_H1( { {47,1} } );
const std::vector<std::pair<int,int> > D2_AODC( { {48,5} } );
const std::vector<std::pair<int,int> > D2_URAI( { {61,4} } );
const std::vector<std::pair<int,int> > D2_WN( { {65,13} } );
const std::vector<std::pair<int,int> > D2_TOC( { {78,5},{91,12} } );
const std::vector<std::pair<int,int> > D2_TGD1( { {103,10} } );
const std::vector<std::pair<int,int> > D2_TGD2( { {121,10} } );
// D2 NAV, SUBFRAME 1, PAGE 2
const std::vector<std::pair<int,int> > D2_ALPHA0( { {47,6}, {61,2} } );
const std::vector<std::pair<int,int> > D2_ALPHA1( { {63,8} } );
const std::vector<std::pair<int,int> > D2_ALPHA2( { {71,8} } );
const std::vector<std::pair<int,int> > D2_ALPHA3( { {79,4}, {91,4} } );
const std::vector<std::pair<int,int> > D2_BETA0( { {95,8} } );
const std::vector<std::pair<int,int> > D2_BETA1( { {103,8} } );
const std::vector<std::pair<int,int> > D2_BETA2( { {111,2}, {121,6} } );
const std::vector<std::pair<int,int> > D2_BETA3( { {127,8} } );
// D2 NAV, SUBFRAME 1, PAGE 3
const std::vector<std::pair<int,int> > D2_A0( { {101,12},{121,12} } );
const std::vector<std::pair<int,int> > D2_A1_MSB( { {133,4} } );
// D2 NAV, SUBFRAME 1, PAGE 4
const std::vector<std::pair<int,int> > D2_A1_LSB( { {47,6}, {121, 12} } );
const std::vector<std::pair<int,int> > D2_A2( { {73,10}, {91,1} } );
const std::vector<std::pair<int,int> > D2_AODE( { {92,5} } );
const std::vector<std::pair<int,int> > D2_DELTA_N( { {97,16} } );
const std::vector<std::pair<int,int> > D2_CUC_MSB( { {121,14} } );
// D2 NAV, SUBFRAME 1, PAGE 5
const std::vector<std::pair<int,int> > D2_CUC_LSB( { {47,4} } );
const std::vector<std::pair<int,int> > D2_M0( { {51,2}, {61,22}, {91,8} } );
const std::vector<std::pair<int,int> > D2_CUS( { {99,14}, {121, 4} } );
const std::vector<std::pair<int,int> > D2_E_MSB( { {125,10} } );
// D2 NAV, SUBFRAME 1, PAGE 6
const std::vector<std::pair<int,int> > D2_E_LSB( { {47,6}, {61, 16} } );
const std::vector<std::pair<int,int> > D2_SQRT_A( { {77,6},{91,22}, {121,4} } );
const std::vector<std::pair<int,int> > D2_CIC_MSB( { {125,10} } );
// D2 NAV, SUBFRAME 1, PAGE 7
const std::vector<std::pair<int,int> > D2_CIC_LSB( { {47,6}, {61,2} } );
const std::vector<std::pair<int,int> > D2_CIS( { {63,18} } );
const std::vector<std::pair<int,int> > D2_TOE( { {81,2},{91,15} } );
const std::vector<std::pair<int,int> > D2_I0_MSB( { {106,7},{121,14} } );
// D2 NAV, SUBFRAME 1, PAGE 8
const std::vector<std::pair<int,int> > D2_I0_LSB( { {47,6},{61,5} } );
const std::vector<std::pair<int,int> > D2_CRC( { {66,17},{91,1} } );
const std::vector<std::pair<int,int> > D2_CRS( { {92,18} } );
const std::vector<std::pair<int,int> > D2_OMEGA_DOT_MSB( { {110,3},{121,16} } );
// D2 NAV, SUBFRAME 1, PAGE 9
const std::vector<std::pair<int,int> > D2_OMEGA_DOT_LSB( { {47,5} } );
const std::vector<std::pair<int,int> > D2_OMEGA0( { {52,1},{61,22},{91,9} } );
const std::vector<std::pair<int,int> > D2_OMEGA_MSB( { {100,13},{121,14} } );
// D2 NAV, SUBFRAME 1, PAGE 10
const std::vector<std::pair<int,int> > D2_OMEGA_LSB( { {47,5} } );
const std::vector<std::pair<int,int> > D2_IDOT( { {52,1},{61,13} } );
#endif /* GNSS_SDR_BEIDOU_B1I_H_ */

355
src/core/system_parameters/beidou_dnav_navigation_message.cc
View File

@ -47,6 +47,33 @@ void Beidou_Dnav_Navigation_Message::reset()
flag_utc_model_valid = false;
flag_crc_test = false;
flag_sf1_p1 = false;
flag_sf1_p2 = false;
flag_sf1_p3 = false;
flag_sf1_p4 = false;
flag_sf1_p5 = false;
flag_sf1_p6 = false;
flag_sf1_p7 = false;
flag_sf1_p8 = false;
flag_sf1_p9 = false;
flag_sf1_p10 = false;
// D2 NAV Decoding UNique Attributes
d_a1_msb = 0;
d_a1_lsb = 0;
d_Cuc_msb = 0;
d_Cuc_lsb = 0;
d_eccentricity_msb = 0;
d_eccentricity_lsb = 0;
d_Cic_msb = 0;
d_Cic_lsb = 0;
d_i_0_msb = 0;
d_i_0_lsb = 0;
d_OMEGA_msb = 0;
d_OMEGA_lsb = 0;
d_OMEGA_DOT_msb = 0;
d_OMEGA_DOT_lsb = 0;
d_SOW = 0;
d_SOW_SF1 = 0;
d_SOW_SF2 = 0;
@ -58,7 +85,7 @@ void Beidou_Dnav_Navigation_Message::reset()
d_Delta_n = 0;
d_M_0 = 0;
d_Cuc = 0;
d_e_eccentricity = 0;
d_eccentricity = 0;
d_Cus = 0;
d_sqrt_A = 0;
d_Toe_sf2 = 0;
@ -345,7 +372,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
for (int ii = 1; ii < 20; ii++)
{
E_old = E;
E = M + d_e_eccentricity * sin(E);
E = M + d_eccentricity * sin(E);
dE = fmod(E - E_old, 2 * BEIDOU_PI);
if (fabs(dE) < 1e-12)
{
@ -355,11 +382,11 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
}
// Compute relativistic correction term
d_dtr = BEIDOU_F * d_e_eccentricity * d_sqrt_A * sin(E);
d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E);
// Compute the true anomaly
double tmp_Y = sqrt(1.0 - d_e_eccentricity * d_e_eccentricity) * sin(E);
double tmp_X = cos(E) - d_e_eccentricity;
double tmp_Y = sqrt(1.0 - d_eccentricity * d_eccentricity) * sin(E);
double tmp_X = cos(E) - d_eccentricity;
nu = atan2(tmp_Y, tmp_X);
// Compute angle phi (argument of Latitude)
@ -372,7 +399,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi);
// Correct radius
r = a * (1 - d_e_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi);
r = a * (1 - d_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi);
// Correct inclination
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi);
@ -395,7 +422,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
d_satvel_Z = d_satpos_Y * sin(i);
}
int Beidou_Dnav_Navigation_Message::subframe_decoder(std::string const &subframe)
int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subframe)
{
int subframe_ID = 0;
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
@ -474,7 +501,7 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(std::string const &subframe
d_AODE = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_AODE));
// Set system flags for message reception
flag_sf_1 = true;
flag_sf1 = true;
flag_iono_valid = true;
flag_utc_model_valid = true;
flag_new_SOW_available = true;
@ -493,8 +520,8 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(std::string const &subframe
d_M_0 = static_cast<double>(read_navigation_signed(subframe_bits, D1_M0));
d_M_0 = d_M_0 * D1_M0_LSB;
d_e_eccentricity = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
d_e_eccentricity = d_e_eccentricity * D1_E_LSB;
d_eccentricity = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
d_eccentricity = d_eccentricity * D1_E_LSB;
d_Cus = static_cast<double>(read_navigation_signed(subframe_bits, D1_CUS));
d_Cus = d_Cus * D1_CUS_LSB;
@ -512,7 +539,7 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(std::string const &subframe
d_Toe_sf2 = static_cast<double>((static_cast<int>(d_Toe_sf2) << 15));
// Set system flags for message reception
flag_sf_2 = true;
flag_sf2 = true;
flag_new_SOW_available = true;
break;
@ -766,6 +793,304 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(std::string const &subframe
return subframe_ID;
}
int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subframe)
{
int subframe_ID = 0;
int page_ID = 0;
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_FRAID));
page_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_PNUM));
// Perform crc computtaion (tbd)
flag_crc_test = true;
// Decode all 5 sub-frames
switch (subframe_ID)
{
//--- Decode the sub-frame id ------------------------------------------
case 1:
switch(page_ID)
{
case 1:
i_SV_health = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_SAT_H1));
d_AODC = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_AODC));
i_SV_accuracy = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_URAI)); // (20.3.3.3.1.3)
i_BEIDOU_week = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_WN));
d_Toc = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_TOC)) * D1_TOC_LSB;
d_TGD1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_TGD1)) * D1_TGD1_LSB;
// Set system flags for message reception
flag_sf1_p1 = true;
break;
case 2:
d_alpha0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA0))*D1_ALPHA0_LSB;
d_alpha1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA1))*D1_ALPHA1_LSB;
d_alpha2 = static_cast<double>(read_navigation_signed(subframe_bits, D2_ALPHA2))*D1_ALPHA2_LSB;
d_alpha3 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA3))*D1_ALPHA3_LSB;
d_beta0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA0))*D1_BETA0_LSB;
d_beta1 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA1))*D1_BETA1_LSB;
d_beta2 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA2))*D1_BETA2_LSB;
d_beta3 = static_cast<double>(read_navigation_signed(subframe_bits, D2_BETA3))*D1_BETA3_LSB;
// Set system flags for message reception
flag_sf1_p2 = true;
break;
case 3:
d_a0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_A0))*D1_A0_LSB;
d_a1_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_MSB));
// Set system flags for message reception
flag_sf1_p3 = true;
break;
case 4:
d_a1_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_A1_LSB));
d_a2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_A2))*D1_A2_LSB;
d_AODE = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_AODE));
d_Delta_n = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_DELTA_N))*D1_DELTA_N_LSB;
d_Cuc_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC_MSB));
// Set system flags for message reception
flag_sf1_p4 = true;
break;
case 5:
d_Cuc_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUC_LSB));
d_M_0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_M0))*D1_M0_LSB;
d_Cus = static_cast<double>(read_navigation_signed(subframe_bits, D2_CUS))*D1_CUS_LSB;
d_eccentricity_msb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_MSB));
// Set system flags for message reception
flag_sf1_p5 = true;
break;
case 6:
d_eccentricity_lsb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_LSB));
d_sqrt_A = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_SQRT_A))*D1_SQRT_A_LSB;
d_Cic_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC_MSB));
// Set system flags for message reception
flag_sf1_p6 = true;
break;
case 7:
d_Cic_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIC_LSB));
d_Cis = static_cast<double>(read_navigation_signed(subframe_bits, D2_CIS))*D1_CIS_LSB;
d_Toe = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_TOE))*D1_TOE_LSB;
d_i_0_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0_MSB));
// Set system flags for message reception
flag_sf1_p7 = true;
break;
case 8:
d_i_0_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_I0_LSB));
d_Crc = static_cast<double>(read_navigation_signed(subframe_bits, D2_CRC))*D1_CRC_LSB;
d_Crs = static_cast<double>(read_navigation_signed(subframe_bits, D2_CRS))*D1_CRS_LSB;
d_OMEGA_DOT_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT_MSB));
// Set system flags for message reception
flag_sf1_p8 = true;
break;
case 9:
d_OMEGA_DOT_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_DOT_LSB));
d_OMEGA0 = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA0))*D1_OMEGA0_LSB;
d_OMEGA_msb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_MSB));
// Set system flags for message reception
flag_sf1_p9 = true;
break;
case 10:
d_OMEGA_lsb = static_cast<double>(read_navigation_signed(subframe_bits, D2_OMEGA_LSB));
d_IDOT = static_cast<double>(read_navigation_signed(subframe_bits, D1_IDOT))*D1_IDOT_LSB;
// Set system flags for message reception
flag_sf1_p10 = true;
break;
default:
break;
}
break;
case 2: //--- It is subframe 2 -------------------
break;
case 3: // --- It is subframe 3 -------------------------------------
break;
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
d_SOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF4; // Set transmission time
d_SQRT_A_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC));
d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB;
d_A1_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1_ALMANAC));
d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB;
d_A0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0_ALMANAC));
d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB;
d_OMEGA0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC));
d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB;
d_E_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB;
d_DELTA_I = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_I));
d_DELTA_I = D1_DELTA_I_LSB;
d_TOA = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOA));
d_TOA = d_TOA * D1_TOA_LSB;
d_OMEGA_DOT_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC));
d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB;
d_OMEGA_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC));
d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB;
d_M0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_M0));
d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB;
// Set system flags for message reception
flag_sf_4 = true;
flag_new_SOW_available = true;
break;
case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
int SV_page_5;
d_SOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF5; // Set transmission time
SV_page_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_PNUM));
if (SV_page_5 < 7)
{
d_SOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SQRT_A_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC));
d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB;
d_A1_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1_ALMANAC));
d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB;
d_A0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0_ALMANAC));
d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB;
d_OMEGA0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC));
d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB;
d_E_ALMANAC = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_E));
d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB;
d_DELTA_I = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_I));
d_DELTA_I = D1_DELTA_I_LSB;
d_TOA = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOA));
d_TOA = d_TOA * D1_TOA_LSB;
d_OMEGA_DOT_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC));
d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB;
d_OMEGA_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC));
d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB;
d_M0_ALMANAC = static_cast<double>(read_navigation_signed(subframe_bits, D1_M0));
d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB;
}
if (SV_page_5 == 7)
{
//! \TODO read almanac
almanacHealth[1] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA1));
almanacHealth[2] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA2));
almanacHealth[3] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA3));
almanacHealth[4] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA4));
almanacHealth[5] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA5));
almanacHealth[6] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA6));
almanacHealth[7] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA7));
almanacHealth[8] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA8));
almanacHealth[9] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA9));
almanacHealth[10] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA10));
almanacHealth[11] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA11));
almanacHealth[12] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA12));
almanacHealth[13] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA13));
almanacHealth[14] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA14));
almanacHealth[15] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA15));
almanacHealth[16] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA16));
almanacHealth[17] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA17));
almanacHealth[18] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA18));
almanacHealth[19] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA19));
}
if (SV_page_5 == 8) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
almanacHealth[20] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA20));
almanacHealth[21] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA21));
almanacHealth[22] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA22));
almanacHealth[23] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA23));
almanacHealth[24] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA24));
almanacHealth[25] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA25));
almanacHealth[26] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA26));
almanacHealth[27] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA27));
almanacHealth[28] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA28));
almanacHealth[29] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA29));
almanacHealth[30] = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_HEA30));
almanac_WN = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_WNA));
d_toa2 = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_TOA2));
}
if (SV_page_5 == 9) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
d_A0GPS = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GPS));
d_A0GPS = d_A0GPS * D1_A0GPS_LSB;
d_A1GPS = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GPS));
d_A1GPS = d_A1GPS * D1_A1GPS_LSB;
d_A0GAL = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GAL));
d_A0GAL = d_A0GAL * D1_A0GAL_LSB;
d_A1GAL = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GAL));
d_A1GAL = d_A1GAL* D1_A1GAL_LSB;
d_A0GLO = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0GLO));
d_A0GLO = d_A0GLO * D1_A0GLO_LSB;
d_A1GLO = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1GLO));
d_A1GLO = d_A1GLO* D1_A1GLO_LSB;
}
if (SV_page_5 == 10)
{
d_DeltaT_LS = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_T_LS));
d_DeltaT_LSF = static_cast<double>(read_navigation_signed(subframe_bits, D1_DELTA_T_LSF));
i_WN_LSF = static_cast<double>(read_navigation_signed(subframe_bits, D1_WN_LSF));
d_A0UTC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A0UTC));
d_A0UTC = d_A0GPS * D1_A0GPS_LSB;
d_A1UTC = static_cast<double>(read_navigation_signed(subframe_bits, D1_A1UTC));
d_A1UTC = d_A1UTC * D1_A1UTC_LSB;
}
// Set system flags for message reception
flag_sf_5 = true;
flag_new_SOW_available = true;
break;
default:
break;
} // switch subframeID ...
return subframe_ID;
}
double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_corrected) const
{
double t_utc;
@ -822,7 +1147,7 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
ephemeris.d_Delta_n = d_Delta_n;
ephemeris.d_M_0 = d_M_0;
ephemeris.d_Cuc = d_Cuc;
ephemeris.d_e_eccentricity = d_e_eccentricity;
ephemeris.d_e_eccentricity = d_eccentricity;
ephemeris.d_Cus = d_Cus;
ephemeris.d_sqrt_A = d_sqrt_A;
ephemeris.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB) ;
@ -900,13 +1225,13 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
{
if ((flag_sf_1 == true) and (flag_sf_2 == true) and (flag_sf_3 == true))
if ((flag_sf1 == true) and (flag_sf2 == true) and (flag_sf_3 == true))
{
// if all ephemeris pages have the same IOD, then they belong to the same block
if (d_previous_aode != d_AODE)
{
flag_sf_1 = false; // clear the flag
flag_sf_2 = false; // clear the flag
flag_sf1 = false; // clear the flag
flag_sf2 = false; // clear the flag
flag_sf_3 = false; // clear the flag
flag_eph_valid = true;
// Update the time of ephemeris information

57
src/core/system_parameters/beidou_dnav_navigation_message.h
View File

@ -1,7 +1,8 @@
/*!
* \file beidou_navigation_message.h
* \brief Interface of a BeiDou D1 NAV Data message decoder
* \brief Interface of a BeiDou DNAV Data message decoder
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
* \author Damian Miralles, 2018. dmiralles2009@gmail.com
*
* -------------------------------------------------------------------------
*
@ -72,8 +73,8 @@ public:
bool flag_eph_valid;
bool flag_utc_model_valid;
bool flag_iono_valid;
bool flag_sf_1;
bool flag_sf_2;
bool flag_sf1;
bool flag_sf2;
bool flag_sf_3;
bool flag_sf_4;
bool flag_sf_5;
@ -81,6 +82,17 @@ public:
bool flag_crc_test;
double d_previous_aode;
bool flag_sf1_p1; //!< D2 NAV Message, Subframe 1, Pagge 1 decoded indicator
bool flag_sf1_p2; //!< D2 NAV Message, Subframe 1, Pagge 2 decoded indicator
bool flag_sf1_p3; //!< D2 NAV Message, Subframe 1, Pagge 3 decoded indicator
bool flag_sf1_p4; //!< D2 NAV Message, Subframe 1, Pagge 4 decoded indicator
bool flag_sf1_p5; //!< D2 NAV Message, Subframe 1, Pagge 5 decoded indicator
bool flag_sf1_p6; //!< D2 NAV Message, Subframe 1, Pagge 6 decoded indicator
bool flag_sf1_p7; //!< D2 NAV Message, Subframe 1, Pagge 7 decoded indicator
bool flag_sf1_p8; //!< D2 NAV Message, Subframe 1, Pagge 8 decoded indicator
bool flag_sf1_p9; //!< D2 NAV Message, Subframe 1, Pagge 9 decoded indicator
bool flag_sf1_p10; //!< D2 NAV Message, Subframe 1, Pagge 10 decoded indicator
//broadcast orbit 1
double d_SOW; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s]
double d_SOW_SF1; //!< Time of BeiDou Week from HOW word of Subframe 1 [s]
@ -95,13 +107,13 @@ public:
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
//broadcast orbit 2
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_eccentricity; //!< Eccentricity [dimensionless]
double d_eccentricity; //!< Eccentricity [dimensionless]
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
//broadcast orbit 3
double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2
double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3
double d_Toe2;
double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2, D1 Message
double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3, D1 Message
double d_Toe; //!< Ephemeris data reference time of week in subframe 1, D2 Message
double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
@ -131,9 +143,25 @@ public:
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
double d_a0;
double d_a1;
double d_a2;
double d_a0; //!< Clock correction parameters
double d_a1; //!< Clock correction parameters
double d_a2; //!< Clock correction parameters
// D2 NAV Message Decoding
double d_a1_msb; //!< Clock correction parameters, D2 NAV MSB
double d_a1_lsb; //!< Clock correction parameters, D2 NAV LSB
double d_Cuc_msb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_Cuc_lsb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_eccentricity_msb; //!< Eccentricity [dimensionless]
double d_eccentricity_lsb; //!< Eccentricity [dimensionless]
double d_Cic_msb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_Cic_lsb; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_i_0_msb; //!< Inclination Angle at Reference Time [semi-circles]
double d_i_0_lsb; //!< Inclination Angle at Reference Time [semi-circles]
double d_OMEGA_msb; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_lsb; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT_msb; //!< Rate of Right Ascension [semi-circles/s]
double d_OMEGA_DOT_lsb; //!< Rate of Right Ascension [semi-circles/s]
// Almanac
double d_Toa; //!< Almanac reference time [s]
@ -242,9 +270,14 @@ public:
/*!
* \brief Decodes the GPS NAV message
* \brief Decodes the BDS D1 NAV message
*/
int subframe_decoder(std::string const &subframe);
int d1_subframe_decoder(std::string const &subframe);
/*!
* \brief Decodes the BDS D2 NAV message
*/
int d2_subframe_decoder(std::string const &subframe);
/*!
* \brief Computes the position of the satellite