Added GPS CNAV ephemeris, iono, and utc model objects. Work in progress

towards GPS CNAV telemetry decoder.

src/core/system_parameters/CMakeLists.txt

@@ -38,6 +38,9 @@ set(SYSTEM_PARAMETERS_SOURCES
 	 sbas_telemetry_data.cc
 	 galileo_fnav_message.cc
 	 gps_cnav_ephemeris.cc
+	 gps_cnav_navigation_message.cc
+	 gps_cnav_iono.cc
+	 gps_cnav_utc_model.cc
 )
 
 

src/core/system_parameters/GPS_L2C.h

@@ -60,7 +60,6 @@ const double GPS_L2_L_CODE_RATE_HZ = 0.5115e6;   //!< GPS L2 L code rate [chips/
 const int GPS_L2_L_CODE_LENGTH_CHIPS = 767250;   //!< GPS L2 L code length [chips]
 const double GPS_L2_L_PERIOD = 1.5;              //!< GPS L2 L code period [seconds]
 
-
 const int32_t GPS_L2C_M_INIT_REG[115] =
 {0742417664, 0756014035,0002747144,0066265724, // 1:4
 0601403471, 0703232733, 0124510070,0617316361, // 5:8
@@ -97,6 +96,8 @@ const int32_t GPS_L2C_M_INIT_REG[115] =
 
 #define GPS_CNAV_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
 
+const int GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
+
 // common to all messages
 const std::vector<std::pair<int,int> > CNAV_PRN( { {9,6} } );
 const std::vector<std::pair<int,int> > CNAV_MSG_TYPE( { {15,6} } );
@@ -185,6 +186,7 @@ const std::vector<std::pair<int,int> > CNAV_ISCL5I({{167,13}});
 const double CNAV_ISCL5I_LSB = TWO_N35;
 const std::vector<std::pair<int,int> > CNAV_ISCL5Q({{180,13}});
 const double CNAV_ISCL5Q_LSB = TWO_N35;
+//Ionospheric parameters
 const std::vector<std::pair<int,int> > CNAV_ALPHA0({{193,8}});
 const double CNAV_ALPHA0_LSB = TWO_N30;
 const std::vector<std::pair<int,int> > CNAV_ALPHA1({{201,8}});

src/core/system_parameters/gps_cnav_ephemeris.cc

@@ -43,7 +43,8 @@ Gps_CNAV_Ephemeris::Gps_CNAV_Ephemeris()
     d_e_eccentricity = 0;
     d_Cus = 0;
 
-    d_Toe = 0;
+    d_Toe1 = 0;
+    d_Toe2 = 0;
     d_Toc = 0;
     d_Cic = 0;
     d_OMEGA0 = 0;

src/core/system_parameters/gps_cnav_ephemeris.h

@@ -65,7 +65,8 @@ public:
     double d_e_eccentricity; //!< Eccentricity
     double d_OMEGA;          //!< Argument of Perigee [semi-cicles]
     double d_OMEGA0;         //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-cicles]
-    double d_Toe;            //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+    double d_Toe1;            //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+    double d_Toe2;            //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
     double d_DELTA_OMEGA_DOT;      //!< Rate of Right Ascension  difference [semi-circles/s]
     double d_i_0;            //!< Inclination Angle at Reference Time [semi-circles]
     double d_IDOT;           //!< Rate of Inclination Angle [semi-circles/s]
@@ -109,6 +110,7 @@ public:
      *  accompanying alert, is less than 1E-8 per hour.
      */
     bool b_integrity_status_flag;
+    bool b_l2c_phasing_flag;
     bool 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.
     bool b_antispoofing_flag;  //!<  If true, the AntiSpoofing mode is ON in that SV
 
@@ -143,8 +145,9 @@ public:
         archive & make_nvp("d_Cuc", d_Cuc);          //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
         archive & make_nvp("d_e_eccentricity", d_e_eccentricity); //!< Eccentricity [dimensionless]
         archive & make_nvp("d_Cus", d_Cus);          //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
-        archive & make_nvp("d_Toe", d_Toe);          //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+        archive & make_nvp("d_Toe1", d_Toe1);          //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
-        archive & make_nvp("d_Toc", d_Toe);          //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
+        archive & make_nvp("d_Toe2", d_Toe2);          //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
+        archive & make_nvp("d_Toc", d_Toc);          //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
         archive & make_nvp("d_Cic", d_Cic);          //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
         archive & make_nvp("d_OMEGA0", d_OMEGA0);    //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
         archive & make_nvp("d_Cis", d_Cis);          //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]

src/core/system_parameters/gps_cnav_iono.cc

@@ -0,0 +1,47 @@
+/*!
+ * \file gps_cnav_iono.cc
+ * \brief  Interface of a GPS CNAV IONOSPHERIC MODEL storage
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_cnav_iono.h"
+
+Gps_CNAV_Iono::Gps_CNAV_Iono()
+{
+    valid = false;
+    d_alpha0 = 0.0;
+    d_alpha1 = 0.0;
+    d_alpha2 = 0.0;
+    d_alpha3 = 0.0;
+    d_beta0 = 0.0;
+    d_beta1 = 0.0;
+    d_beta2 = 0.0;
+    d_beta3 = 0.0;
+}
+

src/core/system_parameters/gps_cnav_iono.h

@@ -0,0 +1,81 @@
+/*!
+ * \file gps_cnav_iono.h
+ * \brief  Interface of a GPS CNAV IONOSPHERIC MODEL storage
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GPS_CNAV_IONO_H_
+#define GNSS_SDR_GPS_CNAV_IONO_H_
+
+#include "GPS_L2C.h"
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
+
+
+/*!
+ * \brief This class is a storage for the GPS IONOSPHERIC data as described in IS-GPS-200E
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Gps_CNAV_Iono
+{
+public:
+    bool valid;           //!< Valid flag
+    // Ionospheric parameters
+    double d_alpha0;      //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
+    double d_alpha1;      //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
+    double d_alpha2;      //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
+    double d_alpha3;      //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
+    double d_beta0;       //!< Coefficient 0 of a cubic equation representing the period of the model [s]
+    double d_beta1;       //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
+    double d_beta2;       //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
+    double d_beta3;       //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
+
+    Gps_CNAV_Iono();           //!< Default constructor
+
+    template<class Archive>
+
+    /*!
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+        archive & make_nvp("d_alpha0",d_alpha0);
+        archive & make_nvp("d_alpha1",d_alpha1);
+        archive & make_nvp("d_alpha2",d_alpha2);
+        archive & make_nvp("d_alpha3",d_alpha3);
+        archive & make_nvp("d_beta0",d_beta0);
+        archive & make_nvp("d_beta1",d_beta1);
+        archive & make_nvp("d_beta2",d_beta2);
+        archive & make_nvp("d_beta3",d_beta3);
+    }
+};
+
+#endif

src/core/system_parameters/gps_cnav_navigation_message.cc

@@ -0,0 +1,382 @@
+/*!
+ * \file Gps_CNAV_Navigation_Message.cc
+ * \brief  Implementation of a GPS NAV Data message decoder as described in IS-GPS-200E
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_cnav_navigation_message.h"
+#include <cmath>
+#include "boost/date_time/posix_time/posix_time.hpp"
+
+
+void Gps_CNAV_Navigation_Message::reset()
+{
+    b_valid_ephemeris_set_flag = false;
+
+    // satellite positions
+    d_satpos_X = 0;
+    d_satpos_Y = 0;
+    d_satpos_Z = 0;
+
+    // info
+    i_channel_ID = 0;
+    i_satellite_PRN = 0;
+
+    // Satellite velocity
+    d_satvel_X = 0;
+    d_satvel_Y = 0;
+    d_satvel_Z = 0;
+
+    //Plane A (info from http://www.navcen.uscg.gov/?Do=constellationStatus)
+    satelliteBlock[9] = "IIA";
+    satelliteBlock[31] = "IIR-M";
+    satelliteBlock[8] = "IIA";
+    satelliteBlock[7] = "IIR-M";
+    satelliteBlock[27] = "IIA";
+    //Plane B
+    satelliteBlock[16] = "IIR";
+    satelliteBlock[25] = "IIF";
+    satelliteBlock[28] = "IIR";
+    satelliteBlock[12] = "IIR-M";
+    satelliteBlock[30] = "IIA";
+    //Plane C
+    satelliteBlock[29] = "IIR-M";
+    satelliteBlock[3] = "IIA";
+    satelliteBlock[19] = "IIR";
+    satelliteBlock[17] = "IIR-M";
+    satelliteBlock[6] = "IIA";
+    //Plane D
+    satelliteBlock[2] = "IIR";
+    satelliteBlock[1] = "IIF";
+    satelliteBlock[21] = "IIR";
+    satelliteBlock[4] = "IIA";
+    satelliteBlock[11] = "IIR";
+    satelliteBlock[24] = "IIA"; // Decommissioned from active service on 04 Nov 2011
+    //Plane E
+    satelliteBlock[20] = "IIR";
+    satelliteBlock[22] = "IIR";
+    satelliteBlock[5] = "IIR-M";
+    satelliteBlock[18] = "IIR";
+    satelliteBlock[32] = "IIA";
+    satelliteBlock[10] = "IIA";
+    //Plane F
+    satelliteBlock[14] = "IIR";
+    satelliteBlock[15] = "IIR-M";
+    satelliteBlock[13] = "IIR";
+    satelliteBlock[23] = "IIR";
+    satelliteBlock[26] = "IIA";
+}
+
+Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
+{
+    reset();
+}
+
+void Gps_CNAV_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
+{
+    std::cout << " Word =";
+    std::cout << std::bitset<32>(GPS_word);
+    std::cout << std::endl;
+}
+
+bool Gps_CNAV_Navigation_Message::read_navigation_bool(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    bool value;
+
+    if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[0].first] == 1)
+        {
+            value = true;
+        }
+    else
+        {
+            value = false;
+        }
+    return value;
+}
+
+
+unsigned long int Gps_CNAV_Navigation_Message::read_navigation_unsigned(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    unsigned long int value = 0;
+    int num_of_slices = parameter.size();
+    for (int i = 0; i < num_of_slices; i++)
+        {
+            for (int j = 0; j < parameter[i].second; j++)
+                {
+                    value <<= 1; //shift left
+                    if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[i].first - j] == 1)
+                        {
+                            value += 1; // insert the bit
+                        }
+                }
+        }
+    return value;
+}
+
+
+signed long int Gps_CNAV_Navigation_Message::read_navigation_signed(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter)
+{
+    signed long int value = 0;
+    int num_of_slices = parameter.size();
+    // Discriminate between 64 bits and 32 bits compiler
+    int long_int_size_bytes = sizeof(signed long int);
+    if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
+        {
+            // read the MSB and perform the sign extension
+            if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[0].first] == 1)
+                {
+                    value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable
+                }
+            else
+                {
+                    value &= 0;
+                }
+
+            for (int i = 0; i < num_of_slices; i++)
+                {
+                    for (int j = 0; j < parameter[i].second; j++)
+                        {
+                            value <<= 1; //shift left
+                            value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
+                            if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[i].first - j] == 1)
+                                {
+                                    value += 1; // insert the bit
+                                }
+                        }
+                }
+        }
+    else  // we assume we are in a 32 bits system
+        {
+            // read the MSB and perform the sign extension
+            if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[0].first] == 1)
+                {
+                    value ^= 0xFFFFFFFF;
+                }
+            else
+                {
+                    value &= 0;
+                }
+
+            for (int i = 0; i < num_of_slices; i++)
+                {
+                    for (int j = 0; j < parameter[i].second; j++)
+                        {
+                            value <<= 1; //shift left
+                            value &= 0xFFFFFFFE; //reset the corresponding bit
+                            if (bits[GPS_L2_CNAV_DATA_PAGE_BITS - parameter[i].first - j] == 1)
+                                {
+                                    value += 1; // insert the bit
+                                }
+                        }
+                }
+        }
+    return value;
+}
+
+
+void Gps_CNAV_Navigation_Message::decode_page(std::string data)
+{
+    std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> data_bits(data);
+
+    int PRN;
+    int page_type;
+    double TOW;
+    bool alert_flag;
+
+    // common to all messages
+    PRN = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_PRN));
+    TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW));
+    alert_flag= static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
+    page_type = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
+
+    switch(page_type)
+    {
+	case 10: // Ephemeris 1/2
+		ephemeris_record.i_GPS_week=static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN));
+		ephemeris_record.i_signal_health=static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
+		ephemeris_record.d_Top=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1));
+		ephemeris_record.d_Top=ephemeris_record.d_Top*CNAV_TOP1_LSB;
+		ephemeris_record.d_URA0=static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
+		ephemeris_record.d_Toe1=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1));
+		ephemeris_record.d_Toe1=ephemeris_record.d_Toe1*CNAV_TOE1_LSB;
+		ephemeris_record.d_DELTA_A=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
+		ephemeris_record.d_DELTA_A=ephemeris_record.d_DELTA_A*CNAV_DELTA_A_LSB;
+		ephemeris_record.d_A_DOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
+		ephemeris_record.d_A_DOT=ephemeris_record.d_A_DOT*CNAV_A_DOT_LSB;
+		ephemeris_record.d_Delta_n=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
+		ephemeris_record.d_Delta_n=ephemeris_record.d_Delta_n*CNAV_DELTA_N0_LSB;
+		ephemeris_record.d_DELTA_DOT_N=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
+		ephemeris_record.d_DELTA_DOT_N=ephemeris_record.d_DELTA_DOT_N*CNAV_DELTA_N0_DOT_LSB;
+		ephemeris_record.d_M_0=static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
+		ephemeris_record.d_M_0=ephemeris_record.d_M_0*CNAV_M0_LSB;
+		ephemeris_record.d_e_eccentricity=static_cast<double>(read_navigation_signed(data_bits, CNAV_E_ECCENTRICITY));
+		ephemeris_record.d_e_eccentricity=ephemeris_record.d_e_eccentricity*CNAV_E_ECCENTRICITY_LSB;
+		ephemeris_record.d_OMEGA=static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
+		ephemeris_record.d_OMEGA=ephemeris_record.d_OMEGA*CNAV_OMEGA_LSB;
+
+		ephemeris_record.b_integrity_status_flag=static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
+		ephemeris_record.b_l2c_phasing_flag=static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
+		break;
+	case 11: // Ephemeris 2/2
+		ephemeris_record.d_Toe2=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2));
+		ephemeris_record.d_Toe2=ephemeris_record.d_Toe2*CNAV_TOE2_LSB;
+		ephemeris_record.d_OMEGA0=static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
+		ephemeris_record.d_OMEGA0=ephemeris_record.d_OMEGA0*CNAV_OMEGA0_LSB;
+		ephemeris_record.d_DELTA_OMEGA_DOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
+		ephemeris_record.d_DELTA_OMEGA_DOT=ephemeris_record.d_DELTA_OMEGA_DOT*CNAV_DELTA_OMEGA_DOT_LSB;
+		ephemeris_record.d_i_0=static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
+		ephemeris_record.d_i_0=ephemeris_record.d_i_0*CNAV_I0_LSB;
+		ephemeris_record.d_IDOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
+		ephemeris_record.d_IDOT=ephemeris_record.d_IDOT*CNAV_I0_DOT_LSB;
+		ephemeris_record.d_Cis=static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
+		ephemeris_record.d_Cis=ephemeris_record.d_Cis*CNAV_CIS_LSB;
+		ephemeris_record.d_Cic=static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
+		ephemeris_record.d_Cic=ephemeris_record.d_Cic*CNAV_CIC_LSB;
+		ephemeris_record.d_Crs=static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
+		ephemeris_record.d_Crs=ephemeris_record.d_Crs*CNAV_CRS_LSB;
+		ephemeris_record.d_Crc=static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
+		ephemeris_record.d_Cic=ephemeris_record.d_Cic*CNAV_CRC_LSB;
+		ephemeris_record.d_Cus=static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
+		ephemeris_record.d_Cus=ephemeris_record.d_Cus*CNAV_CUS_LSB;
+		ephemeris_record.d_Cuc=static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
+		ephemeris_record.d_Cuc=ephemeris_record.d_Cuc*CNAV_CUS_LSB;
+	    break;
+	case 30: // (CLOCK, IONO, GRUP DELAY)
+		//clock
+		ephemeris_record.d_Toc=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC));
+		ephemeris_record.d_Toc=ephemeris_record.d_Toc*CNAV_TOC_LSB;
+		ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
+		ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
+		ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
+		ephemeris_record.d_A_f0=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
+		ephemeris_record.d_A_f0=ephemeris_record.d_A_f0*CNAV_AF0_LSB;
+		ephemeris_record.d_A_f1=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
+		ephemeris_record.d_A_f1=ephemeris_record.d_A_f1*CNAV_AF1_LSB;
+		ephemeris_record.d_A_f2=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
+		ephemeris_record.d_A_f2=ephemeris_record.d_A_f2*CNAV_AF2_LSB;
+		//group delays
+		ephemeris_record.d_TGD=static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
+		ephemeris_record.d_TGD=ephemeris_record.d_TGD*CNAV_TGD_LSB;
+		ephemeris_record.d_ISCL1=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
+		ephemeris_record.d_ISCL1=ephemeris_record.d_ISCL1*CNAV_ISCL1_LSB;
+		ephemeris_record.d_ISCL2=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
+		ephemeris_record.d_ISCL2=ephemeris_record.d_ISCL2*CNAV_ISCL2_LSB;
+		ephemeris_record.d_ISCL5I=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
+		ephemeris_record.d_ISCL5I=ephemeris_record.d_ISCL5I*CNAV_ISCL5I_LSB;
+		ephemeris_record.d_ISCL5Q=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
+		ephemeris_record.d_ISCL5Q=ephemeris_record.d_ISCL5Q*CNAV_ISCL5Q_LSB;
+		//iono
+		iono_record.d_alpha0=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
+		iono_record.d_alpha0=iono_record.d_alpha0*CNAV_ALPHA0_LSB;
+		iono_record.d_alpha1=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
+		iono_record.d_alpha1=iono_record.d_alpha1*CNAV_ALPHA1_LSB;
+		iono_record.d_alpha2=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
+		iono_record.d_alpha2=iono_record.d_alpha2*CNAV_ALPHA2_LSB;
+		iono_record.d_alpha3=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
+		iono_record.d_alpha3=iono_record.d_alpha3*CNAV_ALPHA3_LSB;
+		iono_record.d_beta0=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
+		iono_record.d_beta0=iono_record.d_beta0*CNAV_BETA0_LSB;
+		iono_record.d_beta1=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
+		iono_record.d_beta1=iono_record.d_beta1*CNAV_BETA1_LSB;
+		iono_record.d_beta2=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
+		iono_record.d_beta2=iono_record.d_beta2*CNAV_BETA2_LSB;
+		iono_record.d_beta3=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
+		iono_record.d_beta3=iono_record.d_beta3*CNAV_BETA3_LSB;
+		break;
+	default:
+		break;
+    }
+}
+bool Gps_CNAV_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
+{
+//    if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_iono_and_GST == true))
+//        {
+//            //if all ephemeris pages have the same IOD, then they belong to the same block
+//            if ((FNAV_IODnav_1 == FNAV_IODnav_2) and (FNAV_IODnav_3 == FNAV_IODnav_4) and (FNAV_IODnav_1 == FNAV_IODnav_3))
+//                {
+//                    std::cout << "Ephemeris (1, 2, 3) have been received and belong to the same batch" << std::endl;
+//                    flag_ephemeris_1 = false;// clear the flag
+//                    flag_ephemeris_2 = false;// clear the flag
+//                    flag_ephemeris_3 = false;// clear the flag
+//                    flag_all_ephemeris = true;
+//                    IOD_ephemeris = FNAV_IODnav_1;
+//                    std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
+//                    return true;
+//                }
+//            else
+//                {
+//                    return false;
+//                }
+//        }
+//    else
+        return false;
+}
+
+
+
+
+Gps_CNAV_Ephemeris Gps_CNAV_Navigation_Message::get_ephemeris()
+{
+    return ephemeris_record;
+}
+
+
+Gps_CNAV_Iono Gps_CNAV_Navigation_Message::get_iono()
+{
+
+    //WARNING: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
+    flag_iono_valid = false;
+    return iono_record;
+}
+
+
+Gps_CNAV_Utc_Model Gps_CNAV_Navigation_Message::get_utc_model()
+{
+    return utc_model_record;
+}
+
+
+bool Gps_CNAV_Navigation_Message::satellite_validation()
+{
+    bool flag_data_valid = false;
+    b_valid_ephemeris_set_flag = false;
+
+    // First Step:
+    // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
+    // and check if the data have been filled (!=0)
+//    if (d_TOW_SF1 != 0 and d_TOW_SF2 != 0 and d_TOW_SF3 != 0)
+//        {
+//            if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
+//                {
+//                    flag_data_valid = true;
+//                    b_valid_ephemeris_set_flag = true;
+//                }
+//        }
+    return flag_data_valid;
+}

src/core/system_parameters/gps_cnav_navigation_message.h

@@ -0,0 +1,121 @@
+/*!
+ * \file Gps_CNAV_Navigation_Message.h
+ * \brief  Interface of a GPS NAV Data message decoder
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_Gps_CNAV_Navigation_Message_H_
+#define GNSS_SDR_Gps_CNAV_Navigation_Message_H_
+
+#include <algorithm>
+#include <bitset>
+#include <cmath>
+#include <iostream>
+#include <map>
+#include <string>
+#include <vector>
+#include <utility>
+#include "boost/assign.hpp"
+#include "GPS_L2C.h"
+#include "gps_cnav_ephemeris.h"
+#include "gps_cnav_iono.h"
+#include "gps_cnav_utc_model.h"
+//TODO: Create GPS CNAV almanac
+//#include "gps_almanac.h"
+
+
+
+/*!
+ * \brief This class decodes a GPS CNAV Data message as described in IS-GPS-200E
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Gps_CNAV_Navigation_Message
+{
+private:
+    unsigned long int read_navigation_unsigned(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    signed long int read_navigation_signed(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    bool read_navigation_bool(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter);
+    void print_gps_word_bytes(unsigned int GPS_word);
+
+    Gps_CNAV_Ephemeris ephemeris_record;
+    Gps_CNAV_Iono iono_record;
+    Gps_CNAV_Utc_Model utc_model_record;
+
+public:
+
+    bool flag_iono_valid; //!< If set, it indicates that the ionospheric parameters are filled (page 18 has arrived and decoded)
+    bool b_valid_ephemeris_set_flag; // flag indicating that this ephemeris set have passed the validation check
+
+    std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
+
+    // satellite positions
+    double d_satpos_X;       //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
+    double d_satpos_Y;       //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
+    double d_satpos_Z;       //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
+
+    // satellite identification info
+    int i_channel_ID;
+    unsigned int i_satellite_PRN;
+
+    // Satellite velocity
+    double d_satvel_X;    //!< Earth-fixed velocity coordinate x of the satellite [m]
+    double d_satvel_Y;    //!< Earth-fixed velocity coordinate y of the satellite [m]
+    double d_satvel_Z;    //!< Earth-fixed velocity coordinate z of the satellite [m]
+
+    // public functions
+    void reset();
+
+    void decode_page(std::string data);
+    /*!
+     * \brief Obtain a GPS SV Ephemeris class filled with current SV data
+     */
+    Gps_CNAV_Ephemeris get_ephemeris();
+
+    /*!
+     * \brief Obtain a GPS ionospheric correction parameters class filled with current SV data
+     */
+    Gps_CNAV_Iono get_iono();
+
+    /*!
+     * \brief Obtain a GPS UTC model parameters class filled with current SV data
+     */
+    Gps_CNAV_Utc_Model get_utc_model();
+
+
+    bool satellite_validation();
+
+    bool have_new_ephemeris(); //Check if we have a new ephemeris stored in the galileo navigation class
+
+    /*!
+     * Default constructor
+     */
+    Gps_CNAV_Navigation_Message();
+};
+
+#endif

src/core/system_parameters/gps_cnav_utc_model.cc

@@ -0,0 +1,45 @@
+/*
+ * \file gps_cnav_utc_model.h
+ * \brief  Interface of a GPS CNAV UTC MODEL storage
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_cnav_utc_model.h"
+#include <cmath>
+
+Gps_CNAV_Utc_Model::Gps_CNAV_Utc_Model()
+{
+    valid = false;
+    d_A1 = 0;
+    d_A0 = 0;
+    d_t_OT = 0;
+    i_WN_T = 0;
+    d_DeltaT_LS = 0;
+    i_WN_LSF = 0;
+    i_DN = 0;
+    d_DeltaT_LSF = 0;
+}

src/core/system_parameters/gps_cnav_utc_model.h

@@ -0,0 +1,85 @@
+/*!
+ * \file gps_utc_model.h
+ * \brief  Interface of a GPS UTC MODEL storage
+ * \author Javier Arribas, 2013. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GPS_CNAV_UTC_MODEL_H_
+#define GNSS_SDR_GPS_CNAV_UTC_MODEL_H_
+
+#include "GPS_L2C.h"
+#include "boost/assign.hpp"
+#include <boost/serialization/nvp.hpp>
+
+
+/*!
+ * \brief This class is a storage for the GPS UTC MODEL data as described in IS-GPS-200E
+ *
+ * See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
+ */
+class Gps_CNAV_Utc_Model
+{
+public:
+    bool valid;
+    // UTC parameters
+    double d_A1;          //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
+    double d_A0;          //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
+    double d_t_OT;        //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200E) [s]
+    int i_WN_T;           //!< UTC reference week number [weeks]
+    double d_DeltaT_LS;   //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
+    int i_WN_LSF;         //!< Week number at the end of which the leap second becomes effective [weeks]
+    int i_DN;             //!< Day number (DN) at the end of which the leap second becomes effective [days]
+    double d_DeltaT_LSF;  //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
+
+    /*!
+     * Default constructor
+     */
+    Gps_CNAV_Utc_Model();
+
+    template<class Archive>
+    /*
+     * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the ephemeris data on disk file.
+     */
+    void serialize(Archive& archive, const unsigned int version)
+    {
+        using boost::serialization::make_nvp;
+        if(version){};
+        archive & make_nvp("valid",valid);
+        archive & make_nvp("d_A1",d_A1);
+        archive & make_nvp("d_A0",d_A0);
+        archive & make_nvp("d_t_OT",d_t_OT);
+        archive & make_nvp("i_WN_T",i_WN_T);
+        archive & make_nvp("d_DeltaT_LS",d_DeltaT_LS);
+        archive & make_nvp("i_WN_LSF",i_WN_LSF);
+        archive & make_nvp("i_DN",i_DN);
+        archive & make_nvp("d_DeltaT_LSF",d_DeltaT_LSF);
+    }
+
+};
+
+#endif