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Add IGS State Space Representation (SSR) data fields IDF001 - IDF021, and IDF023 - IDF025

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See https://files.igs.org/pub/data/format/igs_ssr_v1.pdf
This commit is contained in:
Carles Fernandez 2021-10-12 17:12:18 +02:00
parent bf3b838c6a
commit 9858e5fcea
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2 changed files with 394 additions and 0 deletions
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320
src/algorithms/PVT/libs/rtcm.cc
View File

@ -5733,3 +5733,323 @@ int32_t Rtcm::set_DF420(const Gnss_Synchro& gnss_synchro __attribute__((unused))
DF420 = std::bitset<1>(half_cycle_ambiguity_indicator);
return 0;
}
// IGS State Space Representation (SSR) data fields
// see https://files.igs.org/pub/data/format/igs_ssr_v1.pdf
void Rtcm::set_IDF001(uint8_t version)
{
const uint8_t max_value = 7;
uint8_t igm_version = version;
if (igm_version > max_value) // not defined
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad IGM/IM Version";
igm_version = 0;
}
IDF001 = std::bitset<3>(igm_version);
}
void Rtcm::set_IDF002(uint8_t igs_message_number)
{
IDF002 = std::bitset<8>(igs_message_number);
}
void Rtcm::set_IDF003(uint32_t tow)
{
const uint32_t max_value = 604799;
uint32_t ssr_epoch_time = tow;
if (ssr_epoch_time > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Epoch Time";
ssr_epoch_time = 0;
}
IDF003 = std::bitset<20>(ssr_epoch_time);
}
void Rtcm::set_IDF004(uint8_t ssr_update_interval)
{
const uint8_t max_value = 15;
uint8_t update_interval = ssr_update_interval;
if (update_interval > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Update Interval";
update_interval = 0;
}
IDF004 = std::bitset<4>(update_interval);
}
void Rtcm::set_IDF005(bool ssr_multiple_message_indicator)
{
IDF005 = std::bitset<1>(ssr_multiple_message_indicator);
}
void Rtcm::set_IDF006(bool regional_indicator)
{
IDF006 = std::bitset<1>(regional_indicator);
}
void Rtcm::set_IDF007(uint8_t ssr_iod)
{
const uint8_t max_value = 15;
uint8_t iod = ssr_iod;
if (iod > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad IOD SSR";
iod = 0;
}
IDF007 = std::bitset<4>(iod);
}
void Rtcm::set_IDF008(uint16_t ssr_provider_id)
{
IDF008 = std::bitset<16>(ssr_provider_id);
}
void Rtcm::set_IDF009(uint8_t ssr_solution_id)
{
const uint8_t max_value = 15;
uint8_t sol_id = ssr_solution_id;
if (sol_id > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Solution ID";
sol_id = 0;
}
IDF009 = std::bitset<4>(sol_id);
}
void Rtcm::set_IDF010(uint8_t num_satellites)
{
const uint8_t max_value = 63;
uint8_t num_sats = num_satellites;
if (num_sats > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad number of satellites";
num_sats = 0;
}
IDF010 = std::bitset<6>(num_sats);
}
void Rtcm::set_IDF011(uint8_t gnss_satellite_id)
{
const uint8_t max_value = 63;
uint8_t sat_id = gnss_satellite_id;
if (sat_id > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad GNSS Satellite ID";
sat_id = 0;
}
IDF011 = std::bitset<6>(sat_id);
}
void Rtcm::set_IDF012(uint8_t gnss_iod)
{
IDF012 = std::bitset<8>(gnss_iod);
}
void Rtcm::set_IDF013(float delta_orbit_radial_m)
{
const float scale = 1.0e4;
const int32_t max_value = 2097151;
auto delta_orbit_radial = static_cast<int32_t>((delta_orbit_radial_m * scale));
if (delta_orbit_radial > max_value)
{
delta_orbit_radial = max_value;
}
if (delta_orbit_radial < -max_value)
{
delta_orbit_radial = -max_value;
}
IDF013 = std::bitset<22>(delta_orbit_radial);
}
void Rtcm::set_IDF014(float delta_orbit_along_track_m)
{
const float scale = 2500.0;
const int32_t max_value = 524287;
auto delta_orbit_along_track = static_cast<int32_t>((delta_orbit_along_track_m * scale));
if (delta_orbit_along_track > max_value)
{
delta_orbit_along_track = max_value;
}
if (delta_orbit_along_track < -max_value)
{
delta_orbit_along_track = -max_value;
}
IDF014 = std::bitset<20>(delta_orbit_along_track);
}
void Rtcm::set_IDF015(float delta_orbit_cross_track_m)
{
const float scale = 2500.0;
const int32_t max_value = 524287;
auto delta_orbit_cross_track = static_cast<int32_t>((delta_orbit_cross_track_m * scale));
if (delta_orbit_cross_track > max_value)
{
delta_orbit_cross_track = max_value;
}
if (delta_orbit_cross_track < -max_value)
{
delta_orbit_cross_track = -max_value;
}
IDF015 = std::bitset<20>(delta_orbit_cross_track);
}
void Rtcm::set_IDF016(float dot_orbit_delta_track_m_s)
{
const float scale = 1.0e6;
const int32_t max_value = 1048575;
auto dot_orbit_delta_track = static_cast<int32_t>((dot_orbit_delta_track_m_s * scale));
if (dot_orbit_delta_track > max_value)
{
dot_orbit_delta_track = max_value;
}
if (dot_orbit_delta_track < -max_value)
{
dot_orbit_delta_track = -max_value;
}
IDF016 = std::bitset<21>(dot_orbit_delta_track);
}
void Rtcm::set_IDF017(float dot_orbit_delta_along_track_m_s)
{
const float scale = 250000.0;
const int32_t max_value = 262143;
auto dot_orbit_delta_along_track = static_cast<int32_t>((dot_orbit_delta_along_track_m_s * scale));
if (dot_orbit_delta_along_track > max_value)
{
dot_orbit_delta_along_track = max_value;
}
if (dot_orbit_delta_along_track < -max_value)
{
dot_orbit_delta_along_track = -max_value;
}
IDF017 = std::bitset<19>(dot_orbit_delta_along_track);
}
void Rtcm::set_IDF018(float dot_orbit_delta_cross_track_m_s)
{
const float scale = 250000.0;
const int32_t max_value = 262143;
auto dot_orbit_delta_cross_track = static_cast<int32_t>((dot_orbit_delta_cross_track_m_s * scale));
if (dot_orbit_delta_cross_track > max_value)
{
dot_orbit_delta_cross_track = max_value;
}
if (dot_orbit_delta_cross_track < -max_value)
{
dot_orbit_delta_cross_track = -max_value;
}
IDF018 = std::bitset<19>(dot_orbit_delta_cross_track);
}
void Rtcm::set_IDF019(float delta_clock_c0_m)
{
const float scale = 1.0e4;
const int32_t max_value = 2097151;
auto delta_clock_c0 = static_cast<int32_t>((delta_clock_c0_m * scale));
if (delta_clock_c0 > max_value)
{
delta_clock_c0 = max_value;
}
if (delta_clock_c0 < -max_value)
{
delta_clock_c0 = -max_value;
}
IDF019 = std::bitset<22>(delta_clock_c0);
}
void Rtcm::set_IDF020(float delta_clock_c1_m_s)
{
const float scale = 1.0e6;
const int32_t max_value = 1048575;
auto delta_clock_c1 = static_cast<int32_t>((delta_clock_c1_m_s * scale));
if (delta_clock_c1 > max_value)
{
delta_clock_c1 = max_value;
}
if (delta_clock_c1 < -max_value)
{
delta_clock_c1 = -max_value;
}
IDF020 = std::bitset<21>(delta_clock_c1);
}
void Rtcm::set_IDF021(float delta_clock_c2_m_s2)
{
const float scale = 5.0e8;
const int32_t max_value = 67108863;
auto delta_clock_c2 = static_cast<int32_t>((delta_clock_c2_m_s2 * scale));
if (delta_clock_c2 > max_value)
{
delta_clock_c2 = max_value;
}
if (delta_clock_c2 < -max_value)
{
delta_clock_c2 = -max_value;
}
IDF021 = std::bitset<27>(delta_clock_c2);
}
void Rtcm::set_IDF023(uint8_t num_bias_processed)
{
const uint8_t max_value = 31;
uint8_t num_bias = num_bias_processed;
if (num_bias > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad number of biases processed";
num_bias = 0;
}
IDF023 = std::bitset<5>(num_bias);
}
void Rtcm::set_IDF024(uint8_t gnss_signal_tracking_mode_id)
{
const uint8_t max_value = 31;
uint8_t tracking_mode = gnss_signal_tracking_mode_id;
if (tracking_mode > max_value) // error
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad GNSS Signal and Tracking Mode Identifier";
tracking_mode = 0;
}
IDF024 = std::bitset<5>(tracking_mode);
}
void Rtcm::set_IDF025(float code_bias_m)
{
const float scale = 100.0;
const int16_t max_value = 8191;
auto code_bias = static_cast<int16_t>((code_bias_m * scale));
if (code_bias > max_value)
{
code_bias = max_value;
}
if (code_bias < -max_value)
{
code_bias = -max_value;
}
IDF025 = std::bitset<14>(code_bias);
}

74
src/algorithms/PVT/libs/rtcm.h
View File

@ -1467,6 +1467,80 @@ private:
std::bitset<1> DF420;
int32_t set_DF420(const Gnss_Synchro& gnss_synchro);
// IGS State Space Representation (SSR) data fields
// see https://files.igs.org/pub/data/format/igs_ssr_v1.pdf
std::bitset<3> IDF001;
void set_IDF001(uint8_t version);
std::bitset<8> IDF002;
void set_IDF002(uint8_t igs_message_number);
std::bitset<20> IDF003;
void set_IDF003(uint32_t tow);
std::bitset<4> IDF004;
void set_IDF004(uint8_t ssr_update_interval);
std::bitset<1> IDF005;
void set_IDF005(bool ssr_multiple_message_indicator);
std::bitset<1> IDF006;
void set_IDF006(bool regional_indicator);
std::bitset<4> IDF007;
void set_IDF007(uint8_t ssr_iod);
std::bitset<16> IDF008;
void set_IDF008(uint16_t ssr_provider_id);
std::bitset<4> IDF009;
void set_IDF009(uint8_t ssr_solution_id);
std::bitset<6> IDF010;
void set_IDF010(uint8_t num_satellites);
std::bitset<6> IDF011;
void set_IDF011(uint8_t gnss_satellite_id);
std::bitset<8> IDF012;
void set_IDF012(uint8_t gnss_iod);
std::bitset<22> IDF013;
void set_IDF013(float delta_orbit_radial_m);
std::bitset<20> IDF014;
void set_IDF014(float delta_orbit_along_track_m);
std::bitset<20> IDF015;
void set_IDF015(float delta_orbit_cross_track_m);
std::bitset<21> IDF016;
void set_IDF016(float dot_orbit_delta_track_m_s);
std::bitset<19> IDF017;
void set_IDF017(float dot_orbit_delta_along_track_m_s);
std::bitset<19> IDF018;
void set_IDF018(float dot_orbit_delta_cross_track_m_s);
std::bitset<22> IDF019;
void set_IDF019(float delta_clock_c0_m);
std::bitset<21> IDF020;
void set_IDF020(float delta_clock_c1_m_s);
std::bitset<27> IDF021;
void set_IDF021(float delta_clock_c2_m_s2);
std::bitset<5> IDF023;
void set_IDF023(uint8_t num_bias_processed);
std::bitset<5> IDF024;
void set_IDF024(uint8_t gnss_signal_tracking_mode_id);
std::bitset<14> IDF025;
void set_IDF025(float code_bias_m);
};