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Towards a Galileo INAV Navigation decoder: First version of the Galileo_E1_Telemetry_Decoder block. In this version only the preamble detection and page part synchro is functional.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@389 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2013-07-15 17:07:10 +00:00
parent 27b20b0a6d
commit b0a323095d
28 changed files with 2710 additions and 66 deletions
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44
conf/gnss-sdr_Galileo_E1.conf
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@@ -17,10 +17,10 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/media/DATALOGGER_/signals/CTTC captures/cp_cttc_1_galileo_4Msps.dat
SignalSource.filename=/media/DATALOGGER_/signals/CTTC captures/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
SignalSource.item_type=short
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000
@@ -57,13 +57,12 @@ SignalSource.enable_throttle_control=false
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;SignalConditioner.implementation=Signal_Conditioner
SignalConditioner.implementation=Pass_Through
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.implementation=Ishort_To_Complex
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
@@ -145,8 +144,8 @@ InputFilter.IF=0
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
Resampler.implementation=Direct_Resampler
;Resampler.implementation=Pass_Through
;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through
;#dump: Dump the resamplered data to a file.
Resampler.dump=false
@@ -160,12 +159,12 @@ Resampler.item_type=gr_complex
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=2000000
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
Channels.count=2
Channels.count=1
;#in_acquisition: Number of channels simultaneously acquiring
Channels.in_acquisition=1
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
@@ -233,18 +232,33 @@ Channel.signal=1B
;Galileo FM3 -> PRN 19
;Galileo FM4 -> PRN 20
;######### CHANNEL 0 CONFIG ############
;Channel0.system=Galileo
;Channel0.signal=1B
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
Channel0.satellite=12
Channel0.satellite=20
;######### CHANNEL 1 CONFIG ############
;Channel1.system=Galileo
;Channel1.signal=1B
Channel1.satellite=11
Channel1.satellite=12
;######### CHANNEL 0 CONFIG ############
;Channel2.system=Galileo
;Channel2.signal=1B
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
Channel2.satellite=11
;######### CHANNEL 1 CONFIG ############
;Channel3.system=Galileo
;Channel3.signal=1B
Channel3.satellite=19
;######### ACQUISITION GLOBAL CONFIG ############
@@ -261,9 +275,9 @@ Acquisition.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold
Acquisition.threshold=0.008
;Acquisition.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.pfa=0.0001
Acquisition.pfa=0.00005
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
@@ -328,8 +342,8 @@ Tracking.early_late_space_chips=0.15;
Tracking.very_early_late_space_chips=0.6;
;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder.dump=false
;######### OBSERVABLES CONFIG ############

5
src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
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@@ -16,7 +16,10 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
set(TELEMETRY_DECODER_ADAPTER_SOURCES gps_l1_ca_telemetry_decoder.cc )
set(TELEMETRY_DECODER_ADAPTER_SOURCES
gps_l1_ca_telemetry_decoder.cc
galileo_e1b_telemetry_decoder.cc
)
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)

119
src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc Normal file
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@@ -0,0 +1,119 @@
/*!
* \file galileo_l1_ca_telemetry_decoder.cc
* \brief Implementation of an adapter of a Galileo INAV data decoder block
* to a TelemetryDecoderInterface
* \author Javier Arribas 2013. jarribas(at)cttc.es
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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 "galileo_e1b_telemetry_decoder.h"
#include "configuration_interface.h"
#include "galileo_e1b_telemetry_decoder_cc.h"
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
using google::LogMessage;
GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./navigation.dat";
DLOG(INFO) << "role " << role;
DLOG(INFO) << "vector length " << vector_length_;
vector_length_ = configuration->property(role + ".vector_length", 2048);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
int fs_in;
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
// make telemetry decoder object
telemetry_decoder_ = galileo_e1b_make_telemetry_decoder_cc(satellite_, 0, (long)fs_in, vector_length_, queue_, dump_); // TODO fix me
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
// set the navigation msg queue;
telemetry_decoder_->set_ephemeris_queue(&global_galileo_ephemeris_queue);
telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
}
GalileoE1BTelemetryDecoder::~GalileoE1BTelemetryDecoder()
{}
void GalileoE1BTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_);
DLOG(INFO) << "GALILEO TELEMETRY DECODER: satellite set to " << satellite_;
}
void GalileoE1BTelemetryDecoder::connect(gr::top_block_sptr top_block)
{
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GalileoE1BTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect
}
gr::basic_block_sptr GalileoE1BTelemetryDecoder::get_left_block()
{
return telemetry_decoder_;
}
gr::basic_block_sptr GalileoE1BTelemetryDecoder::get_right_block()
{
return telemetry_decoder_;
}

95
src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h Normal file
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@@ -0,0 +1,95 @@
/*!
* \file galileo_l1_ca_telemetry_decoder.h
* \brief Interface of an adapter of a GALILEO E1B NAV data decoder block
* to a TelemetryDecoderInterface
* \author Javier Arribas 2013. jarribas(at)cttc.es * \author Javier Arribas 2013. jarribas(at)cttc.es
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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_GALILEO_E1B_TELEMETRY_DECODER_H_
#define GNSS_SDR_GALILEO_E1B_TELEMETRY_DECODER_H_
#include "telemetry_decoder_interface.h"
#include "galileo_e1b_telemetry_decoder_cc.h"
#include <gnuradio/msg_queue.h>
class ConfigurationInterface;
/*!
* \brief This class implements a NAV data decoder for Galileo INAV frames in E1B radio link
*/
class GalileoE1BTelemetryDecoder : public TelemetryDecoderInterface
{
public:
GalileoE1BTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE1BTelemetryDecoder();
std::string role()
{
return role_;
}
std::string implementation()
{
return "Galileo_E1B_Telemetry_Decoder";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void set_satellite(Gnss_Satellite satellite);
void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
void reset()
{
return;
}
size_t item_size()
{
return 0;
}
private:
galileo_e1b_telemetry_decoder_cc_sptr telemetry_decoder_;
Gnss_Satellite satellite_;
int channel_;
unsigned int vector_length_;
std::string item_type_;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif

2
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
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@@ -18,7 +18,7 @@
set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
gps_l1_ca_telemetry_decoder_cc.cc
# direct_resampler_conditioner_ss.cc
galileo_e1b_telemetry_decoder_cc.cc
)
include_directories(

333
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc Normal file
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@@ -0,0 +1,333 @@
/*!
* \file galileo_e1b_telemetry_decoder_cc.cc
* \brief Implementation of a NAV message demodulator block
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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 "gnss_synchro.h"
#include "galileo_e1b_telemetry_decoder_cc.h"
#include <iostream>
#include <sstream>
#include <bitset>
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <boost/lexical_cast.hpp>
#include "control_message_factory.h"
#include "gnss_synchro.h"
using google::LogMessage;
galileo_e1b_telemetry_decoder_cc_sptr
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
{
return galileo_e1b_telemetry_decoder_cc_sptr(new galileo_e1b_telemetry_decoder_cc(satellite, if_freq,
fs_in, vector_length, queue, dump));
}
void galileo_e1b_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
for (unsigned i = 0; i < 3; i++)
{
ninput_items_required[i] = GALILEO_INAV_PAGE_SYMBOLS; //set the required sample history
}
}
galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
Gnss_Satellite satellite,
long if_freq,
long fs_in,
unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump) :
gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "GALILEO E1B TELEMETRY PROCESSING: satellite " << d_satellite;
d_vector_length = vector_length;
d_samples_per_symbol = ( Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS ) / Galileo_E1_B_SYMBOL_RATE_BPS;
d_fs_in = fs_in;
// set the preamble
unsigned short int preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS]=GALILEO_INAV_PREAMBLE;
d_symbols_per_preamble=GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GALILEO_INAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
// preamble bits to sampled symbols
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
int n = 0;
for (int i=0; i<GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
{
for (unsigned int j=0; j<d_samples_per_symbol; j++)
{
if (d_preambles_bits[i] == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
}
d_sample_counter = 0;
d_stat = 0;
d_preamble_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_flag_parity = false;
d_TOW_at_Preamble = 0;
d_TOW_at_current_symbol = 0;
flag_TOW_set = false;
// set up de-interleaver table
// std::vector<int> positions;
// for (int rows=0;rows<GALILEO_INAV_INTERLEAVER_ROWS;rows++)
// {
// for (int cols=0;cols<GALILEO_INAV_INTERLEAVER_COLS;cols++)
// {
// positions.push_back(rows*GALILEO_INAV_INTERLEAVER_ROWS+cols);
// }
// }
// d_interleaver= new gr::trellis::interleaver();
// set up trellis decoder
}
galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc()
{
delete d_preambles_symbols;
d_dump_file.close();
}
int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int corr_value = 0;
int preamble_diff = 0;
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
d_sample_counter++; //count for the processed samples
// ########### Output the tracking data to navigation and PVT ##########
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
// TODO Optimize me!
//******* preamble correlation ********
for (int i=0; i<d_symbols_per_preamble; i++)
{
if (in[0][i].Prompt_I < 0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
}
d_flag_preamble = false;
//******* frame sync ******************
if (abs(corr_value) >= d_symbols_per_preamble)
{
//std::cout << "Positive preamble correlation for Galileo SAT " << this->d_satellite << std::endl;
//TODO: Rewrite with state machine
if (d_stat == 0)
{
//d_GPS_FSM.Event_gps_word_preamble();
d_preamble_index = d_sample_counter;//record the preamble sample stamp
std::cout << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
d_stat = 1; // enter into frame pre-detection status
}
else if (d_stat == 1) //check preamble separation
{
preamble_diff = abs(d_sample_counter - d_preamble_index);
//std::cout << "preamble_diff="<< preamble_diff <<" for Galileo SAT " << this->d_satellite << std::endl;
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) < 1)
{
// NEW Galileo page part is received
// 1. De-interleave
// 2. Viterbi decoder
// 3. Call the Galileo page decoder
//d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
std::cout <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]" << std::endl;
}
}
}
}
else
{
if (d_stat == 1)
{
preamble_diff = d_sample_counter - d_preamble_index;
if (preamble_diff > GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
{
std::cout << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff << std::endl;
d_stat = 0; //lost of frame sync
d_flag_frame_sync = false;
//flag_TOW_set=false;
}
}
}
consume_each(1); //one by one
// UPDATE GNSS SYNCHRO DATA
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
//if (this->d_flag_preamble==true and d_GPS_FSM.d_nav.d_TOW>0) //update TOW at the preamble instant (todo: check for valid d_TOW)
if (this->d_flag_preamble==true) //update TOW at the preamble instant (todo: check for valid d_TOW)
{
//d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
//d_TOW_at_current_symbol = d_TOW_at_Preamble + GALILEO_INAV_PREAMBLE_LENGTH_BITS/Galileo_E1_B_SYMBOL_RATE_BPS;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
///if (flag_TOW_set==false)
//{
// flag_TOW_set = true;
//}
}
else
{
//d_TOW_at_current_symbol = d_TOW_at_current_symbol + Galileo_E1_CODE_PERIOD;
}
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set==true);
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
return 1;
}
void galileo_e1b_telemetry_decoder_cc::set_satellite(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_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
//d_GPS_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);
std::cout << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
{
//d_Galileo_INAV_FSM.d_ephemeris_queue = ephemeris_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
{
//d_Galileo_INAV_FSM.d_iono_queue = iono_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
{
//d_Galileo_INAV_FSM.d_almanac_queue = almanac_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
{
//d_Galileo_INAV_FSM.d_utc_model_queue = utc_model_queue;
}

132
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h Normal file
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@@ -0,0 +1,132 @@
/*!
* \file galileo_e1b_telemetry_decoder_cc.h
* \brief Interface of a Galileo NAV message demodulator block
* \author Javier Arribas 2013. jarribas(at)cttc.es
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (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_galileo_e1b_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_galileo_e1b_TELEMETRY_DECODER_CC_H
#include "Galileo_E1.h"
#include "concurrent_queue.h"
#include <fstream>
#include <bitset>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "gnuradio/trellis/interleaver.h"
#include "gnuradio/trellis/permutation.h"
#include "gnuradio/fec/viterbi.h"
//#include <gnuradio/gr_sync_block.h>
#include "gnss_satellite.h"
//#include "galileo_inav_fsm.h"
#include "galileo_navigation_message.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
class galileo_e1b_telemetry_decoder_cc;
typedef boost::shared_ptr<galileo_e1b_telemetry_decoder_cc> galileo_e1b_telemetry_decoder_cc_sptr;
galileo_e1b_telemetry_decoder_cc_sptr
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
/*!
* \brief This class implements a block that decodes the INAV data defined in Galileo ICD
*
*/
class galileo_e1b_telemetry_decoder_cc : public gr::block
{
public:
~galileo_e1b_telemetry_decoder_cc();
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
/*!
* \brief Set the satellite data queue
*/
void set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue);
void set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue);
void set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue);
void set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue);
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_e1b_telemetry_decoder_cc_sptr
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in,unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
galileo_e1b_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
unsigned short int d_preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS];
signed int *d_preambles_symbols;
unsigned int d_samples_per_symbol;
int d_symbols_per_preamble;
long unsigned int d_sample_counter;
long unsigned int d_preamble_index;
unsigned int d_stat;
bool d_flag_frame_sync;
bool d_flag_parity;
bool d_flag_preamble;
long d_fs_in;
//gr::trellis::interleaver d_interleaver;
// navigation message vars
Galileo_Navigation_Message d_nav;
//GalileoINAVFsm d_Galileo_INAV_FSM;
boost::shared_ptr<gr::msg_queue> d_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Satellite d_satellite;
int d_channel;
double d_preamble_time_seconds;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
double Prn_timestamp_at_preamble_ms;
bool flag_TOW_set;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

298
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc Normal file
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@@ -0,0 +1,298 @@
/*!
* \file gps_l1_ca_subframe_fsm.cc
* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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_l1_ca_subframe_fsm.h"
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
{
public:
// sc::transition(event,next_status)
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S0 "<<std::endl;
}
};
struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S1 "<<std::endl;
}
};
struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S2 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
}
};
struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S3 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
}
};
struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S4 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
}
};
struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S5 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
}
};
struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S6 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
}
};
struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S7 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
}
};
struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S8 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
}
};
struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S9 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
}
};
struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
{
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
gps_subframe_fsm_S10(my_context ctx): my_base( ctx )
{
//std::cout<<"Enter S10 "<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
}
};
struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm>
{
public:
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
gps_subframe_fsm_S11(my_context ctx): my_base( ctx )
{
//std::cout<<"Completed GPS Subframe!"<<std::endl;
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
// DECODE SUBFRAME
//std::cout<<"Enter S11"<<std::endl;
}
};
GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
{
d_nav.reset();
initiate(); //start the FSM
}
void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
{
// insert the word in the correct position of the subframe
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
}
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
{
int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED!
subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
std::cout << "NAVIGATION FSM: received subframe " << subframe_ID << " for satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN;
d_nav.i_channel_ID = i_channel_ID;
d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
switch (subframe_ID)
{
case 3: //we have a new set of ephemeris data for the current SV
if (d_nav.satellite_validation()==true)
{
// get ephemeris object for this SV (mandatory)
Gps_Ephemeris ephemeris=d_nav.get_ephemeris();
d_ephemeris_queue->push(ephemeris);
}
break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
if (d_nav.flag_iono_valid==true)
{
Gps_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
d_iono_queue->push(iono);
}
if (d_nav.flag_utc_model_valid==true)
{
Gps_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
d_utc_model_queue->push(utc_model);
}
break;
case 5:
// get almanac (if available)
//TODO: implement almanac reader in navigation_message
break;
default:
break;
}
}
void GpsL1CaSubframeFsm::Event_gps_word_valid()
{
this->process_event(Ev_gps_word_valid());
}
void GpsL1CaSubframeFsm::Event_gps_word_invalid()
{
this->process_event(Ev_gps_word_invalid());
}
void GpsL1CaSubframeFsm::Event_gps_word_preamble()
{
this->process_event(Ev_gps_word_preamble());
}

112
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h Normal file
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@@ -0,0 +1,112 @@
/*!
* \file gps_l1_ca_subframe_fsm.h
* \brief Interface of a Galileo NAV message word-to-subframe decoder state machine
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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_GALILEO_INAV_FSM_H_
#define GNSS_SDR_GALILEO_INAV_FSM_H_
#include <boost/statechart/state_machine.hpp>
#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 <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include "concurrent_queue.h"
#include <iostream>
#include <cstring>
#include "galileo_navigation_message.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
namespace sc = boost::statechart;
namespace mpl = boost::mpl;
struct gps_subframe_fsm_S0;
struct gps_subframe_fsm_S1;
struct gps_subframe_fsm_S2;
struct gps_subframe_fsm_S3;
struct gps_subframe_fsm_S4;
struct gps_subframe_fsm_S5;
struct gps_subframe_fsm_S6;
struct gps_subframe_fsm_S7;
struct gps_subframe_fsm_S8;
struct gps_subframe_fsm_S9;
struct gps_subframe_fsm_S10;
struct gps_subframe_fsm_S11;
class GalileoINAVFsm : public sc::state_machine< GalileoINAVFsm, gps_subframe_fsm_S0 >
{
public:
// channel and satellite info
int i_channel_ID;
unsigned int i_satellite_PRN;
// ephemeris queue
concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
// ionospheric parameters queue
concurrent_queue<Galileo_Iono> *d_iono_queue;
// UTC model parameters queue
concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
// Almanac queue
concurrent_queue<Galileo_Almanac> *d_almanac_queue;
// navigation message class
Gps_Navigation_Message d_nav;
// GPS SV and System parameters
Galileo_Ephemeris ephemeris;
Galileo_Almanac almanac;
Galileo_Utc_Model utc_model;
Galileo_Iono iono;
char d_subframe[GPS_SUBFRAME_LENGTH];
char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
double d_preamble_time_ms;
void gps_word_to_subframe(int position);
void gps_subframe_to_nav_msg();
//FSM EVENTS
void Event_gps_word_valid();
void Event_gps_word_invalid();
void Event_gps_word_preamble();
GalileoINAVFsm();
};
#endif

4
src/core/receiver/concurrent_queue.h
View File

@@ -31,6 +31,10 @@
#ifndef GNSS_SDR_CONCURRENT_QUEUE_H
#define GNSS_SDR_CONCURRENT_QUEUE_H
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
template<typename Data>
/*!

6
src/core/receiver/gnss_block_factory.cc
View File

@@ -63,6 +63,7 @@
#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_tcp_connector_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "galileo_e1b_telemetry_decoder.h"
#include "gps_l1_ca_observables.h"
#include "gps_l1_ca_pvt.h"
@@ -374,6 +375,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
block = new GpsL1CaTelemetryDecoder(configuration, role, in_streams,
out_streams, queue);
}
else if (implementation.compare("Galileo_E1B_Telemetry_Decoder") == 0)
{
block = new GalileoE1BTelemetryDecoder(configuration, role, in_streams,
out_streams, queue);
}
// OBSERVABLES -----------------------------------------------------------------
else if (implementation.compare("GPS_L1_CA_Observables") == 0)
{

5
src/core/system_parameters/CMakeLists.txt
View File

@@ -27,6 +27,11 @@ set(SYSTEM_PARAMETERS_SOURCES
gps_acq_assist.cc
gps_ref_time.cc
gps_ref_location.cc
galileo_utc_model.cc
galileo_ephemeris.cc
galileo_almanac.cc
galileo_iono.cc
galileo_navigation_message.cc
)
include_directories(

48
src/core/system_parameters/GPS_L1_CA.h
View File

@@ -36,6 +36,7 @@
#include <vector>
#include <utility> // std::pair
#include <gnss_satellite.h>
#include "MATH_CONSTANTS.h"
// Physical constants
const double GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
@@ -63,12 +64,9 @@ const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code perio
*/
const double MAX_TOA_DELAY_MS = 20;
//#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
@@ -81,50 +79,6 @@ const int GPS_SUBFRAME_BITS = 300; //!< Number of bits per subf
const int GPS_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
const int GPS_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
/* Constants for scaling the ephemeris found in the data message
the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
Additionally some of the PI*2^N terms are used in the tracking stuff
TWO_PX ==> 2^X
TWO_NX ==> 2^-X
PI_TWO_NX ==> Pi*2^-X
PI_TWO_PX ==> Pi*2^X
ONE_PI_TWO_PX = (1/Pi)*2^X
*/
const double TWO_P4 = (16); //!< 2^4
const double TWO_P11 = (2048); //!< 2^11
const double TWO_P12 = (4096); //!< 2^12
const double TWO_P14 = (16384); //!< 2^14
const double TWO_P16 = (65536); //!< 2^16
const double TWO_P19 = (524288); //!< 2^19
const double TWO_P31 = (2147483648.0); //!< 2^31
const double TWO_P32 = (4294967296.0); //!< 2^32 this is too big for an int so add the x.0
const double TWO_P56 = (7.205759403792794e+016); //!< 2^56
const double TWO_P57 = (1.441151880758559e+017); //!< 2^57
const double TWO_N5 = (0.03125); //!< 2^-5
const double TWO_N11 = (4.882812500000000e-004); //!< 2^-11
const double TWO_N19 = (1.907348632812500e-006); //!< 2^-19
const double TWO_N20 = (9.536743164062500e-007); //!< 2^-20
const double TWO_N21 = (4.768371582031250e-007); //!< 2^-21
const double TWO_N24 = (5.960464477539063e-008); //!< 2^-24
const double TWO_N25 = (2.980232238769531e-008); //!< 2^-25
const double TWO_N27 = (7.450580596923828e-009); //!< 2^-27
const double TWO_N29 = (1.862645149230957e-009); //!< 2^-29
const double TWO_N30 = (9.313225746154785e-010); //!< 2^-30
const double TWO_N31 = (4.656612873077393e-010); //!< 2^-31
const double TWO_N32 = (2.328306436538696e-010); //!< 2^-32
const double TWO_N33 = (1.164153218269348e-010); //!< 2^-33
const double TWO_N38 = (3.637978807091713e-012); //!< 2^-38
const double TWO_N43 = (1.136868377216160e-013); //!< 2^-43
const double TWO_N50 = (8.881784197001252e-016); //!< 2^-50
const double TWO_N55 = (2.775557561562891e-017); //!< 2^-55
const double PI_TWO_N19 = (5.992112452678286e-006); //!< Pi*2^-19
const double PI_TWO_N43 = (3.571577341960839e-013); //!< Pi*2^-43
const double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
// GPS NAVIGATION MESSAGE STRUCTURE

34
src/core/system_parameters/Galileo_E1.h
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@@ -2,6 +2,8 @@
* \file Galileo_E1.h
* \brief Defines system parameters for Galileo E1 signal and NAV data
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
@@ -34,6 +36,9 @@
#include <complex>
#include <gnss_satellite.h>
#include <string>
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
// carrier and code frequencies
const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< E1 [Hz]
@@ -43,8 +48,37 @@ const double Galileo_E1_SUB_CARRIER_A_RATE_HZ = 1.023e6; //!< Galileo E1 sub-car
const double Galileo_E1_SUB_CARRIER_B_RATE_HZ = 6.138e6; //!< Galileo E1 sub-carrier 'b' rate [Hz]
const double Galileo_E1_B_CODE_LENGTH_CHIPS = 4092.0; //!< Galileo E1-B code length [chips]
const double Galileo_E1_B_SYMBOL_RATE_BPS = 250.0; //!< Galileo E1-B symbol rate [bits/second]
const int Galileo_E1_NUMBER_OF_CODES = 50;
// Galileo INAV Telemetry structure
#define GALILEO_INAV_PREAMBLE {0, 1, 0, 1, 1, 0, 0, 0, 0, 0}
const int GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
const int GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
const int GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
const int GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
const int GALILEO_INAV_INTERLEAVER_ROWS = 8;
const int GALILEO_INAV_INTERLEAVER_COLS = 30;
const int GALILEO_PAGE_TYPE_BITS = 6;
const int GALILEO_DATA_JK_BITS =128;
const std::vector<std::pair<int,int>> type({{1,6}});
/*Page 1*/
const std::vector<std::pair<int,int>> PAGE_TYPE_bit({{1,6}});
const std::vector<std::pair<int,int>> IOD_nav_page1({{7,10}});
const std::vector<std::pair<int,int>> T0E_bit({{17,14}});
const double t0e_LSB = 60;
const std::vector<std::pair<int,int>> M0_bit({{31,32}});
const double M0_LSB = TWO_N31;
const std::vector<std::pair<int,int>> e_bit({{63,32}});
const double e_LSB = TWO_N33;
const std::vector<std::pair<int,int>> A_bit({{95,32}});
const double A_LSB = TWO_N19;
// Galileo E1 primary codes

78
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@@ -0,0 +1,78 @@
/*!
* \file MATH_CONSTANTS.h
* \brief Defines useful mathematical constants and their scaled versions
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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_MATH_CONSTANTS_H_
#define GNSS_SDR_MATH_CONSTANTS_H_
/* Constants for scaling the ephemeris found in the data message
the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
Additionally some of the PI*2^N terms are used in the tracking stuff
TWO_PX ==> 2^X
TWO_NX ==> 2^-X
PI_TWO_NX ==> Pi*2^-X
PI_TWO_PX ==> Pi*2^X
ONE_PI_TWO_PX = (1/Pi)*2^X
*/
const double TWO_P4 = (16); //!< 2^4
const double TWO_P11 = (2048); //!< 2^11
const double TWO_P12 = (4096); //!< 2^12
const double TWO_P14 = (16384); //!< 2^14
const double TWO_P16 = (65536); //!< 2^16
const double TWO_P19 = (524288); //!< 2^19
const double TWO_P31 = (2147483648.0); //!< 2^31
const double TWO_P32 = (4294967296.0); //!< 2^32 this is too big for an int so add the x.0
const double TWO_P56 = (7.205759403792794e+016); //!< 2^56
const double TWO_P57 = (1.441151880758559e+017); //!< 2^57
const double TWO_N5 = (0.03125); //!< 2^-5
const double TWO_N11 = (4.882812500000000e-004); //!< 2^-11
const double TWO_N19 = (1.907348632812500e-006); //!< 2^-19
const double TWO_N20 = (9.536743164062500e-007); //!< 2^-20
const double TWO_N21 = (4.768371582031250e-007); //!< 2^-21
const double TWO_N24 = (5.960464477539063e-008); //!< 2^-24
const double TWO_N25 = (2.980232238769531e-008); //!< 2^-25
const double TWO_N27 = (7.450580596923828e-009); //!< 2^-27
const double TWO_N29 = (1.862645149230957e-009); //!< 2^-29
const double TWO_N30 = (9.313225746154785e-010); //!< 2^-30
const double TWO_N31 = (4.656612873077393e-010); //!< 2^-31
const double TWO_N32 = (2.328306436538696e-010); //!< 2^-32
const double TWO_N33 = (1.164153218269348e-010); //!< 2^-33
const double TWO_N38 = (3.637978807091713e-012); //!< 2^-38
const double TWO_N43 = (1.136868377216160e-013); //!< 2^-43
const double TWO_N50 = (8.881784197001252e-016); //!< 2^-50
const double TWO_N55 = (2.775557561562891e-017); //!< 2^-55
const double PI_TWO_N19 = (5.992112452678286e-006); //!< Pi*2^-19
const double PI_TWO_N43 = (3.571577341960839e-013); //!< Pi*2^-43
const double PI_TWO_N31 = (1.462918079267160e-009); //!< Pi*2^-31
const double PI_TWO_N38 = (1.142904749427469e-011); //!< Pi*2^-38
const double PI_TWO_N23 = (3.745070282923929e-007); //!< Pi*2^-23
#endif /* GNSS_SDR_MATH_CONSTANTS_H_ */

36
src/core/system_parameters/galileo_almanac.cc Normal file
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@@ -0,0 +1,36 @@
/*!
* \file gps_almanac.cc
* \brief Interface of a GPS ALMANAC storage
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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 "galileo_almanac.h"
Galileo_Almanac::Galileo_Almanac() {}

69
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@@ -0,0 +1,69 @@
/*!
* \file gps_almanac.h
* \brief Interface of a GPS ALMANAC storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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/>.
*
* -------------------------------------------------------------------------
*/
/*
* ToDo: rewrite the class Galileo Almanac (actually it is just a Gps Almanac copy!). Update also the in-line documentation!
*/
#ifndef GNSS_SDR_GALILEO_ALMANAC_H_
#define GNSS_SDR_GALILEO_ALMANAC_H_
/*!
* \brief This class is a storage for the GPS SV ALMANAC data as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
/*
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
*/
class Galileo_Almanac
{
public:
unsigned int i_satellite_PRN; //!< SV PRN NUMBER
double d_Delta_i;
double d_Toa; //!< Almanac data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
double d_e_eccentricity; //!< Eccentricity [dimensionless]
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
int i_SV_health; // SV Health
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
/*!
* Default constructor
*/
Galileo_Almanac();
};
#endif

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/*!
* \file gps_ephemeris.cc
* \brief Interface of a GPS EPHEMERIS storage and orbital model functions
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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 "galileo_ephemeris.h"
Galileo_Ephemeris::Galileo_Ephemeris()
{
i_satellite_PRN = 0;
d_TOW = 0;
d_Crs = 0;
d_Delta_n = 0;
d_M_0 = 0;
d_Cuc = 0;
d_e_eccentricity = 0;
d_Cus = 0;
d_sqrt_A = 0;
d_Toe = 0;
d_Toc = 0;
d_Cic = 0;
d_OMEGA0 = 0;
d_Cis = 0;
d_i_0 = 0;
d_Crc = 0;
d_OMEGA = 0;
d_OMEGA_DOT = 0;
d_IDOT = 0;
i_code_on_L2 = 0;
i_GPS_week = 0;
b_L2_P_data_flag = false;
i_SV_accuracy = 0;
i_SV_health = 0;
d_TGD = 0; //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
d_IODC = 0; //!< Issue of Data, Clock
i_AODO = 0; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
b_fit_interval_flag = false;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
d_spare1 = 0;
d_spare2 = 0;
d_A_f0 = 0; //!< Coefficient 0 of code phase offset model [s]
d_A_f1 = 0; //!< Coefficient 1 of code phase offset model [s/s]
d_A_f2 = 0; //!< Coefficient 2 of code phase offset model [s/s^2]
b_integrity_status_flag = false;
b_alert_flag = false; //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
b_antispoofing_flag = false; //!< If true, the AntiSpoofing mode is ON in that SV
}
void Galileo_Ephemeris::satellitePosition(double transmitTime)
{
/*
* ToDo: Compute satellite position at transmit Time
*/
// --- Compute satellite coordinates in Earth-fixed coordinates
d_satpos_X = 0;
d_satpos_Y = 0;
d_satpos_Z = 0;
// Satellite's velocity.
d_satvel_X =0;
d_satvel_Y = 0;
d_satvel_Z = 0;
}

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/*!
* \file gps_navigation_message.h
* \brief Interface of a GPS EPHEMERIS storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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_GALILEO_EPHEMERIS_H_
#define GNSS_SDR_GALILEO_EPHEMERIS_H_
#include <iostream>
#include <map>
#include "boost/assign.hpp"
#include <boost/serialization/nvp.hpp>
/*!
* \brief This class is a storage and orbital model functions for the Galileo SV ephemeris data as described in Galileo ICD
*
*/
/*
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS ephemeris!)
*/
class Galileo_Ephemeris
{
private:
public:
unsigned int i_satellite_PRN; // SV PRN NUMBER
double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_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)]
double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
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]
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
int i_code_on_L2; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
int i_GPS_week; //!< GPS week number, aka WN [week]
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
int i_SV_health;
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
double d_IODC; //!< Issue of Data, Clock
int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
bool b_fit_interval_flag;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
double d_spare1;
double d_spare2;
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
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]
// Flags
bool b_integrity_status_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
// clock terms derived from ephemeris data
double d_satClkDrift; // GPS clock error
double d_dtr; // relativistic clock correction term
// 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 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]
std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
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;
archive & make_nvp("i_satellite_PRN",i_satellite_PRN); // SV PRN NUMBER
archive & make_nvp("d_TOW",d_TOW); //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
archive & make_nvp("d_Crs",d_Crs); //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
archive & make_nvp("d_Delta_n",d_Delta_n); //!< Mean Motion Difference From Computed Value [semi-circles/s]
archive & make_nvp("d_M_0",d_M_0); //!< Mean Anomaly at Reference Time [semi-circles]
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_sqrt_A",d_sqrt_A); //!< Square Root of the Semi-Major Axis [sqrt(m)]
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_Toc",d_Toe); //!< 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]
archive & make_nvp("d_i_0",d_i_0); //!< Inclination Angle at Reference Time [semi-circles]
archive & make_nvp("d_Crc",d_Crc); //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
archive & make_nvp("d_OMEGA",d_OMEGA); //!< Argument of Perigee [semi-cicles]
archive & make_nvp("d_OMEGA_DOT",d_OMEGA_DOT); //!< Rate of Right Ascension [semi-circles/s]
archive & make_nvp("d_IDOT",d_IDOT); //!< Rate of Inclination Angle [semi-circles/s]
archive & make_nvp("i_code_on_L2",i_code_on_L2); //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
archive & make_nvp("i_GPS_week",i_GPS_week); //!< GPS week number, aka WN [week]
archive & make_nvp("b_L2_P_data_flag",b_L2_P_data_flag); //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
archive & make_nvp("i_SV_accuracy",i_SV_accuracy); //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
archive & make_nvp("i_SV_health",i_SV_health);
archive & make_nvp("d_TGD",d_TGD); //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
archive & make_nvp("d_IODC",d_IODC); //!< Issue of Data, Clock
archive & make_nvp("i_AODO",i_AODO); //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
archive & make_nvp("b_fit_interval_flag",b_fit_interval_flag);//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
archive & make_nvp("d_spare1",d_spare1);
archive & make_nvp("d_spare2",d_spare2);
archive & make_nvp("d_A_f0",d_A_f0); //!< Coefficient 0 of code phase offset model [s]
archive & make_nvp("d_A_f1",d_A_f1); //!< Coefficient 1 of code phase offset model [s/s]
archive & make_nvp("d_A_f2",d_A_f2); //!< Coefficient 2 of code phase offset model [s/s^2]
archive & make_nvp("b_integrity_status_flag",b_integrity_status_flag);
archive & make_nvp("b_alert_flag",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.
archive & make_nvp("b_antispoofing_flag",b_antispoofing_flag); //!< If true, the AntiSpoofing mode is ON in that SV
}
/*!
* \brief Compute the ECEF SV coordinates and ECEF velocity
* [Insert here the reference in Galileo ICD]
*/
void satellitePosition(double transmitTime);
/*!
* Default constructor
*/
Galileo_Ephemeris();
};
#endif

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/*!
* \file gps_iono.cc
* \brief Interface of a GPS IONOSPHERIC MODEL storage
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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 "galileo_iono.h"
Galileo_Iono::Galileo_Iono()
{
valid = false;
}

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/*!
* \file gps_iono.h
* \brief Interface of a GPS IONOSPHERIC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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_GALILEO_IONO_H_
#define GNSS_SDR_GALILEO_IONO_H_
/*!
* \brief This class is a storage for the GALILEO IONOSPHERIC data as described in Galileo ICD
*
* See [Update ref]
*/
/*
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
*/
class Galileo_Iono
{
private:
public:
// valid flag
bool valid;
// 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]
/*!
* Default constructor
*/
Galileo_Iono();
};
#endif

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/*!
* \file Galileo_Navigation_Message.cc
* \brief Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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 "galileo_navigation_message.h"
#include "boost/date_time/posix_time/posix_time.hpp"
using namespace std;
void Galileo_Navigation_Message::reset()
{
/*Word type 1: Ephemeris (1/4)*/
IOD_nav_1 = 0;
t0e = 0;
M0 = 0;
e = 0;
A = 0;
/*d_TOW_SF1 = 0;
d_TOW_SF2 = 0;
d_TOW_SF3 = 0;
d_TOW_SF4 = 0;
d_TOW_SF5 = 0;
d_IODE_SF2 = 0;
d_IODE_SF3 = 0;
d_Crs = 0;
d_Delta_n = 0;
d_M_0 = 0;
d_Cuc = 0;
d_e_eccentricity = 0;
d_Cus = 0;
d_sqrt_A = 0;
d_Toe = 0;
d_Toc = 0;
d_Cic = 0;
d_OMEGA0 = 0;
d_Cis = 0;
d_i_0 = 0;
d_Crc = 0;
d_OMEGA = 0;
d_OMEGA_DOT = 0;
d_IDOT = 0;
i_code_on_L2 = 0;
i_GPS_week = 0;
b_L2_P_data_flag = false;
i_SV_accuracy = 0;
i_SV_health = 0;
d_TGD = 0;
d_IODC = -1;
i_AODO = 0;
b_fit_interval_flag = false;
d_spare1 = 0;
d_spare2 = 0;
d_A_f0 = 0;
d_A_f1 = 0;
d_A_f2 = 0;
//clock terms
//d_master_clock=0;
d_dtr = 0;
d_satClkCorr = 0;
// satellite positions
d_satpos_X = 0;
d_satpos_Y = 0;
d_satpos_Z = 0;
// info
i_channel_ID = 0;
i_satellite_PRN = 0;
// time synchro
d_subframe_timestamp_ms = 0;
// flags
b_alert_flag = false;
b_integrity_status_flag = false;
b_antispoofing_flag = false;
// Ionosphere and UTC
flag_iono_valid = false;
flag_utc_model_valid = true;
d_alpha0 = 0;
d_alpha1 = 0;
d_alpha2 = 0;
d_alpha3 = 0;
d_beta0 = 0;
d_beta1 = 0;
d_beta2 = 0;
d_beta3 = 0;
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;
//Almanac
d_Toa = 0;
i_WN_A = 0;
for (int i=1; i < 32; i++ )
{
almanacHealth[i] = 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";*/
}
Galileo_Navigation_Message::Galileo_Navigation_Message()
{
reset();
}
unsigned long int Galileo_Navigation_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_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[GALILEO_DATA_JK_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
return value;
}
unsigned long int Galileo_Navigation_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_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[GALILEO_PAGE_TYPE_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
return value;
}
/*signed long int Galileo_Navigation_Message::read_navigation_signed(std::bitset<GALILEO_SUBFRAME_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[GALILEO_SUBFRAME_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[GALILEO_SUBFRAME_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[GALILEO_SUBFRAME_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[GALILEO_SUBFRAME_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
}
return value;
}*/
/*bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_SUBFRAME_BITS> bits, const std::vector<std::pair<int,int> > parameter)
{
bool value;
if (bits[GALILEO_SUBFRAME_BITS - parameter[0].first] == 1)
{
value = true;
}
else
{
value = false;
}
return value;
}*/
/*void Galileo_Navigation_Message::print_galileo_word_bytes(unsigned int GPS_word)
{
std::cout << " Word =";
std::cout << std::bitset<32>(GPS_word);
std::cout << std::endl;
}*/
void Galileo_Navigation_Message::split_page(char *page){
cout << "--------------------------------------------------------------------------" << endl;
cout << "Entered in Galileo_Navigation_Message::split_page(char *page)" << endl << endl;;
char Even_bit[2]={'\0'}, Odd_bit[2]={'\0'}, Page_type_Odd[2]={'\0'}, Page_type_even[2]={'\0'}, tail_Even[7]={'\0'}; //HO DATO A TUTTI UNO SPAZIO IN PIÙ PER L'ULTIMO CARATTERE
char page_Odd[121]={'\0'}, page_INAV[235]={'\0'};
char Data_j[16]={'\0'}, Data_k[112]={'\0'}, page_number_bits[6]={'\0'};
char Data_jk_ephemeris[128]={'\0'};
char Reserved_1[40]={'\0'};
char SAR[22]={'\0'};
char Spare[2]={'\0'};
char CRC_data[24]={'\0'};
char Reserved_2[8]={'\0'};
char Tail_odd[6]={'\0'};
char correct_tail[7]="000000";
int flag_even_word_arrived=1; /*******************REMEMBER TO CHANGE flag_even_word_arrived=0 *****+**********/
int Page_type=0;
/* Test to decode page 1 even joined to its corresponding
The Even pages given here are without their tails bits*/
char page_Even[115]="000000010001011111010111101101100111110110101110101111100011001000000000001101110101110010000100101010100000010011";
//test to detect page 3------> char page_Even[115]="000000110001011111111111111100001001100110001000110001011111110011111100110001011000111110000011011111000011110000";
//test to detect page 10-----> char page_Even[115]="000010101111101010101010101010101010101010101010101010101010101010101010101010101010111100000000000000000000000000";
//test to detect page 5------> char page_Even[115]="000001010010000010000000100010000010111010100000011111110001111111000111111001011000110010110011111111110110000000";
//test to detect page 2------> char page_Even[115]="000000100001011111110010111010111100000010111100000010011100000000100001011110100111000111100111000000100000000010";
cout << "Start decoding Galileo I/NAV " << endl;
if(page[0]=='1') // if page is odd
{
strcpy(page_Odd, page);
//cout << "Page Odd " << endl << page_Odd<< endl;
if (flag_even_word_arrived==1) //to test the function and satisfy this condition the flag is INITIALIZED AT 1
{
strncpy(page_INAV, page_Even, 114); //Join pages: Even+Odd=INAV page
strncat(page_INAV, page_Odd,120);
//cout << "Page INAV Even+Odd " << endl << page_INAV << endl;
strncpy(Even_bit, &page_INAV[0], 1);
//cout << "Even bit = " << Even_bit << endl;
strncpy(Page_type_even, &page_INAV[1], 1);
//cout << "Page type even = " << Page_type_even << endl;
if(atoi(Page_type_even)==1) cout << "Alert frame "<< endl;
else cout << "Nominal Page" << endl;
strncpy(Data_k, &page_INAV[2], 112);
//cout << "Data_k " << endl << Data_k << endl;
strncpy(Odd_bit, &page_INAV[114], 1);
//cout << "Odd bit: " << Odd_bit << endl;
strncpy(Page_type_Odd, &page_INAV[115], 1);
//cout << "Page_type_Odd: " << Page_type_Odd << endl;
strncpy(Data_j, &page_INAV[116], 16);
//cout << "Data_j: " << endl << Data_j << endl;
strncpy(Reserved_1, &page_INAV[132], 40);
strncpy(SAR, &page_INAV[172], 22);
strncpy(Spare, &page_INAV[194], 2);
strncpy(CRC_data, &page_INAV[196], 24);
strncpy(Reserved_2, &page_INAV[220], 8);
strncpy(Tail_odd, &page_INAV[228], 6);
//cout << "tail odd: " << endl << Tail_odd << endl;
if(strcmp (Tail_odd,correct_tail) != 0)
cout << "Tail odd is not correct!" << endl;
else cout<<"Tail odd is correct!"<<endl;
/************* CRC cycle control ***********/
strncpy(page_number_bits, &Data_k[0], 6);
//cout << "Page number bits from Data k" << endl << page_number_bits << endl;
stringstream ss_page_number;
string s_page_number;
ss_page_number << page_number_bits; // from char to stringstream
ss_page_number >> s_page_number; // from stringstream to string
std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits (s_page_number); // from string to bitset
Page_type = (int)read_page_type_unsigned(page_type_bits, type);
cout << "Page number (first 6 bits of Data k converted to decimal) = " << Page_type << endl;
strncpy(Data_jk_ephemeris, Data_k, 112); // Join data_j + data_k = Data_jk_ephemeris;
strncat(Data_jk_ephemeris, Data_j, 16); // Data_jk_ephemeris is the input for the function page decoder*/
//cout<<"Data j k ephemeris" << endl << Data_jk_ephemeris << endl;
page_jk_decoder(Data_jk_ephemeris); // Corresponding to ephemeris_decode.m in matlab code
flag_even_word_arrived=0;
}
} /*if(page[0]=='1') */
else{
cout << "Page Even" << endl;
strncpy(page_Even, &page[0], 114);
//cout << page_Even << endl;
strncpy(tail_Even, &page[114], 6);
if(strcmp (tail_Even,correct_tail) != 0)
cout << "Tail even is not correct!" << endl;
else cout<<"Tail even is correct!"<<endl;
flag_even_word_arrived=1;
}
cout << "flag EVEN word arrived = " << flag_even_word_arrived << endl;
cout << "--------------------------------------------------------------------------" << endl;
}
int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
{
cout << "--------------------------------------------------------------------------" << endl;
cout<< "Entered in function Galileo_Navigation_Message::page_jk_decoder(char *data_jk)" << endl << endl;
int page_number = 0;
stringstream ss;
string str;
ss << data_jk;
ss >> str;
std::bitset<GALILEO_DATA_JK_BITS> data_jk_bits (str);
//cout << "Data_jk_bits (bitset) "<< endl << data_jk_bits << endl;
page_number = (int)read_navigation_unsigned(data_jk_bits, PAGE_TYPE_bit);
cout << "Page number (for the test it must return page 1) = " << page_number << endl;
switch (page_number)
{
case 1: /*Word type 1: Ephemeris (1/4)*/
IOD_nav_1=(int)read_navigation_unsigned(data_jk_bits, IOD_nav_page1);
cout<<"IOD_nav_1= "<< IOD_nav_1 <<endl;
t0e=(double)read_navigation_unsigned(data_jk_bits, T0E_bit);
t0e = t0e * t0e_LSB;
cout << "t0e= " << t0e <<endl;
M0 = (double)read_navigation_unsigned(data_jk_bits, M0_bit);
M0 = M0 * M0_LSB;
cout << "M0= " << M0<<endl;
e = (double)read_navigation_unsigned(data_jk_bits, e_bit);
e = e * e_LSB;
cout << "e= " << e <<endl;
A = (double)read_navigation_unsigned(data_jk_bits, A_bit);
A = A * A_LSB;
cout << "A= " << A <<endl;
}
/*unsigned int gps_word;
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
std::bitset<GALILEO_SUBFRAME_BITS> subframe_bits;
std::bitset<GPS_WORD_BITS+2> word_bits;
for (int i=0; i<10; i++)
{
memcpy(&gps_word, &subframe[i*4], sizeof(char)*4);
word_bits = std::bitset<(GPS_WORD_BITS+2)>(gps_word);
for (int j=0; j<GPS_WORD_BITS; j++)
{
subframe_bits[GPS_WORD_BITS*(9-i) + j] = word_bits[j];
}
}
subframe_ID = (int)read_navigation_unsigned(subframe_bits, SUBFRAME_ID);
// Decode all 5 sub-frames
switch (subframe_ID)
{
//--- Decode the sub-frame id ------------------------------------------
// ICD (IS-GPS-200E Appendix II). http://www.losangeles.af.mil/shared/media/document/AFD-100813-045.pdf
case 1:
//--- It is subframe 1 -------------------------------------
// Compute the time of week (TOW) of the first sub-frames in the array ====
// Also correct the TOW. The transmitted TOW is actual TOW of the next
// subframe and we need the TOW of the first subframe in this data block
// (the variable subframe at this point contains bits of the last subframe).
//TOW = bin2dec(subframe(31:47)) * 6 - 30;
d_TOW_SF1 = (double)read_navigation_unsigned(subframe_bits, TOW);
//we are in the first subframe (the transmitted TOW is the start time of the next subframe) !
d_TOW_SF1 = d_TOW_SF1*6;
d_TOW = d_TOW_SF1 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
i_GPS_week = (int)read_navigation_unsigned(subframe_bits, GPS_WEEK);
i_SV_accuracy = (int)read_navigation_unsigned(subframe_bits, SV_ACCURACY); // (20.3.3.3.1.3)
i_SV_health = (int)read_navigation_unsigned(subframe_bits, SV_HEALTH);
b_L2_P_data_flag = read_navigation_bool(subframe_bits, L2_P_DATA_FLAG); //
i_code_on_L2 = (int)read_navigation_unsigned(subframe_bits, CA_OR_P_ON_L2);
d_TGD = (double)read_navigation_signed(subframe_bits, T_GD);
d_TGD = d_TGD*T_GD_LSB;
d_IODC = (double)read_navigation_unsigned(subframe_bits, IODC);
d_Toc = (double)read_navigation_unsigned(subframe_bits, T_OC);
d_Toc = d_Toc*T_OC_LSB;
d_A_f0 = (double)read_navigation_signed(subframe_bits, A_F0);
d_A_f0 = d_A_f0*A_F0_LSB;
d_A_f1 = (double)read_navigation_signed(subframe_bits, A_F1);
d_A_f1 = d_A_f1*A_F1_LSB;
d_A_f2 = (double)read_navigation_signed(subframe_bits, A_F2);
d_A_f2 = d_A_f2*A_F2_LSB;
break;
case 2: //--- It is subframe 2 -------------------
d_TOW_SF2 = (double)read_navigation_unsigned(subframe_bits, TOW);
d_TOW_SF2 = d_TOW_SF2*6;
d_TOW = d_TOW_SF2 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_IODE_SF2 = (double)read_navigation_unsigned(subframe_bits, IODE_SF2);
d_Crs = (double)read_navigation_signed(subframe_bits, C_RS);
d_Crs = d_Crs * C_RS_LSB;
d_Delta_n = (double)read_navigation_signed(subframe_bits, DELTA_N);
d_Delta_n = d_Delta_n * DELTA_N_LSB;
d_M_0 = (double)read_navigation_signed(subframe_bits, M_0);
d_M_0 = d_M_0 * M_0_LSB;
d_Cuc = (double)read_navigation_signed(subframe_bits, C_UC);
d_Cuc = d_Cuc * C_UC_LSB;
d_e_eccentricity = (double)read_navigation_unsigned(subframe_bits, E);
d_e_eccentricity = d_e_eccentricity * E_LSB;
d_Cus = (double)read_navigation_signed(subframe_bits, C_US);
d_Cus = d_Cus * C_US_LSB;
d_sqrt_A = (double)read_navigation_unsigned(subframe_bits, SQRT_A);
d_sqrt_A = d_sqrt_A * SQRT_A_LSB;
d_Toe = (double)read_navigation_unsigned(subframe_bits, T_OE);
d_Toe = d_Toe * T_OE_LSB;
b_fit_interval_flag = read_navigation_bool(subframe_bits, FIT_INTERVAL_FLAG);
i_AODO = (int)read_navigation_unsigned(subframe_bits, AODO);
i_AODO = i_AODO * AODO_LSB;
break;
case 3: // --- It is subframe 3 -------------------------------------
d_TOW_SF3 = (double)read_navigation_unsigned(subframe_bits, TOW);
d_TOW_SF3 = d_TOW_SF3*6;
d_TOW = d_TOW_SF3 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_Cic = (double)read_navigation_signed(subframe_bits, C_IC);
d_Cic = d_Cic * C_IC_LSB;
d_OMEGA0 = (double)read_navigation_signed(subframe_bits, OMEGA_0);
d_OMEGA0 = d_OMEGA0 * OMEGA_0_LSB;
d_Cis = (double)read_navigation_signed(subframe_bits, C_IS);
d_Cis = d_Cis * C_IS_LSB;
d_i_0 = (double)read_navigation_signed(subframe_bits, I_0);
d_i_0 = d_i_0 * I_0_LSB;
d_Crc = (double)read_navigation_signed(subframe_bits, C_RC);
d_Crc = d_Crc * C_RC_LSB;
d_OMEGA = (double)read_navigation_signed(subframe_bits, OMEGA);
d_OMEGA = d_OMEGA * OMEGA_LSB;
d_OMEGA_DOT = (double)read_navigation_signed(subframe_bits, OMEGA_DOT);
d_OMEGA_DOT = d_OMEGA_DOT * OMEGA_DOT_LSB;
d_IODE_SF3 = (double)read_navigation_unsigned(subframe_bits, IODE_SF3);
d_IDOT = (double)read_navigation_signed(subframe_bits, I_DOT);
d_IDOT = d_IDOT*I_DOT_LSB;
break;
case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
d_TOW_SF4 = (double)read_navigation_unsigned(subframe_bits, TOW);
d_TOW_SF4 = d_TOW_SF4*6;
d_TOW = d_TOW_SF4 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = (int)read_navigation_unsigned(subframe_bits, SV_DATA_ID);
SV_page = (int)read_navigation_unsigned(subframe_bits, SV_PAGE);
if (SV_page == 13)
{
//! \TODO read Estimated Range Deviation (ERD) values
}
if (SV_page == 18)
{
// Page 18 - Ionospheric and UTC data
d_alpha0 = (double)read_navigation_signed(subframe_bits, ALPHA_0);
d_alpha0 = d_alpha0 * ALPHA_0_LSB;
d_alpha1 = (double)read_navigation_signed(subframe_bits, ALPHA_1);
d_alpha1 = d_alpha1 * ALPHA_1_LSB;
d_alpha2 = (double)read_navigation_signed(subframe_bits, ALPHA_2);
d_alpha2 = d_alpha2 * ALPHA_2_LSB;
d_alpha3 = (double)read_navigation_signed(subframe_bits, ALPHA_3);
d_alpha3 = d_alpha3 * ALPHA_3_LSB;
d_beta0 = (double)read_navigation_signed(subframe_bits, BETA_0);
d_beta0 = d_beta0 * BETA_0_LSB;
d_beta1 = (double)read_navigation_signed(subframe_bits, BETA_1);
d_beta1 = d_beta1 * BETA_1_LSB;
d_beta2 = (double)read_navigation_signed(subframe_bits, BETA_2);
d_beta2 = d_beta2 * BETA_2_LSB;
d_beta3 = (double)read_navigation_signed(subframe_bits, BETA_3);
d_beta3 = d_beta3 * BETA_3_LSB;
d_A1 = (double)read_navigation_signed(subframe_bits, A_1);
d_A1 = d_A1 * A_1_LSB;
d_A0 = (double)read_navigation_signed(subframe_bits, A_0);
d_A0 = d_A0 * A_0_LSB;
d_t_OT = (double)read_navigation_unsigned(subframe_bits, T_OT);
d_t_OT = d_t_OT * T_OT_LSB;
i_WN_T = (int)read_navigation_unsigned(subframe_bits, WN_T);
d_DeltaT_LS = (double)read_navigation_signed(subframe_bits, DELTAT_LS);
i_WN_LSF = (int)read_navigation_unsigned(subframe_bits, WN_LSF);
i_DN = (int)read_navigation_unsigned(subframe_bits, DN); // Right-justified ?
d_DeltaT_LSF = (double)read_navigation_signed(subframe_bits, DELTAT_LSF);
flag_iono_valid = true;
flag_utc_model_valid = true;
}
if (SV_page == 25)
{
// Page 25 Anti-Spoofing, SV config and almanac health (PRN: 25-32)
//! \TODO Read Anti-Spoofing, SV config
almanacHealth[25] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV25);
almanacHealth[26] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV26);
almanacHealth[27] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV27);
almanacHealth[28] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV28);
almanacHealth[29] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV29);
almanacHealth[30] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV30);
almanacHealth[31] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV31);
almanacHealth[32] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV32);
}
break;
case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
d_TOW_SF5 = (double)read_navigation_unsigned(subframe_bits, TOW);
d_TOW_SF5 = d_TOW_SF5*6;
d_TOW = d_TOW_SF5 - 6; // Set transmission time
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID = (int)read_navigation_unsigned(subframe_bits, SV_DATA_ID);
SV_page = (int)read_navigation_unsigned(subframe_bits, SV_PAGE);
if (SV_page < 25)
{
//! \TODO read almanac
}
if (SV_page == 25)
{
d_Toa = (double)read_navigation_unsigned(subframe_bits, T_OA);
d_Toa = d_Toa * T_OA_LSB;
i_WN_A = (int)read_navigation_unsigned(subframe_bits, WN_A);
almanacHealth[1] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV1);
almanacHealth[2] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV2);
almanacHealth[3] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV3);
almanacHealth[4] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV4);
almanacHealth[5] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV5);
almanacHealth[6] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV6);
almanacHealth[7] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV7);
almanacHealth[8] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV8);
almanacHealth[9] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV9);
almanacHealth[10] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV10);
almanacHealth[11] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV11);
almanacHealth[12] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV12);
almanacHealth[13] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV13);
almanacHealth[14] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV14);
almanacHealth[15] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV15);
almanacHealth[16] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV16);
almanacHealth[17] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV17);
almanacHealth[18] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV18);
almanacHealth[19] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV19);
almanacHealth[20] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV20);
almanacHealth[21] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV21);
almanacHealth[22] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV22);
almanacHealth[23] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV23);
almanacHealth[24] = (int)read_navigation_unsigned(subframe_bits, HEALTH_SV24);
}
break;
default:
break;
} // switch subframeID ...
*/cout<<"--------------------------------------------------------------------------"<<endl;
return page_number;
}

104
src/core/system_parameters/galileo_navigation_message.h Normal file
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@@ -0,0 +1,104 @@
/*!
* \file galileo_navigation_message.h
* \brief Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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_GALILEO_NAVIGATION_MESSAGE_H_
#define GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H_
#include <iostream>
#include <map>
#include <vector>
#include <string>
#include <algorithm>
#include <bitset>
#include "boost/assign.hpp"
#include <cmath>
#include <utility>
#include "Galileo_E1.h"
class Galileo_Navigation_Message {
private:
//bool read_navigation_bool(std::bitset<GALILEO_SUBFRAME_BITS> bits, const std::vector<std::pair<int,int> > parameter);
//void print_galileo_word_bytes(unsigned int GPS_word);
unsigned long int read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector< std::pair<int,int> > parameter);
unsigned long int read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector< std::pair<int,int> > parameter);
//signed long int read_navigation_signed(std::bitset<GALILEO_SUBFRAME_BITS> bits, const std::vector<std::pair<int,int> > parameter);
int x,y;
public:
/*Word type 1: Ephemeris (1/4)*/
int IOD_nav_1; // IOD_nav page 1
double t0e; // Ephemeris reference time [s]
double M0; // Mean anomaly at reference time [semi-circles]
double e; // Eccentricity
double A; // Square root of the semi-major axis [metres^1/2]
/*Word type 2: Ephemeris (2/4)*/
/*Word type 3: Ephemeris (3/4) and SISA*/
/*Word type 4: Ephemeris (4/4) and Clock correction parameters*/
/*Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
/*Word type 6: GST-UTC conversion parameters*/
/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
/*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
/*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
/*Word type 0: I/NAV Spare Word*/
void split_page(char *page); /* Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j*/
int page_jk_decoder(char *data_jk); /* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
void reset();
/* Default constructor */
Galileo_Navigation_Message();
};
#endif /* GALILEO_NAVIGATION_MESSAGE_H_ */

46
src/core/system_parameters/galileo_utc_model.cc Normal file
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@@ -0,0 +1,46 @@
/*
* \file gps_utc_model.h
* \brief Interface of a GPS UTC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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 "galileo_utc_model.h"
Galileo_Utc_Model::Galileo_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;
}

67
src/core/system_parameters/galileo_utc_model.h Normal file
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@@ -0,0 +1,67 @@
/*!
* \file gps_utc_model.h
* \brief Interface of a GPS UTC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (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_GALILEO_UTC_MODEL_H_
#define GNSS_SDR_GALILEO_UTC_MODEL_H_
/*!
* \brief This class is a storage for the GALILEO UTC MODEL data as described in Galileo ICD
*
* See [Update ref]
*/
/*
* ToDo: Rewrite the class to include all the parameters described in Galileo ICD (this is just a copy of GPS code!)
*/
class Galileo_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
*/
Galileo_Utc_Model();
};
#endif

20
src/main/main.cc
View File

@@ -45,11 +45,17 @@
#include <boost/thread/thread.hpp>
#include "concurrent_queue.h"
#include "concurrent_map.h"
#include "gps_navigation_message.h"
#include "gps_ephemeris.h"
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include <sys/time.h>
#include <ctime>
#include <memory>
@@ -67,6 +73,7 @@ DECLARE_string(log_dir);
* to the Observables modules
*/
// For GPS NAVIGATION
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
concurrent_queue<Gps_Iono> global_gps_iono_queue;
concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
@@ -79,6 +86,17 @@ concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
// For GALILEO NAVIGATION
concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
concurrent_map<Galileo_Iono> global_galileo_iono_map;
concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
int main(int argc, char** argv)
{

22
src/tests/test_main.cc
View File

@@ -44,8 +44,18 @@
#include "concurrent_queue.h"
#include "concurrent_map.h"
#include "gps_navigation_message.h"
#include "control_thread.h"
#include "gps_ephemeris.h"
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "control_thread.h"
//#include "arithmetic/complex_arithmetic_libc.cc"
//#include "arithmetic/correlations_libc.cc"
@@ -81,6 +91,16 @@ concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
// For GALILEO NAVIGATION
concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
concurrent_map<Galileo_Iono> global_galileo_iono_map;
concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
int main(int argc, char **argv)
{

16
src/utils/front-end-cal/main.cc
View File

@@ -63,6 +63,12 @@
#include "gps_almanac.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "gnss_sdr_supl_client.h"
#include <sys/time.h>
#include <ctime>
@@ -89,6 +95,16 @@ concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
// For GALILEO NAVIGATION
concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
concurrent_map<Galileo_Iono> global_galileo_iono_map;
concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
bool stop;
concurrent_queue<int> channel_internal_queue;