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Add IGM05 messages (bias correction)

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This commit is contained in:
Carles Fernandez 2021-11-12 16:56:25 +01:00
parent 797462fd01
commit c49e7184e6
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2 changed files with 240 additions and 0 deletions
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233
src/algorithms/PVT/libs/rtcm.cc
View File

@ -3397,6 +3397,33 @@ std::vector<std::string> Rtcm::print_IGM03(const Galileo_HAS_data& has_data)
}
std::vector<std::string> Rtcm::print_IGM05(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM05_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM05_content_sat(has_data, sys);
if (!sat_data.empty())
{
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
}
return msgs;
}
std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
@ -3630,6 +3657,212 @@ std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_
}
std::string Rtcm::get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_id % 15; // ?? HAS IOD is 0-31
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 25;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 65;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM05_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<std::vector<float>> code_bias_m = has_data.get_code_bias_m();
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
uint8_t num_bias_processed = has_data.get_signals_in_mask(nsys_index).size();
uint8_t valid_num_bias_processed = 0;
std::vector<uint8_t> gnss_signal_tracking_mode_id_v;
std::vector<bool> valid_bias_v;
for (uint8_t code = 0; code < num_bias_processed; code++)
{
std::string code_string = has_data.get_signals_in_mask(nsys_index)[code];
if (has_data.gnss_id_mask[nsys_index] == 0) // GPS
{
if (code_string == "L1 C/A")
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L1 L1C(D)")
{
gnss_signal_tracking_mode_id_v.push_back(3);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L1 L1C(P)")
{
gnss_signal_tracking_mode_id_v.push_back(4);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L2 L2C(M)")
{
gnss_signal_tracking_mode_id_v.push_back(7);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L2 L2C(L)")
{
gnss_signal_tracking_mode_id_v.push_back(8);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L5 I")
{
gnss_signal_tracking_mode_id_v.push_back(14);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L5 Q")
{
gnss_signal_tracking_mode_id_v.push_back(15);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
else if (has_data.gnss_id_mask[nsys_index] == 2) // Galileo
{
if (code_string == "E1-B I/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(1);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E1-C")
{
gnss_signal_tracking_mode_id_v.push_back(2);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5a-I F/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(5);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5a-Q")
{
gnss_signal_tracking_mode_id_v.push_back(6);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5b-I I/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(8);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5b-Q")
{
gnss_signal_tracking_mode_id_v.push_back(9);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E6-B C/NAV HAS")
{
gnss_signal_tracking_mode_id_v.push_back(15);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E6-C")
{
gnss_signal_tracking_mode_id_v.push_back(16);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
if (valid_num_bias_processed > 0)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF023(valid_num_bias_processed);
content += IDF011.to_string() + IDF023.to_string();
uint8_t num_sats_in_previous_systems = 0;
for (uint8_t nsys = 0; nsys < nsys_index; nsys++)
{
num_sats_in_previous_systems += has_data.get_num_satellites()[nsys];
}
uint8_t sat_index = sat + num_sats_in_previous_systems;
for (uint8_t code = 0; code < num_bias_processed; code++)
{
if (valid_bias_v[code] == true)
{
Rtcm::set_IDF024(gnss_signal_tracking_mode_id_v[code]);
Rtcm::set_IDF025(code_bias_m[sat_index][code]);
content += DF024.to_string() + IDF025.to_string();
}
}
}
}
return content;
}
// *****************************************************************************************************
// Some utilities
// *****************************************************************************************************

7
src/algorithms/PVT/libs/rtcm.h
View File

@ -352,6 +352,11 @@ public:
*/
std::vector<std::string> print_IGM03(const Galileo_HAS_data& has_data);
/*!
* \brief Prints messages of type IGM05 (SSR Bias Correction)
*/
std::vector<std::string> print_IGM05(const Galileo_HAS_data& has_data);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
@ -498,6 +503,8 @@ private:
std::string get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM05_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
//
// Utilities