mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
GSoC 2013 commit from Mara Branzanti
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@405 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
367105f666
commit
c4508f875f
@ -39,11 +39,15 @@
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#include <glog/logging.h>
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#include <boost/lexical_cast.hpp>
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#include "control_message_factory.h"
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#include "galileo_navigation_message.h"
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#include "gnss_synchro.h"
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#include "convolutional.h"
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#include <stdio.h>
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#include <stdlib.h>
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using google::LogMessage;
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@ -286,15 +290,18 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
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{
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std::cout<<"Page Odd"<<std::endl;
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d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
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//decode_page.split_page(page_String, flag_even_word_arrived);
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flag_even_word_arrived=0;
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std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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std::cout << "page odd" << page_String << std::endl;
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//std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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}
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else
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{
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std::cout<<"Page Even"<<std::endl;
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d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
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flag_even_word_arrived=1;
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std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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std::cout << "page even" << std::endl << page_String << std::endl;
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//std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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}
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// 4. Push the new navigation data to the queues
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@ -39,8 +39,6 @@
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#include <cstring>
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#include <string>
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using namespace std;
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typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_Galileo_INAV_type;
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@ -119,13 +117,12 @@ void Galileo_Navigation_Message::reset()
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Delta_tLSF_6 = 0;
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TOW_6 = 0;
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/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
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IOD_a_7 = 0;
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WN_a_7 = 0;
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t0a_7 = 0;
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SVID1_7 = 0;
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Delta_alpha_7 = 0;
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DELTA_A_7 = 0;
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e_7 = 0;
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omega_7 = 0;
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delta_i_7 = 0;
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@ -173,6 +170,7 @@ void Galileo_Navigation_Message::reset()
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af1_10 = 0;
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E5b_HS_10 = 0;
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E1B_HS_10 = 0;
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//GST-GPS
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A_0G_10 = 0;
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A_1G_10 = 0;
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t_0G_10 = 0;
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@ -184,9 +182,6 @@ void Galileo_Navigation_Message::reset()
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WN_0 = 0;
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TOW_0 = 0;
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}
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@ -348,97 +343,60 @@ bool Galileo_Navigation_Message::read_navigation_bool(std::bitset<GALILEO_DATA_J
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}*/
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void Galileo_Navigation_Message::split_page(const char *page, int flag_even_word){
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// ToDo: Replace all the C structures and string operations with std::string and std::stringstream C++ classes.
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// ToDo: Clean all the tests and create an independent google test code for the telemetry decoder.
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cout << "--------------------------------------------------------------------------" << endl;
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cout << "Entered in Galileo_Navigation_Message::split_page(char *page)" << endl << endl;;
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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
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char page_Odd[121]={'\0'};
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char page_INAV[235]={'\0'};
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char Data_j[16]={'\0'}, Data_k[112]={'\0'}, page_number_bits[6]={'\0'};
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char Data_jk_ephemeris[129]={'\0'};
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char Reserved_1[40]={'\0'};
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char SAR[22]={'\0'};
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char Spare[2]={'\0'};
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std::cout << "Entered in Galileo_Navigation_Message::split_page(const char *page, int flag_even_word" << std::endl << std::endl;;
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std::string page_string = page;
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//char correct_tail[7]="011110"; //the viterbi decoder output change the tail to this value (why?)
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char CRC_data[24]={'\0'};
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char Reserved_2[8]={'\0'};
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char Tail_odd[6]={'\0'};
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//char correct_tail[7]="000000";
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char correct_tail[7]="011110"; //the viterbi decoder output change the tail to this value (why?)
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char correct_tail[7]="000000";
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int Page_type=0;
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static char page_Even[114];
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/* Test to decode page 1 even joined to its corresponding
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The Even pages given here are without their tails bits*/
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//test to detect page 1------> char page_Even[115]="000000010001011111010111101101100111110110101110101111100011001000000000001101110101110010000100101010100000010011";
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//test to detect page 2------> char page_Even[115]="000000100001011111110010111010111100000010111100000010011100000000100001011110100111000111100111000000100000000010";
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//test to detect page 3------>char page_Even[115]="000000110001011111111111111100001001100110001000110001011111110011111100110001011000111110000011011111000011110000";
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//test to detect page 4------>char page_Even[115]="000001000001011111001100000000000000101100000000000111010101111011011000000001000101001111101010011100000000010110://
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/*test to detect page 5------>char page_Even[115]="000001010010000010000000100010000010111010100000011111110001111111000111111001011000110010110011111111110110000000";*/
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//test to detect page 10-----> char page_Even[115]="000010101111101010101010101010101010101010101010101010101010101010101010101010101010111100000000000000000000000000";
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//test to detect page 6------>char page_Even[115]="000001100000000000000000000000011100001100000000000000000000000000100011010111111010001101000011100001000110101101
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/* test to detect page 7------> char page_Even[115]="000001111111101001011111010011000000000110100000001110010111111110010111110111101001000001110000111111110000101101"; */
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/* test to detect page 8------> char page_Even[115]="000010001111000000100001111100000011000001111010100000000000110100000001111010011110111000011110111101001000001110"; */
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/* test to detect page 9------> char page_Even[115]="000010011111101001011111111000101110001100000000011010100000000010111111100000001010101010101010101010101010101010"; */
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/* test to detect page 10------> char page_Even[115]="000010101111101010101010101010101010101010101010101010101010101010101010101010101010111100000000000000000000000000"; */
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static std::string page_Even; //declare in this way it can "remember the previous even page while reading the odd page..ok!
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/* test to detect page 0------> char page_Even[115]="000000001001010101010101010101010101010101010101010101010101010101010101010101010101010101010101010010110001100101";*/
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cout << "Start decoding Galileo I/NAV " << endl;
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// cout<<"page input"<<page<<endl;
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cout<<page_Even<<endl;
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;
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if(page[0]=='1') // if page is odd
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std::cout << "Start decoding Galileo I/NAV " << std::endl;
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if(page_string.at(0)=='1')// if page is odd
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{
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std::cout<< "page[0] split page="<<page[0]<<endl;
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// std::cout << "Page Odd mara split page" << endl;
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strcpy(page_Odd, page);
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std::cout<<"Page odd in split page"<< endl << page_Odd << endl;
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//std::cout<< "page_string.at(0) split page="<<page_string.at(0) << std::endl;
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std::string page_Odd = page_string; //chiamo la stringa sembre page_Odd
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//std::cout<<"Page odd string in split page"<< std::endl << page_Odd << std::endl;
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if (flag_even_word==1)
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if (flag_even_word==1)/*Under this condition An odd page has been received but the previous even page is kept in memory and it is considered to join pages*/
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{
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/*Under this condition An odd page has been received but the previous even page in keep in memory and it is considered to join pages*/
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strncpy(page_INAV, page_Even, 114); //Join pages: Even+Odd=INAV page
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strncat(page_INAV, page_Odd,120);
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//std::cout << "Page INAV Even+Odd " << endl << page_INAV << endl;
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strncpy(Even_bit, &page_INAV[0], 1);
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//std::cout<<"previous page even "<< std::endl << page_Even << std::endl;
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std::string page_INAV_even = page_Even;
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//std::cout << "page inav solo even" << page_INAV_even << std::endl;
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std::string page_INAV = page_INAV_even + page_Odd; //Join pages: Even+Odd=INAV page
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//std::cout << "page inav eve +odd " << page_INAV<< std::endl;
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std::string Even_bit = page_INAV.substr (0,1);
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//std::cout << "Even bit = " << Even_bit << endl;
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strncpy(Page_type_even, &page_INAV[1], 1);
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std::string Page_type_even = page_INAV.substr (1,1);
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//std::cout << "Page type even = " << Page_type_even << endl;
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std::string nominal = "0";
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if(atoi(Page_type_even)==1) std::cout << "Alert frame "<< endl;
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else std::cout << "Nominal Page" << endl;
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if (Page_type_even.compare(nominal) != 0)
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std::cout << "Alert frame "<< std::endl;
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else std::cout << "Nominal Page" << std::endl;
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strncpy(Data_k, &page_INAV[2], 112);
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std::string Data_k = page_INAV.substr (2,112);
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//std::cout << "Data_k " << endl << Data_k << endl;
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strncpy(Odd_bit, &page_INAV[114], 1);
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//std::cout << "Odd bit: " << Odd_bit << endl;
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strncpy(Page_type_Odd, &page_INAV[115], 1);
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std::string Odd_bit = page_INAV.substr (114,1);
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std::string Page_type_Odd = page_INAV.substr (115,1);
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//std::cout << "Page_type_Odd: " << Page_type_Odd << endl;
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strncpy(Data_j, &page_INAV[116], 16);
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//std::cout << "Data_j: " << endl << Data_j << endl;
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std::string Data_j = page_INAV.substr (116,16);
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//std::cout << "Data_j: " << Data_j << endl;
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strncpy(Reserved_1, &page_INAV[132], 40);
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strncpy(SAR, &page_INAV[172], 22);
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strncpy(Spare, &page_INAV[194], 2);
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strncpy(CRC_data, &page_INAV[196], 24);
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strncpy(Reserved_2, &page_INAV[220], 8);
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strncpy(Tail_odd, &page_INAV[228], 6);
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std::cout << "tail odd: " << endl << Tail_odd << endl;
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if(strcmp (Tail_odd,correct_tail) != 0)
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std::cout << "Tail odd is not correct!" << endl;
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else std::cout<<"Tail odd is correct!"<<endl;
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std::string Reserved_1 = page_INAV.substr (132,40);
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std::string SAR = page_INAV.substr (172,22);
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std::string Spare = page_INAV.substr (194,2);
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std::string CRC_data = page_INAV.substr (196,24);
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std::string Reserved_2 = page_INAV.substr (220,8);
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std::string Tail_odd = page_INAV.substr (228,6);
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//************ CRC checksum control *******/
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std::stringstream TLM_word_for_CRC_stream;
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@ -452,6 +410,10 @@ void Galileo_Navigation_Message::split_page(const char *page, int flag_even_word
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std::bitset<GALILEO_DATA_FRAME_BITS> TLM_word_for_CRC_bits(TLM_word_for_CRC);
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std::bitset<24> checksum(CRC_data);
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if (Tail_odd.compare(correct_tail) != 0)
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std::cout << "Tail odd is not correct!" << std::endl;
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else std::cout<<"Tail odd is correct!"<<std::endl;
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if (CRC_test(TLM_word_for_CRC_bits,checksum.to_ulong())==true)
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{
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// CRC correct: Decode word
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@ -462,44 +424,30 @@ void Galileo_Navigation_Message::split_page(const char *page, int flag_even_word
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}
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//********** end of CRC checksum control ***/
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strncpy(page_number_bits, &Data_k[0], 6);
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std::cout << "Page number bits from Data k" << endl << page_number_bits << endl;
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stringstream ss_page_number;
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string s_page_number;
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ss_page_number << page_number_bits; // from char to stringstream
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ss_page_number >> s_page_number; // from stringstream to string
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std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits (s_page_number); // from string to bitset
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std::string page_number_bits = Data_k.substr (0,6);
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//std::cout << "Page number bits from Data k" << std::endl << page_number_bits << std::endl;
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std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits (page_number_bits); // from string to bitset
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Page_type = (int)read_page_type_unsigned(page_type_bits, type);
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std::cout << "Page number (first 6 bits of Data k converted to decimal) = " << Page_type << endl;
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strncpy(Data_jk_ephemeris, &Data_k[0], 112); // Join data_j + data_k = Data_jk_ephemeris;
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strncat(Data_jk_ephemeris, Data_j, 16); // Data_jk_ephemeris is the input for the function page decoder
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std::cout << "Page number (first 6 bits of Data k converted to decimal) = " << Page_type << std::endl;
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std::string Data_jk_ephemeris = Data_k + Data_j;
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//std::cout<<"Data j k ephemeris" << endl << Data_jk_ephemeris << endl;
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page_jk_decoder(Data_jk_ephemeris); // Corresponding to ephemeris_decode.m in matlab code
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//internal_flag_even_word_arrived=0;
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page_jk_decoder(Data_jk_ephemeris.c_str()); // Corresponding to ephemeris_decode.m in matlab code
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}
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} /*if(page[0]=='1') */
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} /*end if (page_string.at(0)=='1') */
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else{
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strncpy(page_Even, &page[0], 114); //ora che ha memorizzato page even dovrebbe mantenerla per la prossima volta che entro nella funzione
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std::cout << "Page even in split page" << std::endl << page_Even << std::endl;
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strncpy(tail_Even, &page[114], 6);
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if(strcmp (tail_Even,correct_tail) != 0)
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std::cout << "Tail even is not correct!" << endl;
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else std::cout<<"Tail even is correct!"<<endl;
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//flag_even_word=1;
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page_Even = page_string.substr (0,114);
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//std::cout << "Page even in split page" << std::endl << page_Even << std::endl;
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std::string tail_Even = page_string.substr (114,6);
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//std::cout << "tail_even_string: " << tail_Even <<std::endl;
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if (tail_Even.compare(correct_tail) != 0)
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std::cout << "Tail even is not correct!" << std::endl;
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else std::cout<<"Tail even is correct!"<< std::endl;
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}
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@ -532,7 +480,32 @@ Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris()
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{
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Galileo_Ephemeris ephemeris;
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//ToDo:: fill the object
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ephemeris.M0_1 = M0_1; // Mean anomaly at reference time [semi-circles]
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ephemeris.delta_n_3 = delta_n_3; // Mean motion difference from computed value [semi-circles/sec]
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ephemeris.e_1 = e_1; // Eccentricity
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ephemeris.A_1 = A_1; // Square root of the semi-major axis [metres^1/2]
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ephemeris.OMEGA_0_2 = OMEGA_0_2;// Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
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ephemeris.i_0_2 = i_0_2; // Inclination angle at reference time [semi-circles]
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ephemeris.omega_2 = omega_2; // Argument of perigee [semi-circles]
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ephemeris.OMEGA_dot_3 = OMEGA_dot_3; // Rate of right ascension [semi-circles/sec]
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ephemeris.iDot_2 = iDot_2; // Rate of inclination angle [semi-circles/sec]
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ephemeris.C_uc_3 = C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
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ephemeris.C_us_3 = C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
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ephemeris.C_rc_3 = C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
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ephemeris.C_rs_3 = C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
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ephemeris.C_ic_4 = C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
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ephemeris.C_is_4 = C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
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ephemeris.t0e_1 = t0e_1; // Ephemeris reference time [s]
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/*Clock correction parameters*/
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ephemeris.t0c_4 = t0c_4; //Clock correction data reference Time of Week [sec]
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ephemeris.af0_4 = af0_4; //SV clock bias correction coefficient [s]
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ephemeris.af1_4 = af1_4; //SV clock drift correction coefficient [s/s]
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ephemeris.af2_4 = af2_4; //SV clock drift rate correction coefficient [s/s^2]
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/*GST*/
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ephemeris.WN_5 = WN_5;//Week number
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ephemeris.TOW_5 = TOW_5;//Time of Week
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return ephemeris;
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}
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@ -540,7 +513,19 @@ Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris()
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Galileo_Iono Galileo_Navigation_Message::get_iono()
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{
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Galileo_Iono iono;
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//ToDo:: fill the object
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/*Ionospheric correction*/
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/*Az*/
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iono.ai0_5 = ai0_5; //Effective Ionisation Level 1st order parameter [sfu]
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iono.ai1_5 = ai1_5; //Effective Ionisation Level 2st order parameter [sfu/degree]
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iono.ai2_5 = ai2_5; //Effective Ionisation Level 3st order parameter [sfu/degree]
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/*Ionospheric disturbance flag*/
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iono.Region1_flag_5 = Region1_flag_5; // Ionospheric Disturbance Flag for region 1
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iono.Region2_flag_5 = Region2_flag_5; // Ionospheric Disturbance Flag for region 2
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iono.Region3_flag_5 = Region3_flag_5; // Ionospheric Disturbance Flag for region 3
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iono.Region4_flag_5 = Region4_flag_5; // Ionospheric Disturbance Flag for region 4
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iono.Region5_flag_5 = Region5_flag_5; // Ionospheric Disturbance Flag for region 5
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return iono;
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}
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@ -548,7 +533,20 @@ Galileo_Iono Galileo_Navigation_Message::get_iono()
|
||||
Galileo_Utc_Model Galileo_Navigation_Message::get_utc_model()
|
||||
{
|
||||
Galileo_Utc_Model utc_model;
|
||||
//ToDo:: fill the object
|
||||
//Gal_utc_model.valid = flag_utc_model_valid;
|
||||
/*Word type 6: GST-UTC conversion parameters*/
|
||||
utc_model.A0_6 = A0_6;
|
||||
utc_model.A1_6 = A1_6;
|
||||
utc_model.Delta_tLS_6 = Delta_tLS_6;
|
||||
utc_model.t0t_6 = t0t_6;
|
||||
utc_model.WNot_6 = WNot_6;
|
||||
utc_model.WN_LSF_6 = WN_LSF_6;
|
||||
utc_model.DN_6 = DN_6;
|
||||
utc_model.Delta_tLSF_6 = Delta_tLSF_6;
|
||||
|
||||
/*GST*/
|
||||
//utc_model.WN_5 = WN_5; //Week number
|
||||
//utc_model.TOW_5 = WN_5; //Time of Week
|
||||
return utc_model;
|
||||
}
|
||||
|
||||
@ -556,29 +554,76 @@ Galileo_Utc_Model Galileo_Navigation_Message::get_utc_model()
|
||||
Galileo_Almanac Galileo_Navigation_Message::get_almanac()
|
||||
{
|
||||
Galileo_Almanac almanac;
|
||||
//ToDo:: fill the object
|
||||
/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
|
||||
almanac.IOD_a_7 = IOD_a_7;
|
||||
almanac.WN_a_7 = WN_a_7;
|
||||
almanac.t0a_7 = t0a_7;
|
||||
almanac.SVID1_7 = SVID1_7;
|
||||
almanac.DELTA_A_7 = DELTA_A_7;
|
||||
almanac.e_7 = e_7;
|
||||
almanac.omega_7 = omega_7;
|
||||
almanac.delta_i_7 = delta_i_7;
|
||||
almanac.Omega0_7 = Omega0_7;
|
||||
almanac.Omega_dot_7 = Omega_dot_7;
|
||||
almanac.M0_7 = M0_7;
|
||||
|
||||
/*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
|
||||
almanac.IOD_a_8 = IOD_a_8;
|
||||
almanac.af0_8 = af0_8;
|
||||
almanac.af1_8 = af1_8;
|
||||
almanac.E5b_HS_8 = E5b_HS_8;
|
||||
almanac.E1B_HS_8 = E1B_HS_8;
|
||||
almanac.SVID2_8 = SVID2_8;
|
||||
almanac.DELTA_A_8 = DELTA_A_8;
|
||||
almanac.e_8 = e_8;
|
||||
almanac.omega_8 = omega_8;
|
||||
almanac.delta_i_8 = delta_i_8;
|
||||
almanac.Omega0_8 = Omega0_8;
|
||||
almanac.Omega_dot_8 = Omega_dot_8;
|
||||
|
||||
/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
|
||||
almanac.IOD_a_9 = IOD_a_9;
|
||||
almanac.WN_a_9 = WN_a_9;
|
||||
almanac.t0a_9 = t0a_9;
|
||||
almanac.M0_9 = M0_9;
|
||||
almanac.af0_9 = af0_9;
|
||||
almanac.af1_9 = af1_9;
|
||||
almanac.E5b_HS_9 = E5b_HS_9;
|
||||
almanac.E1B_HS_9 = E1B_HS_9;
|
||||
almanac.SVID3_9 = SVID3_9;
|
||||
almanac.DELTA_A_9 = DELTA_A_9;
|
||||
almanac.e_9 = e_9;
|
||||
almanac.omega_9 = omega_9;
|
||||
almanac.delta_i_9 = delta_i_9;
|
||||
|
||||
|
||||
/*Word type 10: Almanac for SVID3 (2/2)*/
|
||||
almanac.IOD_a_10 = IOD_a_10;
|
||||
almanac.Omega0_10 = Omega0_10;
|
||||
almanac.Omega_dot_10 = Omega_dot_10;
|
||||
almanac.M0_10 = M0_10;
|
||||
almanac.af0_10 = af0_10;
|
||||
almanac.af1_10 = af1_10;
|
||||
almanac.E5b_HS_10 = E5b_HS_10;
|
||||
almanac.E1B_HS_10 = E1B_HS_10;
|
||||
return almanac;
|
||||
}
|
||||
|
||||
|
||||
int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
|
||||
int Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)
|
||||
{
|
||||
std::cout << "--------------------------------------------------------------------------" << endl;
|
||||
std::cout<< "Entered in function Galileo_Navigation_Message::page_jk_decoder(char *data_jk)" << endl << endl;
|
||||
std::cout << "--------------------------------------------------------------------------" << std::endl;
|
||||
std::cout<< "Entered in function Galileo_Navigation_Message::page_jk_decoder(const char *data_jk)" << std::endl;
|
||||
|
||||
int page_number = 0;
|
||||
|
||||
stringstream ss;
|
||||
string str;
|
||||
ss << data_jk;
|
||||
ss >> str;
|
||||
|
||||
std::bitset<GALILEO_DATA_JK_BITS> data_jk_bits (str);
|
||||
std::string data_jk_string = data_jk;
|
||||
std::bitset<GALILEO_DATA_JK_BITS> data_jk_bits (data_jk_string);
|
||||
|
||||
//std::cout << "Data_jk_bits (bitset) "<< endl << data_jk_bits << endl;
|
||||
|
||||
page_number = (int)read_navigation_unsigned(data_jk_bits, PAGE_TYPE_bit);
|
||||
std::cout << "Page number = " << page_number << endl;
|
||||
std::cout << "Page number = " << page_number << std::endl;
|
||||
|
||||
switch (page_number)
|
||||
{
|
||||
@ -769,9 +814,9 @@ int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
|
||||
SVID1_7= (double)read_navigation_unsigned(data_jk_bits, SVID1_7_bit);
|
||||
std::cout << "SVID1_7= " << SVID1_7 << std::endl;
|
||||
|
||||
Delta_alpha_7= (double)read_navigation_unsigned(data_jk_bits, DELTA_A_7_bit);
|
||||
Delta_alpha_7= Delta_alpha_7 * DELTA_A_7_LSB;
|
||||
std::cout << "Delta_alpha_7= " << Delta_alpha_7 << std::endl;
|
||||
DELTA_A_7= (double)read_navigation_unsigned(data_jk_bits, DELTA_A_7_bit);
|
||||
DELTA_A_7= DELTA_A_7 * DELTA_A_7_LSB;
|
||||
std::cout << "DELTA_A_7= " << DELTA_A_7 << std::endl;
|
||||
|
||||
e_7= (double)read_navigation_unsigned(data_jk_bits, e_7_bit);
|
||||
e_7= e_7 * e_7_LSB;
|
||||
@ -960,7 +1005,354 @@ int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
cout<<"--------------------------------------------------------------------------"<<endl;
|
||||
return page_number;
|
||||
}
|
||||
|
||||
/*Galileo_Ephemeris Galileo_Navigation_Message::get_Galileo_ephemeris()
|
||||
{
|
||||
Galileo_Ephemeris Gal_ephemeris;
|
||||
Gal_ephemeris.M0_1 = M0_1; // Mean anomaly at reference time [semi-circles]
|
||||
Gal_ephemeris.delta_n_3 = delta_n_3; // Mean motion difference from computed value [semi-circles/sec]
|
||||
Gal_ephemeris.e_1 = e_1; // Eccentricity
|
||||
Gal_ephemeris.A_1 = A_1; // Square root of the semi-major axis [metres^1/2]
|
||||
Gal_ephemeris.OMEGA_0_2 = OMEGA_0_2;// Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
Gal_ephemeris.i_0_2 = i_0_2; // Inclination angle at reference time [semi-circles]
|
||||
Gal_ephemeris.omega_2 = omega_2; // Argument of perigee [semi-circles]
|
||||
Gal_ephemeris.OMEGA_dot_3 = OMEGA_dot_3; // Rate of right ascension [semi-circles/sec]
|
||||
Gal_ephemeris.iDot_2 = iDot_2; // Rate of inclination angle [semi-circles/sec]
|
||||
Gal_ephemeris.C_uc_3 = C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
|
||||
Gal_ephemeris.C_us_3 = C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
|
||||
Gal_ephemeris.C_rc_3 = C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
|
||||
Gal_ephemeris.C_rs_3 = C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
|
||||
Gal_ephemeris.C_ic_4 = C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
|
||||
Gal_ephemeris.C_is_4 = C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
|
||||
Gal_ephemeris.t0e_1 = t0e_1; // Ephemeris reference time [s]
|
||||
|
||||
/*Clock correction parameters*
|
||||
Gal_ephemeris.t0c_4 = t0c_4; //Clock correction data reference Time of Week [sec]
|
||||
Gal_ephemeris.af0_4 = af0_4; //SV clock bias correction coefficient [s]
|
||||
Gal_ephemeris.af1_4 = af1_4; //SV clock drift correction coefficient [s/s]
|
||||
Gal_ephemeris.af2_4 = af2_4; //SV clock drift rate correction coefficient [s/s^2]
|
||||
|
||||
/*GST*
|
||||
Gal_ephemeris.WN_5 = WN_5;//Week number
|
||||
Gal_ephemeris.TOW_5 = TOW_5;//Time of Week
|
||||
|
||||
return Gal_ephemeris;
|
||||
}*/
|
||||
|
||||
|
||||
/*Galileo_Iono Galileo_Navigation_Message::get_Galileo_Iono()
|
||||
{
|
||||
Galileo_Iono Gal_iono;
|
||||
/*Ionospheric correction
|
||||
/*Az
|
||||
Gal_iono.ai0_5 = ai0_5; //Effective Ionisation Level 1st order parameter [sfu]
|
||||
Gal_iono.ai1_5 = ai1_5; //Effective Ionisation Level 2st order parameter [sfu/degree]
|
||||
Gal_iono.ai2_5 = ai2_5; //Effective Ionisation Level 3st order parameter [sfu/degree]
|
||||
|
||||
/*Ionospheric disturbance flag
|
||||
Gal_iono.Region1_flag_5 = Region1_flag_5; // Ionospheric Disturbance Flag for region 1
|
||||
Gal_iono.Region2_flag_5 = Region2_flag_5; // Ionospheric Disturbance Flag for region 2
|
||||
Gal_iono.Region3_flag_5 = Region3_flag_5; // Ionospheric Disturbance Flag for region 3
|
||||
Gal_iono.Region4_flag_5 = Region4_flag_5; // Ionospheric Disturbance Flag for region 4
|
||||
Gal_iono.Region5_flag_5 = Region5_flag_5; // Ionospheric Disturbance Flag for region 5
|
||||
|
||||
return Gal_iono;
|
||||
}*/
|
||||
|
||||
|
||||
/*Galileo_Utc_Model Galileo_Navigation_Message::get_Galileo_utc_model()
|
||||
{
|
||||
Galileo_Utc_Model Gal_utc_model;
|
||||
|
||||
//Gal_utc_model.valid = flag_utc_model_valid;
|
||||
/*Word type 6: GST-UTC conversion parameters
|
||||
Gal_utc_model.A0_6 = A0_6;
|
||||
Gal_utc_model.A1_6 = A1_6;
|
||||
Gal_utc_model.Delta_tLS_6 = Delta_tLS_6;
|
||||
Gal_utc_model.t0t_6 = t0t_6;
|
||||
Gal_utc_model.WNot_6 = WNot_6;
|
||||
Gal_utc_model.WN_LSF_6 = WN_LSF_6;
|
||||
Gal_utc_model.DN_6 = DN_6;
|
||||
Gal_utc_model.Delta_tLSF_6 = Delta_tLSF_6;
|
||||
|
||||
/*GST
|
||||
//Gal_utc_model.WN_5 = WN_5; //Week number
|
||||
//Gal_utc_model.TOW_5 = WN_5; //Time of Week
|
||||
|
||||
return Gal_utc_model;
|
||||
}*/
|
||||
|
||||
|
||||
|
||||
void Galileo_Navigation_Message::satellitePosition(double transmitTime) //when this function in used, the input must be the transmitted time (t) in second computed by Galileo_System_Time (above function)
|
||||
{
|
||||
|
||||
double tk; // Time from ephemeris reference epoch
|
||||
//double t; // Galileo System Time (ICD, paragraph 5.1.2)
|
||||
double a; // Semi-major axis
|
||||
double n; // Corrected mean motion
|
||||
double n0; // Computed mean motion
|
||||
double M; // Mean anomaly
|
||||
double E; //Eccentric Anomaly (to be solved by iteration)
|
||||
double E_old;
|
||||
double dE;
|
||||
double nu; //True anomaly
|
||||
double phi; //argument of Latitude
|
||||
double u; // Correct argument of latitude
|
||||
double r; // Correct radius
|
||||
double i;
|
||||
double Omega;
|
||||
|
||||
// Find Galileo satellite's position ----------------------------------------------
|
||||
|
||||
// Restore semi-major axis
|
||||
a = A_1*A_1;
|
||||
|
||||
// Computed mean motion
|
||||
n0 = sqrt(GALILEO_GM / (a*a*a));
|
||||
|
||||
// Time from ephemeris reference epoch
|
||||
//tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
|
||||
//t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
|
||||
tk = transmitTime - t0e_1;
|
||||
|
||||
// Corrected mean motion
|
||||
n = n0 + delta_n_3;
|
||||
|
||||
// Mean anomaly
|
||||
M = M0_1 + n * tk;
|
||||
|
||||
// Reduce mean anomaly to between 0 and 2pi
|
||||
M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
|
||||
|
||||
// Initial guess of eccentric anomaly
|
||||
E = M;
|
||||
|
||||
// --- Iteratively compute eccentric anomaly ----------------------------
|
||||
for (int ii = 1; ii<20; ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + e_1 * sin(E);
|
||||
dE = fmod(E - E_old, 2*GALILEO_PI);
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
//Necessary precision is reached, exit from the loop
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Compute the true anomaly
|
||||
|
||||
double tmp_Y = sqrt(1.0 - e_1 * e_1) * sin(E);
|
||||
double tmp_X = cos(E) - e_1;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
|
||||
// Compute angle phi (argument of Latitude)
|
||||
phi = nu + omega_2;
|
||||
|
||||
// Reduce phi to between 0 and 2*pi rad
|
||||
phi = fmod((phi), (2*GALILEO_PI));
|
||||
|
||||
// Correct argument of latitude
|
||||
u = phi + C_uc_3 * cos(2*phi) + C_us_3 * sin(2*phi);
|
||||
|
||||
// Correct radius
|
||||
r = a * (1 - e_1*cos(E)) + C_rc_3 * cos(2*phi) + C_rs_3 * sin(2*phi);
|
||||
|
||||
// Correct inclination
|
||||
i = i_0_2 + iDot_2 * tk + C_ic_4 * cos(2*phi) + C_is_4 * sin(2*phi);
|
||||
|
||||
// Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = OMEGA_0_2 + (OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT)*tk - GALILEO_OMEGA_EARTH_DOT * t0e_1;
|
||||
|
||||
// Reduce to between 0 and 2*pi rad
|
||||
Omega = fmod((Omega + 2*GALILEO_PI), (2*GALILEO_PI));
|
||||
|
||||
// --- Compute satellite coordinates in Earth-fixed coordinates
|
||||
galileo_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
|
||||
galileo_satpos_Y = cos(u) * r * sin(Omega) + sin(u) * r * cos(i) * cos(Omega); //***********************NOTE: in GALILEO ICD this expression is not correct because it has minus (- sin(u) * r * cos(i) * cos(Omega)) instead of plus
|
||||
galileo_satpos_Z = sin(u) * r * sin(i);
|
||||
|
||||
// Satellite's velocity. Can be useful for Vector Tracking loops
|
||||
double Omega_dot = OMEGA_dot_3 - GALILEO_OMEGA_EARTH_DOT;
|
||||
galileo_satvel_X = - Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + galileo_satpos_X * cos(Omega) - galileo_satpos_Y * cos(i) * sin(Omega);
|
||||
galileo_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + galileo_satpos_X * sin(Omega) + galileo_satpos_Y * cos(i) * cos(Omega);
|
||||
galileo_satvel_Z = galileo_satpos_Y * sin(i);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
double Galileo_Navigation_Message::Galileo_System_Time(double WN, double TOW){
|
||||
/* GALIELO SYSTEM TIME, ICD 5.1.2
|
||||
* input parameter:
|
||||
* WN: The Week Number is an integer counter that gives the sequential week number
|
||||
from the origin of the Galileo time. It covers 4096 weeks (about 78 years).
|
||||
Then the counter is reset to zero to cover additional period modulo 4096
|
||||
|
||||
TOW: The Time of Week is defined as the number of seconds that have occurred since
|
||||
the transition from the previous week. The TOW covers an entire week from 0 to
|
||||
604799 seconds and is reset to zero at the end of each week
|
||||
|
||||
WN and TOW are received in page 5
|
||||
|
||||
output:
|
||||
t: it is the transmitted time in Galileo System Time (expressed in seconds)
|
||||
|
||||
The GST start epoch shall be 00:00 UT on Sunday 22nd August 1999 (midnight between 21st and 22nd August).
|
||||
At the start epoch, GST shall be ahead of UTC by thirteen (13)
|
||||
leap seconds. Since the next leap second was inserted at 01.01.2006, this implies that
|
||||
as of 01.01.2006 GST is ahead of UTC by fourteen (14) leap seconds.
|
||||
|
||||
The epoch denoted in the navigation messages by TOW and WN
|
||||
will be measured relative to the leading edge of the first chip of the
|
||||
first code sequence of the first page symbol. The transmission timing of the navigation
|
||||
message provided through the TOW is synchronised to each satellite’s version of Galileo System Time (GST).
|
||||
*
|
||||
*/
|
||||
double t=0;
|
||||
double sec_in_day = 86400;
|
||||
double day_in_week = 7;
|
||||
t = WN*sec_in_day*day_in_week+ TOW; // second from the origin of the Galileo time
|
||||
|
||||
return t;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
double Galileo_Navigation_Message::sv_clock_drift(double transmitTime){
|
||||
/* Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
*
|
||||
*/
|
||||
double dt;
|
||||
dt = transmitTime - t0c_4;
|
||||
Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
|
||||
return Galileo_satClkDrift;
|
||||
}
|
||||
|
||||
// compute the relativistic correction term
|
||||
double Galileo_Navigation_Message::sv_clock_relativistic_term(double transmitTime) //Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
{
|
||||
double tk;
|
||||
double a;
|
||||
double n;
|
||||
double n0;
|
||||
double E;
|
||||
double E_old;
|
||||
double dE;
|
||||
double M;
|
||||
|
||||
// Restore semi-major axis
|
||||
a = A_1*A_1;
|
||||
|
||||
n0 = sqrt(GALILEO_GM / (a*a*a));
|
||||
|
||||
// Time from ephemeris reference epoch
|
||||
//tk = check_t(transmitTime - d_Toe); this is tk for GPS; for Galileo it is different
|
||||
//t = WN_5*86400*7 + TOW_5; //WN_5*86400*7 are the second from the origin of the Galileo time
|
||||
tk = transmitTime - t0e_1;
|
||||
|
||||
// Corrected mean motion
|
||||
n = n0 + delta_n_3;
|
||||
|
||||
// Mean anomaly
|
||||
M = M0_1 + n * tk;
|
||||
|
||||
// Reduce mean anomaly to between 0 and 2pi
|
||||
M = fmod((M + 2* GALILEO_PI), (2* GALILEO_PI));
|
||||
|
||||
// Initial guess of eccentric anomaly
|
||||
E = M;
|
||||
|
||||
// --- Iteratively compute eccentric anomaly ----------------------------
|
||||
for (int ii = 1; ii<20; ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + e_1 * sin(E);
|
||||
dE = fmod(E - E_old, 2*GALILEO_PI);
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
//Necessary precision is reached, exit from the loop
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Compute relativistic correction term
|
||||
Galileo_dtr = GALILEO_F * e_1* A_1 * sin(E);
|
||||
return Galileo_dtr;
|
||||
}
|
||||
|
||||
double Galileo_Navigation_Message::GST_to_UTC_time(double t_e, int WN)
|
||||
{
|
||||
double t_Utc;
|
||||
double t_Utc_daytime;
|
||||
double Delta_t_Utc = Delta_tLS_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
|
||||
|
||||
// Determine if the effectivity time of the leap second event is in the past
|
||||
int weeksToLeapSecondEvent = WN_LSF_6 - WN;
|
||||
|
||||
if ((weeksToLeapSecondEvent) >= 0) // is not in the past
|
||||
{
|
||||
//Detect if the effectivity time and user's time is within six hours = 6 * 60 *60 = 21600 s
|
||||
int secondOfLeapSecondEvent = DN_6 * 24 * 60 * 60;
|
||||
if (weeksToLeapSecondEvent > 0)
|
||||
{
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
else //we are in the same week than the leap second event
|
||||
{
|
||||
if (abs(t_e - secondOfLeapSecondEvent) > 21600)
|
||||
{
|
||||
/* 5.1.7a
|
||||
* Whenever the leap second adjusted time indicated by the WN_LSF and the DN values
|
||||
* is not in the past (relative to the user's present time), and the user's
|
||||
* present time does not fall in the time span which starts at six hours prior
|
||||
* to the effective time and ends at six hours after the effective time,
|
||||
* the GST/Utc relationship is given by
|
||||
*/
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 5.1.7b
|
||||
* Whenever the user's current time falls within the time span of six hours
|
||||
* prior to the leap second adjustment to six hours after the adjustment time, ,
|
||||
* the effective time is computed according to the following equations:
|
||||
*/
|
||||
|
||||
int W = fmod(t_e - Delta_t_Utc - 43200, 86400) + 43200;
|
||||
t_Utc_daytime = fmod(W, 86400 + Delta_tLSF_6 - Delta_tLS_6);
|
||||
//implement something to handle a leap second event!
|
||||
}
|
||||
if ( (t_e - secondOfLeapSecondEvent) > 21600)
|
||||
{
|
||||
Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800*(double)(WN - WNot_6));
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
}
|
||||
}
|
||||
else // the effectivity time is in the past
|
||||
{
|
||||
/* 5.1.7c
|
||||
* Whenever the leap second adjustment time, as indicated by the WN_LSF and DN values,
|
||||
* is in the past (relative to the user’s current time) and the user’s present time does not
|
||||
* fall in the time span which starts six hours prior to the leap second adjustment time and
|
||||
* ends six hours after the adjustment time, the effective time is computed according to
|
||||
* the following equation:
|
||||
*/
|
||||
Delta_t_Utc = Delta_tLSF_6 + A0_6 + A1_6 * (t_e - t0t_6 + 604800 * (double)(WN - WNot_6));
|
||||
t_Utc_daytime = fmod(t_e - Delta_t_Utc, 86400);
|
||||
}
|
||||
|
||||
double secondsOfWeekBeforeToday = 43200 * floor(t_e / 43200);
|
||||
t_Utc = secondsOfWeekBeforeToday + t_Utc_daytime;
|
||||
return t_Utc;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@ -50,6 +50,9 @@
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
|
||||
|
||||
@ -149,7 +152,7 @@ public:
|
||||
double WN_a_7;
|
||||
double t0a_7;
|
||||
int SVID1_7;
|
||||
double Delta_alpha_7;
|
||||
double DELTA_A_7;
|
||||
double e_7;
|
||||
double omega_7;
|
||||
double delta_i_7;
|
||||
@ -172,7 +175,6 @@ public:
|
||||
double Omega_dot_8;
|
||||
|
||||
/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
|
||||
|
||||
int IOD_a_9;
|
||||
double WN_a_9;
|
||||
double t0a_9;
|
||||
@ -189,7 +191,6 @@ public:
|
||||
|
||||
|
||||
/*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
|
||||
|
||||
int IOD_a_10;
|
||||
double Omega0_10;
|
||||
double Omega_dot_10;
|
||||
@ -198,12 +199,11 @@ public:
|
||||
double af1_10;
|
||||
double E5b_HS_10;
|
||||
double E1B_HS_10;
|
||||
double A_0G_10;
|
||||
double A_1G_10;
|
||||
double t_0G_10;
|
||||
double WN_0G_10;
|
||||
|
||||
|
||||
// GST-GPS conversion
|
||||
double A_0G_10; //constant term of the offset Δt systems
|
||||
double A_1G_10; //rate of change of the offset Δt systems
|
||||
double t_0G_10; //reference time for GGTO data
|
||||
double WN_0G_10; //Week Number of GGTO reference
|
||||
|
||||
/*Word type 0: I/NAV Spare Word*/
|
||||
double Time_0;
|
||||
@ -211,6 +211,20 @@ public:
|
||||
double TOW_0;
|
||||
|
||||
|
||||
double Galileo_satClkDrift;
|
||||
double Galileo_dtr; // relativistic clock correction term
|
||||
|
||||
// satellite positions
|
||||
double galileo_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 galileo_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
||||
double galileo_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 galileo_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite [m]
|
||||
double galileo_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m]
|
||||
double galileo_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m]
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* \brief 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
|
||||
*/
|
||||
@ -218,12 +232,7 @@ public:
|
||||
/*
|
||||
* \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
|
||||
*/
|
||||
int page_jk_decoder(char *data_jk);
|
||||
|
||||
|
||||
/*
|
||||
* \brief Write doxigen function description here
|
||||
*/
|
||||
int page_jk_decoder(const char *data_jk); /* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
|
||||
|
||||
void reset();
|
||||
|
||||
@ -266,6 +275,15 @@ public:
|
||||
*/
|
||||
Galileo_Almanac get_almanac();
|
||||
|
||||
void satellitePosition(double transmitTime);
|
||||
|
||||
double Galileo_System_Time(double WN, double TOW); // Galileo System Time (GST), ICD paragraph 5.1.2
|
||||
|
||||
double sv_clock_drift(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
|
||||
double sv_clock_relativistic_term(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
|
||||
double GST_to_UTC_time(double t_e, int WN); //GST-UTC Conversion Algorithm and Parameters
|
||||
|
||||
Galileo_Navigation_Message();
|
||||
};
|
||||
|
||||
@ -42,6 +42,8 @@ Gps_Utc_Model::Gps_Utc_Model()
|
||||
i_DN = 0;
|
||||
d_DeltaT_LSF = 0;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
double Gps_Utc_Model::utc_time(double gpstime_corrected, int i_GPS_week)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user