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Forget stalled data in GLONASS GNAV

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This commit is contained in:
Carles Fernandez
2026-09-13 14:14:47 +02:00
parent ecc3e51522
commit a80b973fa9
2 changed files with 52 additions and 5 deletions
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src/core/system_parameters/glonass_gnav_navigation_message.cc
+44 -5
View File
@@ -517,8 +517,14 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
// Make sure a valid frame_ID or satellite slot number is returned
if (d_frame_ID == 0 || i_alm_satellite_slot_number == 0 || i_alm_satellite_slot_number > GLONASS_CA_NBR_SATS)
{
// Discard a half-received pair so the paired odd string cannot
// complete a stale or foreign slot with this string's data
flag_almanac_str_6 = false;
return 0;
}
// Remember the validated slot so the paired odd string writes to the
// same satellite even if i_alm_satellite_slot_number changes meanwhile
d_alm_slot_str_6 = i_alm_satellite_slot_number;
gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = read_navigation_bool(string_bits, C_N);
gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -534,8 +540,10 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
case 7:
// --- It is string 7 ----------------------------------------------
if (flag_almanac_str_6 == true && i_alm_satellite_slot_number > 0 && i_alm_satellite_slot_number <= GLONASS_CA_NBR_SATS)
if (flag_almanac_str_6 == true && d_alm_slot_str_6 > 0 && d_alm_slot_str_6 <= GLONASS_CA_NBR_SATS)
{
// Complete the pair opened by string 6, using the slot it validated
i_alm_satellite_slot_number = d_alm_slot_str_6;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GNSS_PI;
gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
@@ -562,8 +570,14 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
// Make sure a valid frame_ID or satellite slot number is returned
if (d_frame_ID == 0 || i_alm_satellite_slot_number == 0 || i_alm_satellite_slot_number > GLONASS_CA_NBR_SATS)
{
// Discard a half-received pair so the paired odd string cannot
// complete a stale or foreign slot with this string's data
flag_almanac_str_8 = false;
return 0;
}
// Remember the validated slot so the paired odd string writes to the
// same satellite even if i_alm_satellite_slot_number changes meanwhile
d_alm_slot_str_8 = i_alm_satellite_slot_number;
gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = read_navigation_bool(string_bits, C_N);
gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -579,8 +593,10 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
case 9:
// --- It is string 9 ----------------------------------------------
if (flag_almanac_str_8 == true && i_alm_satellite_slot_number > 0 && i_alm_satellite_slot_number <= GLONASS_CA_NBR_SATS)
if (flag_almanac_str_8 == true && d_alm_slot_str_8 > 0 && d_alm_slot_str_8 <= GLONASS_CA_NBR_SATS)
{
// Complete the pair opened by string 8, using the slot it validated
i_alm_satellite_slot_number = d_alm_slot_str_8;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GNSS_PI;
gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
@@ -602,8 +618,14 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
// Make sure a valid frame_ID or satellite slot number is returned
if (d_frame_ID == 0 || i_alm_satellite_slot_number == 0 || i_alm_satellite_slot_number > GLONASS_CA_NBR_SATS)
{
// Discard a half-received pair so the paired odd string cannot
// complete a stale or foreign slot with this string's data
flag_almanac_str_10 = false;
return 0;
}
// Remember the validated slot so the paired odd string writes to the
// same satellite even if i_alm_satellite_slot_number changes meanwhile
d_alm_slot_str_10 = i_alm_satellite_slot_number;
gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = read_navigation_bool(string_bits, C_N);
gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@@ -619,8 +641,10 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
case 11:
// --- It is string 11 ---------------------------------------------
if (flag_almanac_str_10 == true && i_alm_satellite_slot_number > 0 && i_alm_satellite_slot_number <= GLONASS_CA_NBR_SATS)
if (flag_almanac_str_10 == true && d_alm_slot_str_10 > 0 && d_alm_slot_str_10 <= GLONASS_CA_NBR_SATS)
{
// Complete the pair opened by string 10, using the slot it validated
i_alm_satellite_slot_number = d_alm_slot_str_10;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GNSS_PI;
gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
@@ -642,8 +666,14 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
// Make sure a valid frame_ID or satellite slot number is returned
if (d_frame_ID == 0 || i_alm_satellite_slot_number == 0 || i_alm_satellite_slot_number > GLONASS_CA_NBR_SATS)
{
// Discard a half-received pair so the paired odd string cannot
// complete a stale or foreign slot with this string's data
flag_almanac_str_12 = false;
return 0;
}
// Remember the validated slot so the paired odd string writes to the
// same satellite even if i_alm_satellite_slot_number changes meanwhile
d_alm_slot_str_12 = i_alm_satellite_slot_number;
gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = read_navigation_bool(string_bits, C_N);
gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
@@ -658,8 +688,10 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
case 13:
// --- It is string 13 ---------------------------------------------
if (flag_almanac_str_12 == true && i_alm_satellite_slot_number > 0 && i_alm_satellite_slot_number <= GLONASS_CA_NBR_SATS)
if (flag_almanac_str_12 == true && d_alm_slot_str_12 > 0 && d_alm_slot_str_12 <= GLONASS_CA_NBR_SATS)
{
// Complete the pair opened by string 12, using the slot it validated
i_alm_satellite_slot_number = d_alm_slot_str_12;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GNSS_PI;
gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
@@ -695,8 +727,13 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
// assigned to the frame being received
if (get_frame_number(i_alm_satellite_slot_number) != d_frame_ID || i_alm_satellite_slot_number == 0 || i_alm_satellite_slot_number > GLONASS_CA_NBR_SATS)
{
// Discard a half-received pair so string 15 cannot complete
// a stale or foreign slot with this string's data
flag_almanac_str_14 = false;
return 0;
}
// Remember the validated slot for the paired string 15
d_alm_slot_str_14 = i_alm_satellite_slot_number;
gnav_almanac[i_alm_satellite_slot_number - 1].d_C_n = read_navigation_bool(string_bits, C_N);
gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
@@ -711,8 +748,10 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
case 15:
// --- It is string 15 ----------------------------------------------
if (d_frame_ID >= 1 && d_frame_ID <= 4 && flag_almanac_str_14 == true && i_alm_satellite_slot_number > 0 && i_alm_satellite_slot_number <= GLONASS_CA_NBR_SATS)
if (d_frame_ID >= 1 && d_frame_ID <= 4 && flag_almanac_str_14 == true && d_alm_slot_str_14 > 0 && d_alm_slot_str_14 <= GLONASS_CA_NBR_SATS)
{
// Complete the pair opened by string 14, using the slot it validated
i_alm_satellite_slot_number = d_alm_slot_str_14;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GNSS_PI;
gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9;
src/core/system_parameters/glonass_gnav_navigation_message.h
+8
View File
@@ -195,6 +195,14 @@ private:
uint32_t d_frame_ID{};
uint32_t d_string_ID{};
uint32_t i_alm_satellite_slot_number{}; // SV Orbit Slot Number
// Satellite slot number validated by an even almanac string (6/8/10/12/14)
// and consumed by its paired odd string (7/9/11/13/15). Kept per pair so a
// stale flag can never complete an almanac with a slot from another pair.
uint32_t d_alm_slot_str_6{};
uint32_t d_alm_slot_str_8{};
uint32_t d_alm_slot_str_10{};
uint32_t d_alm_slot_str_12{};
uint32_t d_alm_slot_str_14{};
int32_t d_kp_announced_leap_s{}; // UTC correction announced by KP (+1 or -1 s), 0 if not armed