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Code Issues Releases Wiki Activity

Fix reading of IONO and UTC data

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This commit is contained in:
Carles Fernandez
2015-03-01 13:06:05 +01:00
parent a4ba3bfd9e
commit 9dd69c0ac9
1 changed files with 30 additions and 19 deletions
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49
src/core/system_parameters/gps_navigation_message.cc
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@@ -103,7 +103,7 @@ void Gps_Navigation_Message::reset()
// Ionosphere and UTC // Ionosphere and UTC
flag_iono_valid = false; flag_iono_valid = false;
flag_utc_model_valid = true; flag_utc_model_valid = false;
d_alpha0 = 0; d_alpha0 = 0;
d_alpha1 = 0; d_alpha1 = 0;
d_alpha2 = 0; d_alpha2 = 0;
@@ -214,9 +214,9 @@ unsigned long int Gps_Navigation_Message::read_navigation_unsigned(std::bitset<G
{ {
unsigned long int value = 0; unsigned long int value = 0;
int num_of_slices = parameter.size(); int num_of_slices = parameter.size();
for (int i=0; i<num_of_slices; i++) for (int i = 0; i < num_of_slices; i++)
{ {
for (int j=0; j<parameter[i].second; j++) for (int j = 0; j < parameter[i].second; j++)
{ {
value <<= 1; //shift left value <<= 1; //shift left
if (bits[GPS_SUBFRAME_BITS - parameter[i].first - j] == 1) if (bits[GPS_SUBFRAME_BITS - parameter[i].first - j] == 1)
@@ -250,9 +250,9 @@ signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_S
value &= 0; value &= 0;
} }
for (int i=0; i<num_of_slices; i++) for (int i = 0; i < num_of_slices; i++)
{ {
for (int j=0; j<parameter[i].second; j++) for (int j = 0; j < parameter[i].second; j++)
{ {
value <<= 1; //shift left value <<= 1; //shift left
value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable) value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
@@ -275,9 +275,9 @@ signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_S
value &= 0; value &= 0;
} }
for (int i=0; i<num_of_slices; i++) for (int i = 0; i < num_of_slices; i++)
{ {
for (int j=0; j<parameter[i].second; j++) for (int j = 0; j < parameter[i].second; j++)
{ {
value <<= 1; //shift left value <<= 1; //shift left
value &= 0xFFFFFFFE; //reset the corresponding bit value &= 0xFFFFFFFE; //reset the corresponding bit
@@ -369,7 +369,7 @@ void Gps_Navigation_Message::satellitePosition(double transmitTime)
E = M; E = M;
// --- Iteratively compute eccentric anomaly ---------------------------- // --- Iteratively compute eccentric anomaly ----------------------------
for (int ii = 1; ii<20; ii++) for (int ii = 1; ii < 20; ii++)
{ {
E_old = E; E_old = E;
E = M + d_e_eccentricity * sin(E); E = M + d_e_eccentricity * sin(E);
@@ -429,8 +429,7 @@ void Gps_Navigation_Message::satellitePosition(double transmitTime)
int Gps_Navigation_Message::subframe_decoder(char *subframe) int Gps_Navigation_Message::subframe_decoder(char *subframe)
{ {
int subframe_ID = 0; int subframe_ID = 0;
int SV_data_ID;
int SV_page = 0;
//double tmp_TOW; //double tmp_TOW;
unsigned int gps_word; unsigned int gps_word;
@@ -438,7 +437,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
std::bitset<GPS_SUBFRAME_BITS> subframe_bits; std::bitset<GPS_SUBFRAME_BITS> subframe_bits;
std::bitset<GPS_WORD_BITS + 2> word_bits; std::bitset<GPS_WORD_BITS + 2> word_bits;
for (int i=0; i<10; i++) for (int i = 0; i < 10; i++)
{ {
memcpy(&gps_word, &subframe[i * 4], sizeof(char) * 4); memcpy(&gps_word, &subframe[i * 4], sizeof(char) * 4);
word_bits = std::bitset<(GPS_WORD_BITS + 2) > (gps_word); word_bits = std::bitset<(GPS_WORD_BITS + 2) > (gps_word);
@@ -546,6 +545,8 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
break; break;
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32) case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
int SV_data_ID;
int SV_page;
d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF4 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF4 = d_TOW_SF4 * 6; d_TOW_SF4 = d_TOW_SF4 * 6;
d_TOW = d_TOW_SF4 - 6; // Set transmission time d_TOW = d_TOW_SF4 - 6; // Set transmission time
@@ -554,13 +555,17 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG); b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID)); SV_data_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE)); SV_page = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page > 24 && SV_page < 33) // Page 4 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{
//! \TODO read almanac
}
if (SV_page == 13) if (SV_page == 52) // Page 13 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
//! \TODO read Estimated Range Deviation (ERD) values //! \TODO read Estimated Range Deviation (ERD) values
} }
if (SV_page == 18) if (SV_page == 56) // Page 18 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
// Page 18 - Ionospheric and UTC data // Page 18 - Ionospheric and UTC data
d_alpha0 = static_cast<double>(read_navigation_signed(subframe_bits, ALPHA_0)); d_alpha0 = static_cast<double>(read_navigation_signed(subframe_bits, ALPHA_0));
@@ -593,8 +598,12 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
flag_iono_valid = true; flag_iono_valid = true;
flag_utc_model_valid = true; flag_utc_model_valid = true;
} }
if (SV_page == 57)
{
// Reserved
}
if (SV_page == 25) if (SV_page == 63) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
// Page 25 Anti-Spoofing, SV config and almanac health (PRN: 25-32) // Page 25 Anti-Spoofing, SV config and almanac health (PRN: 25-32)
//! \TODO Read Anti-Spoofing, SV config //! \TODO Read Anti-Spoofing, SV config
@@ -611,19 +620,21 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
break; break;
case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time. case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
int SV_data_ID_5;
int SV_page_5;
d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW)); d_TOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, TOW));
d_TOW_SF5 = d_TOW_SF5 * 6; d_TOW_SF5 = d_TOW_SF5 * 6;
d_TOW = d_TOW_SF5 - 6; // Set transmission time d_TOW = d_TOW_SF5 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG); b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG); b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID)); SV_data_ID_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_DATA_ID));
SV_page = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE)); SV_page_5 = static_cast<int>(read_navigation_unsigned(subframe_bits, SV_PAGE));
if (SV_page < 25) if (SV_page_5 < 25)
{ {
//! \TODO read almanac //! \TODO read almanac
} }
if (SV_page == 25) if (SV_page_5 == 51) // Page 25 (from Table 20-V. Data IDs and SV IDs in Subframes 4 and 5, IS-GPS-200H, page 110)
{ {
d_Toa = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OA)); d_Toa = static_cast<double>(read_navigation_unsigned(subframe_bits, T_OA));
d_Toa = d_Toa * T_OA_LSB; d_Toa = d_Toa * T_OA_LSB;
@@ -809,7 +820,7 @@ Gps_Utc_Model Gps_Navigation_Message::get_utc_model()
utc_model.i_DN = i_DN; utc_model.i_DN = i_DN;
utc_model.d_DeltaT_LSF = d_DeltaT_LSF; utc_model.d_DeltaT_LSF = d_DeltaT_LSF;
// warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue // warning: We clear flag_utc_model_valid in order to not re-send the same information to the ionospheric parameters queue
d_DeltaT_LSF = false; flag_utc_model_valid = false;
return utc_model; return utc_model;
} }