From c561d7e7995a5fff997c7fc0bf5693de3a26923c Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 28 Jan 2019 02:29:43 +0100 Subject: [PATCH] Applying code formatting rules --- README.md | 2 +- conf/gnss-sdr_GLONASS_L1_ibyte.conf | 7 +- conf/gnss-sdr_GPS_L1_CA_byte.conf | 110 -- conf/gnss-sdr_GPS_L1_ishort.conf | 17 +- conf/prova.conf | 56 - src/algorithms/PVT/adapters/rtklib_pvt3.cc | 561 --------- .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 22 +- src/algorithms/PVT/libs/rinex_printer.cc | 272 ++-- src/algorithms/PVT/libs/rinex_printer.h | 20 +- src/algorithms/PVT/libs/rtklib_solver.cc | 4 +- src/algorithms/PVT/libs/rtklib_solver.h | 4 +- .../adapters/beidou_b1i_pcps_acquisition.h | 6 +- .../libs/beidou_b1i_signal_processing.cc | 14 +- src/algorithms/libs/rtklib/rtklib.h | 4 +- .../libs/rtklib/rtklib_conversions.cc | 35 +- .../libs/rtklib/rtklib_conversions.h | 2 +- .../adapters/signal_generator.cc | 2 +- .../telemetry_decoder/adapters/CMakeLists.txt | 30 +- .../adapters/beidou_b1i_telemetry_decoder.cc | 12 +- .../adapters/beidou_b1i_telemetry_decoder.h | 4 +- .../gnuradio_blocks/CMakeLists.txt | 54 +- .../beidou_b1i_telemetry_decoder_cc.cc | 361 +++--- .../beidou_b1i_telemetry_decoder_cc.h | 46 +- .../telemetry_decoder/libs/CMakeLists.txt | 22 +- .../tracking/adapters/CMakeLists.txt | 76 +- .../adapters/beidou_b1i_dll_pll_tracking.cc | 20 +- .../adapters/beidou_b1i_dll_pll_tracking.h | 4 +- .../gnuradio_blocks/dll_pll_veml_tracking.cc | 149 ++- src/core/receiver/gnss_block_factory.cc | 25 +- src/core/receiver/gnss_flowgraph.cc | 44 +- src/core/receiver/gnss_flowgraph.h | 3 +- src/core/system_parameters/Beidou_B1I.h | 388 +++--- src/core/system_parameters/CMakeLists.txt | 156 +-- src/core/system_parameters/MATH_CONSTANTS.h | 18 +- .../beidou_dnav_ephemeris.cc | 42 +- .../system_parameters/beidou_dnav_ephemeris.h | 166 +-- .../system_parameters/beidou_dnav_iono.cc | 1 - src/core/system_parameters/beidou_dnav_iono.h | 42 +- .../beidou_dnav_navigation_message.cc | 1097 +++++++++-------- .../beidou_dnav_navigation_message.h | 201 ++- .../beidou_dnav_utc_model.cc | 1 - .../system_parameters/beidou_dnav_utc_model.h | 17 +- src/core/system_parameters/gnss_satellite.cc | 94 +- src/tests/test_main.cc | 2 +- .../beidou_b1i_pcps_acquisition_test.cc | 30 +- .../sources/file_signal_source_test.cc | 1 - .../gps_l1_ca_dll_pll_tracking_test_fpga.cc | 2 +- src/utils/matlab/dll_pll_veml_plot_sample.m | 10 +- .../matlab/gps_l1_ca_dll_pll_plot_sample.m | 4 +- .../matlab/hybrid_observables_plot_sample.m | 8 +- src/utils/matlab/octave-workspace | Bin 65593721 -> 0 bytes 51 files changed, 1760 insertions(+), 2508 deletions(-) delete mode 100644 conf/gnss-sdr_GPS_L1_CA_byte.conf delete mode 100644 conf/prova.conf delete mode 100644 src/algorithms/PVT/adapters/rtklib_pvt3.cc delete mode 100644 src/utils/matlab/octave-workspace diff --git a/README.md b/README.md index ba2a1579d..fe5d82ccd 100644 --- a/README.md +++ b/README.md @@ -2,13 +2,13 @@ [![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0) -link to website: https://gnsssdrbeidoub1igsoc2018.wordpress.com/ **Welcome to GNSS-SDR!** This program is a software-defined receiver which is able to process (that is, to perform detection, synchronization, demodulation and decoding of the navigation message, computation of observables and, finally, computation of position fixes) the following Global Navigation Satellite System's signals: In the L1 band: + - 🛰 BeiDou B1I (centered at 1561.098 MHz) :white_check_mark: - 🛰 GPS L1 C/A (centered at 1575.42 MHz) :white_check_mark: - 🛰 Galileo E1b/c (centered at 1575.42 MHz) :white_check_mark: - 🛰 GLONASS L1 C/A (centered at 1601.72 MHz) :white_check_mark: diff --git a/conf/gnss-sdr_GLONASS_L1_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_ibyte.conf index 0b16fa3d8..9c5183c98 100644 --- a/conf/gnss-sdr_GLONASS_L1_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L1_ibyte.conf @@ -5,8 +5,8 @@ [GNSS-SDR] ;######### GLOBAL OPTIONS ################## -;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. -GNSS-SDR.internal_fs_hz=6625000 +;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Hz]. +GNSS-SDR.internal_fs_sps=6625000 ;######### CONTROL_THREAD CONFIG ############ ControlThread.wait_for_flowgraph=false @@ -54,7 +54,6 @@ Channel.signal=1R Acquisition_1R.dump=false Acquisition_1R.dump_filename=./acq_dump.dat Acquisition_1R.item_type=cshort -Acquisition_1R.if=0 Acquisition_1R.sampled_ms=1 Acquisition_1R.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1R.threshold=0.008 @@ -68,7 +67,6 @@ Acquisition_1R.tong_max_dwells=20 ;######### TRACKING GLOBAL CONFIG ############ Tracking_1R.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1R.item_type=cshort -Tracking_1R.if=0 Tracking_1R.dump=false Tracking_1R.dump_filename=../data/epl_tracking_ch_ Tracking_1R.pll_bw_hz=40.0; @@ -78,7 +76,6 @@ Tracking_1R.order=3; ;######### TELEMETRY DECODER GPS CONFIG ############ TelemetryDecoder_1R.implementation=GLONASS_L1_CA_Telemetry_Decoder TelemetryDecoder_1R.dump=false -TelemetryDecoder_1R.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables diff --git a/conf/gnss-sdr_GPS_L1_CA_byte.conf b/conf/gnss-sdr_GPS_L1_CA_byte.conf deleted file mode 100644 index 258130315..000000000 --- a/conf/gnss-sdr_GPS_L1_CA_byte.conf +++ /dev/null @@ -1,110 +0,0 @@ -; This is a GNSS-SDR configuration file -; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/ - -; You can define your own receiver and invoke it by doing -; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf -; - -[GNSS-SDR] - -;######### GLOBAL OPTIONS ################## -;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second]. -GNSS-SDR.internal_fs_sps=99375000 - -;######### CONTROL_THREAD CONFIG ############ -ControlThread.wait_for_flowgraph=false - -;######### SIGNAL_SOURCE CONFIG ############ -SignalSource.implementation=File_Signal_Source -SignalSource.filename=/media/dmiralles/Seagate Backup Plus Drive/GNSS Data/Beidou_B1_IF_signal.bin -SignalSource.item_type=byte -SignalSource.sampling_frequency=99375000 -SignalSource.samples=0 -SignalSource.repeat=false -SignalSource.dump=false -SignalSource.enable_throttle_control=false - -;######### SIGNAL_CONDITIONER CONFIG ############ -SignalConditioner.implementation=Signal_Conditioner -DataTypeAdapter.implementation=Byte_To_Short -InputFilter.implementation=Freq_Xlating_Fir_Filter -InputFilter.input_item_type=short -InputFilter.output_item_type=gr_complex -InputFilter.taps_item_type=float -InputFilter.number_of_taps=5 -InputFilter.number_of_bands=2 -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.70 -InputFilter.band2_begin=0.80 -InputFilter.band2_end=1.0 -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 -InputFilter.filter_type=bandpass -InputFilter.grid_density=16 -InputFilter.sampling_frequency=99375000 -InputFilter.IF=14580000 -Resampler.implementation=Direct_Resampler -Resampler.sample_freq_in=99375000 -Resampler.sample_freq_out=99375000 -Resampler.item_type=gr_complex - - -;######### CHANNELS GLOBAL CONFIG ############ -Channels_1C.count=8 -Channels.in_acquisition=1 -Channel.signal=1C - - -;######### ACQUISITION GLOBAL CONFIG ############ -Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition_1C.item_type=gr_complex -Acquisition_1C.coherent_integration_time_ms=1 -Acquisition_1C.threshold=3.5 -;Acquisition_1C.pfa=0.000001; -Acquisition_1C.doppler_max=14000 -Acquisition_1C.doppler_step=100 -Acquisition_1C.dump=true -Acquisition_1C.dump_filename=./gps_acq -Acquisition_1C.blocking=false; -Acquisition_1C.use_CFAR_algorithm=false - - -;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -Tracking_1C.item_type=gr_complex -Tracking_1C.pll_bw_hz=30.0; -Tracking_1C.dll_bw_hz=3.0; -Tracking_1C.dump=true; -Tracking_1C.dump_filename=./epl_tracking_ch_ - - -;######### TELEMETRY DECODER GPS CONFIG ############ -TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder_1C.dump=false - - -;######### OBSERVABLES CONFIG ############ -Observables.implementation=Hybrid_Observables -Observables.dump=true -Observables.dump_filename=./observables.dat - - -;######### PVT CONFIG ############ -PVT.implementation=RTKLIB_PVT -PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic -PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX -PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -PVT.output_rate_ms=100 -PVT.display_rate_ms=500 -PVT.dump_filename=./PVT -PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -PVT.flag_nmea_tty_port=false; -PVT.nmea_dump_devname=/dev/pts/4 -PVT.flag_rtcm_server=false -PVT.flag_rtcm_tty_port=false -PVT.rtcm_dump_devname=/dev/pts/1 -PVT.dump=false diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf index d160f728a..373049a25 100644 --- a/conf/gnss-sdr_GPS_L1_ishort.conf +++ b/conf/gnss-sdr_GPS_L1_ishort.conf @@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -SignalSource.filename=/home/sergi/gnss/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE +SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.item_type=ishort SignalSource.sampling_frequency=4000000 SignalSource.samples=0 @@ -29,14 +29,13 @@ SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ SignalConditioner.implementation=Signal_Conditioner -DataTypeAdapter.implementation=Ishort_To_Complex +DataTypeAdapter.implementation=Ishort_To_Cshort InputFilter.implementation=Pass_Through -InputFilter.item_type=gr_complex +InputFilter.item_type=cshort Resampler.implementation=Direct_Resampler Resampler.sample_freq_in=4000000 Resampler.sample_freq_out=2000000 -Resampler.item_type=gr_complex - +Resampler.item_type=cshort ;######### CHANNELS GLOBAL CONFIG ############ Channels_1C.count=8 @@ -46,19 +45,19 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition_1C.item_type=gr_complex +Acquisition_1C.item_type=cshort Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.008 ;Acquisition_1C.pfa=0.000001 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=250 -Acquisition_1C.dump=true +Acquisition_1C.dump=false Acquisition_1C.dump_filename=./acq_dump.dat Acquisition_1C.blocking=false; ;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -Tracking_1C.item_type=gr_complex +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.item_type=cshort Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=4.0; Tracking_1C.order=3; diff --git a/conf/prova.conf b/conf/prova.conf deleted file mode 100644 index a481302cf..000000000 --- a/conf/prova.conf +++ /dev/null @@ -1,56 +0,0 @@ -[GNSS-SDR] - - -;######### GLOBAL OPTIONS ################## -GNSS-SDR.internal_fs_hz=2000000 - -;######### SIGNAL_SOURCE CONFIG ############ -SignalSource.implementation=File_Signal_Source -SignalSource.filename=/home/sergi/gnss/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat -SignalSource.item_type=ishort -SignalSource.sampling_frequency=4000000 -SignalSource.freq=1575420000 -SignalSource.samples=0 - -;######### SIGNAL_CONDITIONER CONFIG ############ -SignalConditioner.implementation=Signal_Conditioner -DataTypeAdapter.implementation=Ishort_To_Complex -InputFilter.implementation=Pass_Through -InputFilter.item_type=gr_complex -Resampler.implementation=Direct_Resampler -Resampler.sample_freq_in=4000000 -Resampler.sample_freq_out=2000000 -Resampler.item_type=gr_complex - -;######### CHANNELS GLOBAL CONFIG ############ -Channels_1C.count=8 -Channels.in_acquisition=1 -Channel.signal=1C - -;######### ACQUISITION GLOBAL CONFIG ############ -Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition_1C.item_type=gr_complex -Acquisition_1C.threshold=0.008 -Acquisition_1C.doppler_max=10000 -Acquisition_1C.doppler_step=250 - -;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -Tracking_1C.item_type=gr_complex -Tracking_1C.pll_bw_hz=40.0; -Tracking_1C.dll_bw_hz=4.0; - -;######### TELEMETRY DECODER GPS CONFIG ############ -TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder - -;######### OBSERVABLES CONFIG ############ -Observables.implementation=GPS_L1_CA_Observables - -;######### PVT CONFIG ############ -PVT.implementation=GPS_L1_CA_PVT -PVT.averaging_depth=100 -PVT.flag_averaging=true -PVT.output_rate_ms=10 -PVT.display_rate_ms=500 - - diff --git a/src/algorithms/PVT/adapters/rtklib_pvt3.cc b/src/algorithms/PVT/adapters/rtklib_pvt3.cc deleted file mode 100644 index 24f4c9150..000000000 --- a/src/algorithms/PVT/adapters/rtklib_pvt3.cc +++ /dev/null @@ -1,561 +0,0 @@ -/*! - * \file rtklib_pvt.cc - * \brief Interface of a Position Velocity and Time computation block - * \author Javier Arribas, 2017. jarribas(at)cttc.es - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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 . - * - * ------------------------------------------------------------------------- - */ - - -#include "rtklib_pvt.h" -#include "configuration_interface.h" -#include "gnss_sdr_flags.h" -#include -#include -#include -#include -#include - - -using google::LogMessage; - -RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, - std::string role, - unsigned int in_streams, - unsigned int out_streams) : role_(role), - in_streams_(in_streams), - out_streams_(out_streams) -{ - // dump parameters - std::string default_dump_filename = "./pvt.dat"; - std::string default_nmea_dump_filename = "./nmea_pvt.nmea"; - std::string default_nmea_dump_devname = "/dev/tty1"; - std::string default_rtcm_dump_devname = "/dev/pts/1"; - DLOG(INFO) << "role " << role; - dump_ = configuration->property(role + ".dump", false); - dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); - - // output rate - int output_rate_ms = configuration->property(role + ".output_rate_ms", 500); - - // display rate - int display_rate_ms = configuration->property(role + ".display_rate_ms", 500); - - // NMEA Printer settings - bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false); - std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename); - std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname); - - // RINEX version - int rinex_version = configuration->property(role + ".rinex_version", 3); - if (FLAGS_RINEX_version.compare("3.01") == 0) - { - rinex_version = 3; - } - else if (FLAGS_RINEX_version.compare("3.02") == 0) - { - rinex_version = 3; - } - else if (FLAGS_RINEX_version.compare("3") == 0) - { - rinex_version = 3; - } - else if (FLAGS_RINEX_version.compare("2.11") == 0) - { - rinex_version = 2; - } - else if (FLAGS_RINEX_version.compare("2.10") == 0) - { - rinex_version = 2; - } - else if (FLAGS_RINEX_version.compare("2") == 0) - { - rinex_version = 2; - } - int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms); - int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms); - - // RTCM Printer settings - bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false); - std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname); - bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false); - unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101); - unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234); - // RTCM message rates: least common multiple with output_rate_ms - int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms); - int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms); - int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms); - int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms); - int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); - int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); - int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); - std::map rtcm_msg_rate_ms; - rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; - rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms; - rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; - for (int k = 1071; k < 1078; k++) // All GPS MSM - { - rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms; - } - for (int k = 1081; k < 1088; k++) // All GLONASS MSM - { - rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms; - } - for (int k = 1091; k < 1098; k++) // All Galileo MSM - { - rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms; - } - // getting names from the config file, if available - // default filename for assistance data - const std::string eph_default_xml_filename = "./gps_ephemeris.xml"; - const std::string utc_default_xml_filename = "./gps_utc_model.xml"; - const std::string iono_default_xml_filename = "./gps_iono.xml"; - const std::string ref_time_default_xml_filename = "./gps_ref_time.xml"; - const std::string ref_location_default_xml_filename = "./gps_ref_location.xml"; - eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename); - //std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename); - //std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename); - //std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename); - //std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename); - - // Infer the type of receiver - /* - * TYPE | RECEIVER - * 0 | Unknown - * 1 | GPS L1 C/A - * 2 | GPS L2C - * 3 | GPS L5 - * 4 | Galileo E1B - * 5 | Galileo E5a - * 6 | Galileo E5b - * 7 | GPS L1 C/A + GPS L2C - * 8 | GPS L1 C/A + GPS L5 - * 9 | GPS L1 C/A + Galileo E1B - * 10 | GPS L1 C/A + Galileo E5a - * 11 | GPS L1 C/A + Galileo E5b - * 12 | Galileo E1B + GPS L2C - * 13 | Galileo E1B + GPS L5 - * 14 | Galileo E1B + Galileo E5a - * 15 | Galileo E1B + Galileo E5b - * 16 | GPS L2C + GPS L5 - * 17 | GPS L2C + Galileo E5a - * 18 | GPS L2C + Galileo E5b - * 19 | GPS L5 + Galileo E5a - * 20 | GPS L5 + Galileo E5b - * 21 | GPS L1 C/A + Galileo E1B + GPS L2C - * 22 | GPS L1 C/A + Galileo E1B + GPS L5 - * 23 | GLONASS L1 C/A - * 24 | GLONASS L2 C/A - * 25 | GLONASS L1 C/A + GLONASS L2 C/A - * 26 | GPS L1 C/A + GLONASS L1 C/A - * 27 | Galileo E1B + GLONASS L1 C/A - * 28 | GPS L2C + GLONASS L1 C/A - */ - int gps_1C_count = configuration->property("Channels_1C.count", 0); - int gps_2S_count = configuration->property("Channels_2S.count", 0); - int gps_L5_count = configuration->property("Channels_L5.count", 0); - int gal_1B_count = configuration->property("Channels_1B.count", 0); - int gal_E5a_count = configuration->property("Channels_5X.count", 0); - int gal_E5b_count = configuration->property("Channels_7X.count", 0); - int glo_1G_count = configuration->property("Channels_1G.count", 0); - int glo_2G_count = configuration->property("Channels_2G.count", 0); - - unsigned int type_of_receiver = 0; - - // *******************WARNING!!!!!!!*********** - // GPS L5 only configurable for single frequency, single system at the moment!!!!!! - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 1; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 2; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 3; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 4; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 5; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 6; - - if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 7; - //if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8; - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 9; - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 10; - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 11; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 12; - //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 14; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 15; - //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 17; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 18; - //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19; - //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20; - if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 21; - //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 24; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0)) type_of_receiver = 25; - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 26; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 27; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 28; - if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 29; - if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 30; - if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 31; - //RTKLIB PVT solver options - // Settings 1 - int positioning_mode = -1; - std::string default_pos_mode("Single"); - std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ - if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE; - if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC; - if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA; - if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC; - if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA; - - if (positioning_mode == -1) - { - //warn user and set the default - std::cout << "WARNING: Bad specification of positioning mode." << std::endl; - std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl; - std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl; - std::cout << "Setting positioning_mode to Single" << std::endl; - positioning_mode = PMODE_SINGLE; - } - - int num_bands = 0; - - if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1; - if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2; - if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2; - if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3; - - int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ - if ((number_of_frequencies < 1) || (number_of_frequencies > 3)) - { - //warn user and set the default - number_of_frequencies = num_bands; - } - - double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); - if ((elevation_mask < 0.0) || (elevation_mask > 90.0)) - { - //warn user and set the default - LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees"; - elevation_mask = 15.0; - } - - int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ - if ((dynamics_model < 0) || (dynamics_model > 2)) - { - //warn user and set the default - LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)"; - dynamics_model = 0; - } - - std::string default_iono_model("OFF"); - std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ - int iono_model = -1; - if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF; - if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC; - if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS; - if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC; - if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST; - if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC; - if (iono_model == -1) - { - //warn user and set the default - std::cout << "WARNING: Bad specification of ionospheric model." << std::endl; - std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl; - std::cout << "iono_model specified value: " << iono_model_str << std::endl; - std::cout << "Setting iono_model to OFF" << std::endl; - iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */ - } - - std::string default_trop_model("OFF"); - int trop_model = -1; - std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ - if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF; - if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS; - if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS; - if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST; - if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG; - if (trop_model == -1) - { - //warn user and set the default - std::cout << "WARNING: Bad specification of tropospheric model." << std::endl; - std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl; - std::cout << "trop_model specified value: " << trop_model_str << std::endl; - std::cout << "Setting trop_model to OFF" << std::endl; - trop_model = TROPOPT_OFF; - } - - /* RTKLIB positioning options */ - int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */ - int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */ - - /* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/ - int phwindup = configuration->property(role + ".phwindup", 0); - - /* Set whether the GPS Block IIA satellites in eclipse are excluded or not. - The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/ - int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0); - - /* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not. - In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold. - The excluded satellite is selected to indicate the minimum SSE. */ - int raim_fde = configuration->property(role + ".raim_fde", 0); - - int earth_tide = configuration->property(role + ".earth_tide", 0); - - int nsys = 0; - if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS; - if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL; - if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO; - int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ - if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */ - { - //warn user and set the default - LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)"; - navigation_system = nsys; - } - - // Settings 2 - std::string default_gps_ar("Continuous"); - std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ - int integer_ambiguity_resolution_gps = -1; - if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF; - if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT; - if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST; - if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; - if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR; - if (integer_ambiguity_resolution_gps == -1) - { - //warn user and set the default - std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl; - std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl; - std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl; - std::cout << "Setting AR_GPS to OFF" << std::endl; - integer_ambiguity_resolution_gps = ARMODE_OFF; - } - - int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */ - if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3)) - { - //warn user and set the default - LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)"; - integer_ambiguity_resolution_glo = 1; - } - - int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ - if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1)) - { - //warn user and set the default - LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)"; - integer_ambiguity_resolution_bds = 1; - } - - double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test, - which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */ - - int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity. - If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */ - - double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity. - If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */ - - int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */ - - double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */ - - double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */ - - double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */ - - int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter. - If the baseline length is very short like 1 m, the iteration may be effective to handle - the nonlinearity of measurement equation. */ - - /// Statistics - double bias_0 = configuration->property(role + ".bias_0", 30.0); - - double iono_0 = configuration->property(role + ".iono_0", 0.03); - - double trop_0 = configuration->property(role + ".trop_0", 0.3); - - double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase - bias (ambiguity) (cycle/sqrt(s)) */ - - double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */ - - double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */ - - double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as - the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ - - double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as - the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ - - double sigma_pos = configuration->property(role + ".sigma_pos", 0.0); - - double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0); - double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0); - double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0); - double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); - double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); - - snrmask_t snrmask = {{}, {{}, {}}}; - - prcopt_t rtklib_configuration_options = { - positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ - 0, /* solution type (0:forward,1:backward,2:combined) */ - number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ - navigation_system, /* navigation system */ - elevation_mask * D2R, /* elevation mask angle (degrees) */ - snrmask, /* snrmask_t snrmask SNR mask */ - 0, /* satellite ephemeris/clock (EPHOPT_XXX) */ - integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ - integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */ - integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */ - outage_reset_ambiguity, /* obs outage count to reset bias */ - min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */ - 10, /* min fix count to hold ambiguity */ - 1, /* max iteration to resolve ambiguity */ - iono_model, /* ionosphere option (IONOOPT_XXX) */ - trop_model, /* troposphere option (TROPOPT_XXX) */ - dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */ - earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */ - number_filter_iter, /* number of filter iteration */ - 0, /* code smoothing window size (0:none) */ - 0, /* interpolate reference obs (for post mission) */ - 0, /* sbssat_t sbssat SBAS correction options */ - 0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */ - 0, /* rover position for fixed mode */ - 0, /* base position for relative mode */ - /* 0:pos in prcopt, 1:average of single pos, */ - /* 2:read from file, 3:rinex header, 4:rtcm pos */ - {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ - {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ - {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ - {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */ - 5e-12, /* sclkstab: satellite clock stability (sec/sec) */ - {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */ - min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ - 0.0, /* elevation mask to hold ambiguity (deg) */ - slip_threshold, /* slip threshold of geometry-free phase (m) */ - 30.0, /* max difference of time (sec) */ - threshold_reject_innovation, /* reject threshold of innovation (m) */ - threshold_reject_gdop, /* reject threshold of gdop */ - {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ - {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ - {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ - {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ - {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ - {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ - {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ - 0, /* max averaging epoches */ - 0, /* initialize by restart */ - 1, /* output single by dgps/float/fix/ppp outage */ - {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */ - {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ - 0, /* solution sync mode (0:off,1:on) */ - {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ - {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ - 0, /* disable L2-AR */ - {} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ - }; - - rtkinit(&rtk, &rtklib_configuration_options); - - // make PVT object - pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, rinexobs_rate_ms, rinexnav_rate_ms, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk); - DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")"; - if (out_streams_ > 0) - { - LOG(ERROR) << "The PVT block does not have an output stream"; - } -} - - -bool RtklibPvt::save_assistance_to_XML() -{ - LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_; - std::map eph_map = pvt_->get_GPS_L1_ephemeris_map(); - - if (eph_map.size() > 0) - { - try - { - std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out); - boost::archive::xml_oarchive xml(ofs); - xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map); - ofs.close(); - LOG(INFO) << "Saved GPS L1 Ephemeris map data"; - } - catch (const std::exception& e) - { - LOG(WARNING) << e.what(); - return false; - } - return true; // return variable (true == succeeded) - } - else - { - LOG(WARNING) << "Failed to save Ephemeris, map is empty"; - return false; - } -} - - -RtklibPvt::~RtklibPvt() -{ - rtkfree(&rtk); - save_assistance_to_XML(); -} - - -void RtklibPvt::connect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - // Nothing to connect internally - DLOG(INFO) << "nothing to connect internally"; -} - - -void RtklibPvt::disconnect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - // Nothing to disconnect -} - - -gr::basic_block_sptr RtklibPvt::get_left_block() -{ - return pvt_; -} - - -gr::basic_block_sptr RtklibPvt::get_right_block() -{ - return pvt_; // this is a sink, nothing downstream -} diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index a59e5a8a7..23f3d8c1e 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -321,8 +321,8 @@ void rtklib_pvt_cc::clear_ephemeris() rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels, const Pvt_Conf& conf_, const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc", - gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), - gr::io_signature::make(0, 0, 0)) + gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), + gr::io_signature::make(0, 0, 0)) { d_output_rate_ms = conf_.output_rate_ms; d_display_rate_ms = conf_.display_rate_ms; @@ -1018,8 +1018,8 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name) return true; } - LOG(WARNING) << "Failed to save gnss_synchro, map is empty"; - return false; + LOG(WARNING) << "Failed to save gnss_synchro, map is empty"; + return false; } @@ -1064,7 +1064,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg, return true; } - return false; + return false; } @@ -1564,7 +1564,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model); b_rinex_header_written = true; // do not write header anymore } - break; + break; case 50: // BDS B1I only if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend()) { @@ -2149,10 +2149,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { // This is a channel with valid GPS signal gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) - { + if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) + { gps_channel = 1; - } + } } } if (gal_channel == 0) @@ -2160,8 +2160,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system == "E") { gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend()) - { + if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend()) + { gal_channel = 1; } } diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc index e7b2b9e6b..e630b8dd8 100644 --- a/src/algorithms/PVT/libs/rinex_printer.cc +++ b/src/algorithms/PVT/libs/rinex_printer.cc @@ -247,9 +247,9 @@ Rinex_Printer::~Rinex_Printer() if (remove(navGlofilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; } if (posnc == 0) - { - if (remove(navBdsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; - } + { + if (remove(navBdsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; + } } @@ -1367,8 +1367,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co line += std::string(3, ' '); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 18, 2), 19); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 18, 2), 19); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_t_OT), 9); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_T + 1024), 9); // valid until 2019 + line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 9); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 9); // valid until 2019 line += std::string(1, ' '); line += Rinex_Printer::leftJustify("DELTA-UTC: A0,A1,T,W", 20); } @@ -1378,8 +1378,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co line += std::string("GPUT"); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18); line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_t_OT), 7); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_T + 1024), 5); // valid until 2019 + line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019 /* if ( SBAS ) { line += string(1, ' '); @@ -1399,16 +1399,16 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co // -------- Line 6 leap seconds // For leap second information, see http://www.endruntechnologies.com/leap.htm line.clear(); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LS), 6); if (version == 2) { line += std::string(54, ' '); } if (version == 3) { - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_LSF), 6); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_DN), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LSF), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6); line += std::string(36, ' '); } line += Rinex_Printer::leftJustify("LEAP SECONDS", 20); @@ -1612,38 +1612,38 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono& // -------- Line ionospheric info 1, only version 3 supported line.clear(); line += std::string("BDSA"); - line += std::string(1, ' '); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12); - line += std::string(7, ' '); - line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); + line += std::string(1, ' '); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12); + line += std::string(7, ' '); + line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); Rinex_Printer::lengthCheck(line); out << line << std::endl; // -------- Line ionospheric info 2 line.clear(); - line += std::string("BDSB"); - line += std::string(1, ' '); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12); - line += std::string(7, ' '); - line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); + line += std::string("BDSB"); + line += std::string(1, ' '); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12); + line += std::string(7, ' '); + line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); Rinex_Printer::lengthCheck(line); out << line << std::endl; // -------- Line 5 system time correction line.clear(); - line += std::string("BDUT"); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18); - line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16); - line += std::string(22, ' '); - line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); + line += std::string("BDUT"); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18); + line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16); + line += std::string(22, ' '); + line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); Rinex_Printer::lengthCheck(line); out << line << std::endl; @@ -1652,9 +1652,9 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono& // For leap second information, see http://www.endruntechnologies.com/leap.htm line.clear(); line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_LSF), 6); - line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_DN), 6); + line += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6); + line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6); line += std::string(36, ' '); line += Rinex_Printer::leftJustify("LEAP SECONDS", 20); Rinex_Printer::lengthCheck(line); @@ -2790,59 +2790,58 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M { line_aux.clear(); - if (line_str.find("BDSA", 0) != std::string::npos) - { - line_aux += std::string("GPSA"); - line_aux += std::string(1, ' '); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12); - line_aux += std::string(7, ' '); - line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); - data.push_back(line_aux); - } - else if (line_str.find("BDSB", 0) != std::string::npos) - { - line_aux += std::string("GPSB"); - line_aux += std::string(1, ' '); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12); - line_aux += std::string(7, ' '); - line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); - data.push_back(line_aux); - } - else if (line_str.find("BDUT", 0) != std::string::npos) - { - line_aux += std::string("GPUT"); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18); - line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16); - line_aux += std::string(22, ' '); - line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); - data.push_back(line_aux); - } - else if (line_str.find("LEAP SECONDS", 59) != std::string::npos) - { - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_LSF), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_DN), 6); - line_aux += std::string(36, ' '); - line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20); - data.push_back(line_aux); - } - else if (line_str.find("END OF HEADER", 59) != std::string::npos) - { - data.push_back(line_str); - no_more_finds = true; - } - else - { - data.push_back(line_str); - } - + if (line_str.find("BDSA", 0) != std::string::npos) + { + line_aux += std::string("GPSA"); + line_aux += std::string(1, ' '); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12); + line_aux += std::string(7, ' '); + line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); + data.push_back(line_aux); + } + else if (line_str.find("BDSB", 0) != std::string::npos) + { + line_aux += std::string("GPSB"); + line_aux += std::string(1, ' '); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12); + line_aux += std::string(7, ' '); + line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20); + data.push_back(line_aux); + } + else if (line_str.find("BDUT", 0) != std::string::npos) + { + line_aux += std::string("GPUT"); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18); + line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16); + line_aux += std::string(22, ' '); + line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20); + data.push_back(line_aux); + } + else if (line_str.find("LEAP SECONDS", 59) != std::string::npos) + { + line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); + line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); + line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6); + line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6); + line_aux += std::string(36, ' '); + line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20); + data.push_back(line_aux); + } + else if (line_str.find("END OF HEADER", 59) != std::string::npos) + { + data.push_back(line_str); + no_more_finds = true; + } + else + { + data.push_back(line_str); + } } else { @@ -3755,7 +3754,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map::const_iterator bds_ephemeris_iter; for (bds_ephemeris_iter = eph_map.cbegin(); - bds_ephemeris_iter != eph_map.cend(); + bds_ephemeris_iter != eph_map.cend(); bds_ephemeris_iter++) { // -------- SV / EPOCH / SV CLK @@ -3767,28 +3766,28 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::mapsecond.i_satellite_PRN < 10) line += std::string("0"); - line += boost::lexical_cast(bds_ephemeris_iter->second.i_satellite_PRN); - std::string year(timestring, 0, 4); - line += std::string(1, ' '); - line += year; - line += std::string(1, ' '); - line += month; - line += std::string(1, ' '); - line += day; - line += std::string(1, ' '); - line += hour; - line += std::string(1, ' '); - line += minutes; - line += std::string(1, ' '); - line += seconds; - line += std::string(1, ' '); - line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f0, 18, 2); - line += std::string(1, ' '); - line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f1, 18, 2); - line += std::string(1, ' '); - line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f2, 18, 2); + line += satelliteSystem["Beidou"]; + if (bds_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0"); + line += std::to_string(bds_ephemeris_iter->second.i_satellite_PRN); + std::string year(timestring, 0, 4); + line += std::string(1, ' '); + line += year; + line += std::string(1, ' '); + line += month; + line += std::string(1, ' '); + line += day; + line += std::string(1, ' '); + line += hour; + line += std::string(1, ' '); + line += minutes; + line += std::string(1, ' '); + line += seconds; + line += std::string(1, ' '); + line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f0, 18, 2); + line += std::string(1, ' '); + line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f1, 18, 2); + line += std::string(1, ' '); + line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f2, 18, 2); Rinex_Printer::lengthCheck(line); out << line << std::endl; @@ -3851,7 +3850,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map(bds_ephemeris_iter->second.i_BEIDOU_week); + auto BDS_week_continuous_number = static_cast(bds_ephemeris_iter->second.i_BEIDOU_week); line += Rinex_Printer::doub2for(BDS_week_continuous_number, 18, 2); line += std::string(1, ' '); line += std::string(18, ' '); // spare @@ -7201,7 +7200,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps } -void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands) +void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands) { std::string line; version = 3; @@ -7658,27 +7657,26 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_M { line_aux.clear(); - if (line_str.find("TIME OF FIRST OBS", 59) != std::string::npos) - { - data.push_back(line_str); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_WN_LSF), 6); - line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.i_DN), 6); - line_aux += std::string(36, ' '); - line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20); - data.push_back(line_aux); - } - else if (line_str.find("END OF HEADER", 59) != std::string::npos) - { - data.push_back(line_str); - no_more_finds = true; - } - else - { - data.push_back(line_str); - } - + if (line_str.find("TIME OF FIRST OBS", 59) != std::string::npos) + { + data.push_back(line_str); + line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LS), 6); + line_aux += Rinex_Printer::rightJustify(boost::lexical_cast(utc_model.d_DeltaT_LSF), 6); + line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6); + line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6); + line_aux += std::string(36, ' '); + line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20); + data.push_back(line_aux); + } + else if (line_str.find("END OF HEADER", 59) != std::string::npos) + { + data.push_back(line_str); + no_more_finds = true; + } + else + { + data.push_back(line_str); + } } else { @@ -10409,7 +10407,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep } -void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map& observables, const std::string bds_bands) +void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map& observables, const std::string& bds_bands) { std::string line; @@ -10520,7 +10518,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris } int32_t numSatellitesObserved = available_prns.size(); - line += Rinex_Printer::rightJustify(boost::lexical_cast(numSatellitesObserved), 3); + line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); // Receiver clock offset (optional) //line += rightJustify(asString(clockOffset, 12), 15); line += std::string(80 - line.size(), ' '); @@ -10536,9 +10534,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris lineObs.clear(); lineObs += satelliteSystem["Beidou"]; if (static_cast(*it) < 10) lineObs += std::string(1, '0'); - lineObs += boost::lexical_cast(static_cast(*it)); + lineObs += std::to_string(static_cast(*it)); ret = total_map.equal_range(*it); - for (std::multimap::iterator iter = ret.first; iter != ret.second; ++iter) + for (auto iter = ret.first; iter != ret.second; ++iter) { lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h index cfdcf86a8..b5ea3357d 100644 --- a/src/algorithms/PVT/libs/rinex_printer.h +++ b/src/algorithms/PVT/libs/rinex_printer.h @@ -51,21 +51,19 @@ #ifndef GNSS_SDR_RINEX_PRINTER_H_ #define GNSS_SDR_RINEX_PRINTER_H_ -#include "gps_navigation_message.h" -#include "gps_cnav_navigation_message.h" -#include "galileo_navigation_message.h" -#include "glonass_gnav_navigation_message.h" -#include "beidou_dnav_navigation_message.h" +#include "Beidou_B1I.h" +#include "GLONASS_L1_L2_CA.h" #include "GPS_L1_CA.h" #include "Galileo_E1.h" -#include "GLONASS_L1_L2_CA.h" -#include "Beidou_B1I.h" +#include "beidou_dnav_navigation_message.h" +#include "galileo_navigation_message.h" +#include "glonass_gnav_navigation_message.h" #include "gnss_synchro.h" +#include "gps_cnav_navigation_message.h" +#include "gps_navigation_message.h" #include #include -#include #include -#include // for stringstream #include // for setprecision #include #include // for stringstream @@ -203,7 +201,7 @@ public: /*! * \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1") */ - void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands); + void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands); /*! * \brief Generates the SBAS raw data header @@ -363,7 +361,7 @@ public: /*! * \brief Writes BDS B1I observables into the RINEX file */ - void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map& observables, const std::string bds_bands); + void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map& observables, const std::string& bds_bands); /*! diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 28a770faa..c1b984804 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -52,10 +52,10 @@ * -----------------------------------------------------------------------*/ #include "rtklib_solver.h" +#include "Beidou_B1I.h" #include "GLONASS_L1_L2_CA.h" #include "GPS_L1_CA.h" #include "Galileo_E1.h" -#include "Beidou_B1I.h" #include "rtklib_conversions.h" #include "rtklib_solution.h" #include @@ -785,7 +785,7 @@ bool rtklib_solver::get_PVT(const std::map &gnss_observables_ } } break; - } + } default: DLOG(INFO) << "Hybrid observables: Unknown GNSS"; diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index 935cb3dde..db0a47d1a 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -55,13 +55,13 @@ #define GNSS_SDR_RTKLIB_SOLVER_H_ +#include "beidou_dnav_navigation_message.h" #include "galileo_almanac.h" #include "galileo_navigation_message.h" #include "glonass_gnav_navigation_message.h" #include "gnss_synchro.h" #include "gps_cnav_navigation_message.h" #include "gps_navigation_message.h" -#include "beidou_dnav_navigation_message.h" #include "pvt_solution.h" #include "rtklib_rtkpos.h" #include @@ -102,7 +102,7 @@ public: std::map gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris - std::map beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris + std::map beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris Galileo_Utc_Model galileo_utc_model; Galileo_Iono galileo_iono; diff --git a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h index e7a9c8430..711c5a13b 100644 --- a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h +++ b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h @@ -36,11 +36,11 @@ #include "acq_conf.h" #include "acquisition_interface.h" +#include "complex_byte_to_float_x2.h" #include "gnss_synchro.h" #include "pcps_acquisition.h" -#include "complex_byte_to_float_x2.h" -#include #include +#include #include #include @@ -55,7 +55,7 @@ class BeidouB1iPcpsAcquisition : public AcquisitionInterface { public: BeidouB1iPcpsAcquisition(ConfigurationInterface* configuration, - std::string role, unsigned int in_streams, + const std::string& role, unsigned int in_streams, unsigned int out_streams); virtual ~BeidouB1iPcpsAcquisition(); diff --git a/src/algorithms/libs/beidou_b1i_signal_processing.cc b/src/algorithms/libs/beidou_b1i_signal_processing.cc index b04cd9b96..47230943a 100644 --- a/src/algorithms/libs/beidou_b1i_signal_processing.cc +++ b/src/algorithms/libs/beidou_b1i_signal_processing.cc @@ -39,8 +39,8 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi const unsigned int _code_length = 2046; bool G1[_code_length]; bool G2[_code_length]; - bool G1_register[11] = {0,1,0,1,0,1,0,1,0,1,0}; - bool G2_register[11] = {0,1,0,1,0,1,0,1,0,1,0}; + bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false}; + bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false}; bool feedback1, feedback2; bool aux; unsigned int lcv, lcv2; @@ -70,7 +70,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi for (lcv = 0; lcv < _code_length; lcv++) { G1[lcv] = G1_register[0]; - G2[lcv] = G2_register[-(phase1[prn_idx] - 11) ] ^ G2_register[-(phase2[prn_idx] - 11) ]; + G2[lcv] = G2_register[-(phase1[prn_idx] - 11)] ^ G2_register[-(phase2[prn_idx] - 11)]; feedback1 = (G1_register[0] + G1_register[1] + G1_register[2] + G1_register[3] + G1_register[4] + G1_register[10]) & 0x1; feedback2 = (G2_register[0] + G2_register[2] + G2_register[3] + G2_register[6] + G2_register[7] + G2_register[8] + G2_register[9] + G2_register[10]) & 0x1; @@ -86,7 +86,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi } /* Set the delay */ - delay = _code_length - delays[prn_idx]*0; //********************************** + delay = _code_length - delays[prn_idx] * 0; //********************************** delay += _chip_shift; delay %= _code_length; @@ -104,7 +104,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi } delay++; -//std::cout << _dest[lcv] << " "; + //std::cout << _dest[lcv] << " "; delay %= _code_length; } } @@ -156,8 +156,8 @@ void beidou_b1i_code_gen_complex_sampled(std::complex* _dest, unsigned in _samplesPerCode = static_cast(static_cast(_fs) / static_cast(_codeFreqBasis / _codeLength)); //--- Find time constants -------------------------------------------------- - _ts = 1.0 / static_cast(_fs); // Sampling period in sec - _tc = 1.0 / static_cast(_codeFreqBasis); // C/A chip period in sec + _ts = 1.0 / static_cast(_fs); // Sampling period in sec + _tc = 1.0 / static_cast(_codeFreqBasis); // C/A chip period in sec beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip for (signed int i = 0; i < _samplesPerCode; i++) diff --git a/src/algorithms/libs/rtklib/rtklib.h b/src/algorithms/libs/rtklib/rtklib.h index 3a7471e5e..da2644a3a 100644 --- a/src/algorithms/libs/rtklib/rtklib.h +++ b/src/algorithms/libs/rtklib/rtklib.h @@ -223,8 +223,8 @@ const int NSYSQZS = 0; #define ENABDS #ifdef ENABDS -const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou -const int MAXPRNBDS = 35; //!< max satellite sat number of BeiDou +const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou +const int MAXPRNBDS = 35; //!< max satellite sat number of BeiDou const int NSATBDS = (MAXPRNBDS - MINPRNBDS + 1); //!< number of BeiDou satellites const int NSYSBDS = 1; #else diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc index 5dfec8066..0f732e3cd 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.cc +++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc @@ -75,15 +75,15 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro // Mote that BeiDou week numbers do not need adjustment for foreseeable future. Consider change // to more elegant solution -// if(gnss_synchro.System == 'C') -// { -// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time)); -// } -// else -// { -// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); -// } -// + // if(gnss_synchro.System == 'C') + // { + // rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time)); + // } + // else + // { + // rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); + // } + // rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); rtklib_obs.rcv = 1; return rtklib_obs; @@ -245,8 +245,8 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph) eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0 }; - rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS ; + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0}; + rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS; rtklib_sat.A = bei_eph.d_sqrt_A * bei_eph.d_sqrt_A; rtklib_sat.M0 = bei_eph.d_M_0; rtklib_sat.deln = bei_eph.d_Delta_n; @@ -259,10 +259,10 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) rtklib_sat.Adot = 0; //only in CNAV; rtklib_sat.ndot = 0; //only in CNAV; - rtklib_sat.code = bei_eph.i_sig_type; /*B1I data*/ - rtklib_sat.flag = bei_eph.i_nav_type; /*MEO/IGSO satellite*/ - rtklib_sat.iode=(int32_t)bei_eph.d_AODE; /* AODE */ - rtklib_sat.iodc=(int32_t)bei_eph.d_AODC; /* AODC */ + rtklib_sat.code = bei_eph.i_sig_type; /*B1I data*/ + rtklib_sat.flag = bei_eph.i_nav_type; /*MEO/IGSO satellite*/ + rtklib_sat.iode = static_cast(bei_eph.d_AODE); /* AODE */ + rtklib_sat.iodc = static_cast(bei_eph.d_AODC); /* AODC */ rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */ rtklib_sat.cic = bei_eph.d_Cic; @@ -285,8 +285,8 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) /* adjustment for week handover */ double tow, toc, toe; tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week); - toc = time2gpst(rtklib_sat.toc, NULL); - toe = time2gpst(rtklib_sat.toe, NULL); + toc = time2gpst(rtklib_sat.toc, nullptr); + toe = time2gpst(rtklib_sat.toe, nullptr); if (rtklib_sat.toes < tow - 302400.0) { @@ -306,7 +306,6 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) } - eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h index 8f88442ef..de2b7baaf 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.h +++ b/src/algorithms/libs/rtklib/rtklib_conversions.h @@ -31,6 +31,7 @@ #ifndef GNSS_SDR_RTKLIB_CONVERSIONS_H_ #define GNSS_SDR_RTKLIB_CONVERSIONS_H_ +#include "beidou_dnav_ephemeris.h" #include "galileo_almanac.h" #include "galileo_ephemeris.h" #include "glonass_gnav_ephemeris.h" @@ -39,7 +40,6 @@ #include "gps_almanac.h" #include "gps_cnav_ephemeris.h" #include "gps_ephemeris.h" -#include "beidou_dnav_ephemeris.h" #include "rtklib.h" eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph); diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc index 19db5e91d..91536357a 100644 --- a/src/algorithms/signal_generator/adapters/signal_generator.cc +++ b/src/algorithms/signal_generator/adapters/signal_generator.cc @@ -31,11 +31,11 @@ #include "signal_generator.h" +#include "Beidou_B1I.h" #include "GLONASS_L1_L2_CA.h" #include "GPS_L1_CA.h" #include "Galileo_E1.h" #include "Galileo_E5a.h" -#include "Beidou_B1I.h" #include "configuration_interface.h" #include #include diff --git a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt index 768465f9d..3c354d806 100644 --- a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt @@ -20,39 +20,39 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES gps_l1_ca_telemetry_decoder.cc gps_l2c_telemetry_decoder.cc - gps_l5_telemetry_decoder.cc + gps_l5_telemetry_decoder.cc galileo_e1b_telemetry_decoder.cc sbas_l1_telemetry_decoder.cc galileo_e5a_telemetry_decoder.cc glonass_l1_ca_telemetry_decoder.cc - glonass_l2_ca_telemetry_decoder.cc + glonass_l2_ca_telemetry_decoder.cc beidou_b1i_telemetry_decoder.cc ) set(TELEMETRY_DECODER_ADAPTER_HEADERS gps_l1_ca_telemetry_decoder.h gps_l2c_telemetry_decoder.h - gps_l5_telemetry_decoder.h + gps_l5_telemetry_decoder.h galileo_e1b_telemetry_decoder.h sbas_l1_telemetry_decoder.h galileo_e5a_telemetry_decoder.h glonass_l1_ca_telemetry_decoder.h glonass_l2_ca_telemetry_decoder.h - beidou_b1i_telemetry_decoder.h + beidou_b1i_telemetry_decoder.h ) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_SOURCE_DIR}/src/core/system_parameters - ${CMAKE_SOURCE_DIR}/src/core/interfaces - ${CMAKE_SOURCE_DIR}/src/core/receiver - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav - ${Boost_INCLUDE_DIRS} - ${GLOG_INCLUDE_DIRS} - ${GFlags_INCLUDE_DIRS} - ${GNURADIO_RUNTIME_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_SOURCE_DIR}/src/core/system_parameters + ${CMAKE_SOURCE_DIR}/src/core/interfaces + ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav + ${Boost_INCLUDE_DIRS} + ${GLOG_INCLUDE_DIRS} + ${GFlags_INCLUDE_DIRS} + ${GNURADIO_RUNTIME_INCLUDE_DIRS} ) list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS) diff --git a/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc index fa231eb29..a29fdcc01 100644 --- a/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc +++ b/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc @@ -31,19 +31,19 @@ #include "beidou_b1i_telemetry_decoder.h" -#include "configuration_interface.h" -#include -#include #include "beidou_dnav_almanac.h" #include "beidou_dnav_ephemeris.h" #include "beidou_dnav_iono.h" #include "beidou_dnav_utc_model.h" +#include "configuration_interface.h" +#include +#include using google::LogMessage; BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration, - std::string role, + const std::string& role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), @@ -68,9 +68,7 @@ BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* con } -BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder() -{ -} +BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder() = default; void BeidouB1iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite) diff --git a/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h index 6e05c3975..2deb50c27 100644 --- a/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h +++ b/src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h @@ -34,9 +34,9 @@ #ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_ #define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_ +#include "beidou_b1i_telemetry_decoder_cc.h" #include "telemetry_decoder_interface.h" #include -#include "beidou_b1i_telemetry_decoder_cc.h" class ConfigurationInterface; @@ -47,7 +47,7 @@ class BeidouB1iTelemetryDecoder : public TelemetryDecoderInterface { public: BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration, - std::string role, + const std::string& role, unsigned int in_streams, unsigned int out_streams); diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt index 070255825..e123b8980 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt @@ -17,38 +17,38 @@ # set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES - gps_l1_ca_telemetry_decoder_cc.cc - gps_l2c_telemetry_decoder_cc.cc - gps_l5_telemetry_decoder_cc.cc - sbas_l1_telemetry_decoder_cc.cc - glonass_l1_ca_telemetry_decoder_cc.cc - glonass_l2_ca_telemetry_decoder_cc.cc - galileo_telemetry_decoder_cc.cc - beidou_b1i_telemetry_decoder_cc.cc + gps_l1_ca_telemetry_decoder_cc.cc + gps_l2c_telemetry_decoder_cc.cc + gps_l5_telemetry_decoder_cc.cc + sbas_l1_telemetry_decoder_cc.cc + glonass_l1_ca_telemetry_decoder_cc.cc + glonass_l2_ca_telemetry_decoder_cc.cc + galileo_telemetry_decoder_cc.cc + beidou_b1i_telemetry_decoder_cc.cc ) set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS - gps_l1_ca_telemetry_decoder_cc.h - gps_l2c_telemetry_decoder_cc.h - gps_l5_telemetry_decoder_cc.h - sbas_l1_telemetry_decoder_cc.h - glonass_l1_ca_telemetry_decoder_cc.h - glonass_l2_ca_telemetry_decoder_cc.h - galileo_telemetry_decoder_cc.h - beidou_b1i_telemetry_decoder_cc.h + gps_l1_ca_telemetry_decoder_cc.h + gps_l2c_telemetry_decoder_cc.h + gps_l5_telemetry_decoder_cc.h + sbas_l1_telemetry_decoder_cc.h + glonass_l1_ca_telemetry_decoder_cc.h + glonass_l2_ca_telemetry_decoder_cc.h + galileo_telemetry_decoder_cc.h + beidou_b1i_telemetry_decoder_cc.h ) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_SOURCE_DIR}/src/core/system_parameters - ${CMAKE_SOURCE_DIR}/src/core/receiver - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav - ${GLOG_INCLUDE_DIRS} - ${GFlags_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${GNURADIO_RUNTIME_INCLUDE_DIRS} - ${VOLK_GNSSSDR_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_SOURCE_DIR}/src/core/system_parameters + ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav + ${GLOG_INCLUDE_DIRS} + ${GFlags_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${GNURADIO_RUNTIME_INCLUDE_DIRS} + ${VOLK_GNSSSDR_INCLUDE_DIRS} ) list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS) @@ -70,5 +70,5 @@ target_link_libraries(telemetry_decoder_gr_blocks ) if(NOT VOLKGNSSSDR_FOUND) - add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module) + add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module) endif() diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc index a8614df07..0553023de 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc @@ -38,8 +38,8 @@ #include "display.h" #include "gnss_synchro.h" #include -#include #include +#include #include #include @@ -58,66 +58,66 @@ beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump) beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc( const Gnss_Satellite &satellite, bool dump) : gr::block("beidou_b1i_telemetry_decoder_cc", - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars d_dump = dump; d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite "<< this->d_satellite; + LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite " << this->d_satellite; d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS; - d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; - d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; - d_secondary_code_symbols = static_cast(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment())); - d_preamble_samples = static_cast(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); - d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol; - d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; + d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; + d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; + d_secondary_code_symbols = static_cast(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment())); + d_preamble_samples = static_cast(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); + d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol; + d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; - // Setting samples of secondary code - for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++) - { - if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1') - { - d_secondary_code_symbols[i] = 1; - } - else - { - d_secondary_code_symbols[i] = -1; - } - } + // Setting samples of secondary code + for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++) + { + if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1') + { + d_secondary_code_symbols[i] = 1; + } + else + { + d_secondary_code_symbols[i] = -1; + } + } - // Setting samples of preamble code - int32_t n = 0; - for (int32_t i = 0; i < d_symbols_per_preamble; i++) - { - int32_t m = 0; - if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') - { - for (uint32_t j = 0; j < d_samples_per_symbol; j++) - { - d_preamble_samples[n] = d_secondary_code_symbols[m]; - n++; - m++; - m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH; - } - } - else - { - for (uint32_t j = 0; j < d_samples_per_symbol; j++) - { - d_preamble_samples[n] = -d_secondary_code_symbols[m]; - n++; - m++; - m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH; - } - } - } + // Setting samples of preamble code + int32_t n = 0; + for (int32_t i = 0; i < d_symbols_per_preamble; i++) + { + int32_t m = 0; + if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') + { + for (uint32_t j = 0; j < d_samples_per_symbol; j++) + { + d_preamble_samples[n] = d_secondary_code_symbols[m]; + n++; + m++; + m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH; + } + } + else + { + for (uint32_t j = 0; j < d_samples_per_symbol; j++) + { + d_preamble_samples[n] = -d_secondary_code_symbols[m]; + n++; + m++; + m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH; + } + } + } - d_subframe_symbols = static_cast(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment())); - d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble; + d_subframe_symbols = static_cast(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment())); + d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble; // Generic settings d_sample_counter = 0; @@ -130,13 +130,12 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc( d_flag_preamble = false; d_channel = 0; flag_SOW_set = false; - } beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc() { - volk_gnsssdr_free(d_preamble_samples); + volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_secondary_code_symbols); volk_gnsssdr_free(d_subframe_symbols); @@ -154,7 +153,7 @@ beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc() } -void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t *decbits) +void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, int32_t *decbits) { int bit, err, reg[4] = {1, 1, 1, 1}; int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2}; @@ -174,7 +173,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t reg[1] *= bit; } - err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8]; + err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8]; if (err > 0) { @@ -183,82 +182,80 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t } void beidou_b1i_telemetry_decoder_cc::decode_word( - int32_t word_counter, - double* enc_word_symbols, - int32_t* dec_word_symbols) + int32_t word_counter, + const double *enc_word_symbols, + int32_t *dec_word_symbols) { int32_t bitsbch[30], first_branch[15], second_branch[15]; if (word_counter == 1) { for (unsigned int j = 0; j < 30; j++) - { - dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1); - } - } + { + dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1); + } + } else { - for (unsigned int r = 0; r < 2; r++) - { - for (unsigned int c = 0; c < 15; c++) + for (unsigned int r = 0; r < 2; r++) + { + for (unsigned int c = 0; c < 15; c++) { - bitsbch[r*15 + c] = (int32_t)(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1); + bitsbch[r * 15 + c] = (int32_t)(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1); } - } + } decode_bch15_11_01(&bitsbch[0], first_branch); decode_bch15_11_01(&bitsbch[15], second_branch); - for (unsigned int j = 0; j < 11; j++) - { - dec_word_symbols[j] = first_branch[j]; - dec_word_symbols[j + 11] = second_branch[j]; - } + for (unsigned int j = 0; j < 11; j++) + { + dec_word_symbols[j] = first_branch[j]; + dec_word_symbols[j + 11] = second_branch[j]; + } - for (unsigned int j = 0; j < 4; j++) - { - dec_word_symbols[j + 22] = first_branch[11 + j]; - dec_word_symbols[j + 26] = second_branch[11 + j]; - } + for (unsigned int j = 0; j < 4; j++) + { + dec_word_symbols[j + 22] = first_branch[11 + j]; + dec_word_symbols[j + 26] = second_branch[11 + j]; + } } - - } void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length) { - // 1. Transform from symbols to bits + // 1. Transform from symbols to bits std::string data_bits; int32_t dec_word_bits[30]; // Decode each word in subframe - for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++) - { - // decode the word - decode_word((ii+1), &frame_symbols[ii*30], dec_word_bits); + for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++) + { + // decode the word + decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits); - // Save word to string format - for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++) - { - data_bits.push_back( (dec_word_bits[jj] > 0) ? ('1') : ('0') ); - } - } + // Save word to string format + for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++) + { + data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0')); + } + } - if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 ) - { - d_nav.d2_subframe_decoder(data_bits); - } - else - { - d_nav.d1_subframe_decoder(data_bits); - } + if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) + { + d_nav.d2_subframe_decoder(data_bits); + } + else + { + d_nav.d1_subframe_decoder(data_bits); + } // 3. Check operation executed correctly if (d_nav.flag_crc_test == true) { - LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { @@ -268,7 +265,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int if (d_nav.have_new_ephemeris() == true) { // get object for this SV (mandatory) - std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); + std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite; std::cout << "New BEIDOU B1I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl; @@ -291,9 +288,9 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int } if (d_nav.have_new_almanac() == true) { -// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN; -// std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); -// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); + // unsigned int slot_nbr = d_nav.i_alm_satellite_PRN; + // std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); + // this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl; std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl; } @@ -302,7 +299,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) { - uint32_t sat_prn = 0; + uint32_t sat_prn = 0; d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; DLOG(INFO) << "Navigation Satellite set to " << d_satellite; @@ -312,46 +309,46 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell d_nav.i_satellite_PRN = sat_prn; // Update tel dec parameters for D2 NAV Messages - if ( sat_prn > 0 and sat_prn < 6 ) - { - // Clear values from previous declaration - volk_gnsssdr_free(d_preamble_samples); - volk_gnsssdr_free(d_secondary_code_symbols); - volk_gnsssdr_free(d_subframe_symbols); + if (sat_prn > 0 and sat_prn < 6) + { + // Clear values from previous declaration + volk_gnsssdr_free(d_preamble_samples); + volk_gnsssdr_free(d_secondary_code_symbols); + volk_gnsssdr_free(d_subframe_symbols); - d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS; - d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; - d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; - d_secondary_code_symbols = nullptr; - d_preamble_samples = static_cast(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); - d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol; - d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; + d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS; + d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; + d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; + d_secondary_code_symbols = nullptr; + d_preamble_samples = static_cast(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); + d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol; + d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; - // Setting samples of preamble code - int32_t n = 0; - for (int32_t i = 0; i < d_symbols_per_preamble; i++) - { - if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') - { - for (uint32_t j = 0; j < d_samples_per_symbol; j++) - { - d_preamble_samples[n] = 1; - n++; - } - } - else - { - for (uint32_t j = 0; j < d_samples_per_symbol; j++) - { - d_preamble_samples[n] = -1; - n++; - } - } - } + // Setting samples of preamble code + int32_t n = 0; + for (int32_t i = 0; i < d_symbols_per_preamble; i++) + { + if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') + { + for (uint32_t j = 0; j < d_samples_per_symbol; j++) + { + d_preamble_samples[n] = 1; + n++; + } + } + else + { + for (uint32_t j = 0; j < d_samples_per_symbol; j++) + { + d_preamble_samples[n] = -1; + n++; + } + } + } - d_subframe_symbols = static_cast(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment())); - d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble; - } + d_subframe_symbols = static_cast(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment())); + d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble; + } } @@ -367,7 +364,7 @@ void beidou_b1i_telemetry_decoder_cc::set_channel(int channel) try { d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(std::to_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); @@ -385,17 +382,17 @@ void beidou_b1i_telemetry_decoder_cc::set_channel(int channel) int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { - int32_t corr_value = 0; - int32_t preamble_diff = 0; + int32_t corr_value = 0; + int32_t preamble_diff = 0; - Gnss_Synchro **out = reinterpret_cast(&output_items[0]); // Get the output buffer pointer - const Gnss_Synchro **in = reinterpret_cast(&input_items[0]); // Get the input buffer pointer + auto **out = reinterpret_cast(&output_items[0]); // Get the output buffer pointer + const auto **in = reinterpret_cast(&input_items[0]); // Get the input buffer pointer Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block //1. Copy the current tracking output current_symbol = in[0][0]; d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue - d_sample_counter++; //count for the processed samples + d_sample_counter++; //count for the processed samples consume_each(1); d_flag_preamble = false; @@ -451,9 +448,9 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_ } } } - else if (d_stat == 2) // preamble acquired + else if (d_stat == 2) // preamble acquired { - if (d_sample_counter == d_preamble_index + static_cast(d_preamble_period_samples)) + if (d_sample_counter == d_preamble_index + static_cast(d_preamble_period_samples)) { //******* SAMPLES TO SYMBOLS ******* if (corr_value > 0) //normal PLL lock @@ -461,22 +458,22 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_ int k = 0; for (uint32_t i = 0; i < d_subframe_length_symbols; i++) { - d_subframe_symbols[i] = 0; - //integrate samples into symbols + d_subframe_symbols[i] = 0; + //integrate samples into symbols for (uint32_t m = 0; m < d_samples_per_symbol; m++) { - if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 ) - { - // because last symbol of the preamble is just received now! - d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m); - } - else - { - // because last symbol of the preamble is just received now! - d_subframe_symbols[i] += static_cast(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m); - k++; - k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH; - } + if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) + { + // because last symbol of the preamble is just received now! + d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m); + } + else + { + // because last symbol of the preamble is just received now! + d_subframe_symbols[i] += static_cast(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m); + k++; + k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH; + } } } } @@ -485,22 +482,22 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_ int k = 0; for (uint32_t i = 0; i < d_subframe_length_symbols; i++) { - d_subframe_symbols[i] = 0; - //integrate samples into symbols + d_subframe_symbols[i] = 0; + //integrate samples into symbols for (uint32_t m = 0; m < d_samples_per_symbol; m++) { - if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 ) - { - // because last symbol of the preamble is just received now! - d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m); - } - else - { - // because last symbol of the preamble is just received now! - d_subframe_symbols[i] -= static_cast(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m); - k++; - k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH; - } + if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) + { + // because last symbol of the preamble is just received now! + d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m); + } + else + { + // because last symbol of the preamble is just received now! + d_subframe_symbols[i] -= static_cast(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m); + k++; + k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH; + } } } } @@ -539,15 +536,15 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_ if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true) //update TOW at the preamble instant { - // Reporting sow as gps time of week - d_TOW_at_Preamble_ms = static_cast((d_nav.d_SOW + 14) * 1000.0); - d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS); - flag_SOW_set = true; - d_nav.flag_new_SOW_available = false; + // Reporting sow as gps time of week + d_TOW_at_Preamble_ms = static_cast((d_nav.d_SOW + 14) * 1000.0); + d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS); + flag_SOW_set = true; + d_nav.flag_new_SOW_available = false; } else //if there is not a new preamble, we define the TOW of the current symbol { - d_TOW_at_current_symbol_ms += static_cast(BEIDOU_B1I_CODE_PERIOD_MS); + d_TOW_at_current_symbol_ms += static_cast(BEIDOU_B1I_CODE_PERIOD_MS); } diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h index 80931c46f..e3ce59392 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h @@ -35,13 +35,13 @@ #ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H #define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H -#include "beidou_dnav_navigation_message.h" -#include "beidou_dnav_ephemeris.h" +#include "Beidou_B1I.h" #include "beidou_dnav_almanac.h" +#include "beidou_dnav_ephemeris.h" +#include "beidou_dnav_navigation_message.h" #include "beidou_dnav_utc_model.h" #include "gnss_satellite.h" #include "gnss_synchro.h" -#include "Beidou_B1I.h" #include #include #include @@ -63,7 +63,7 @@ beidou_b1i_telemetry_decoder_cc_sptr beidou_b1i_make_telemetry_decoder_cc(const class beidou_b1i_telemetry_decoder_cc : public gr::block { public: - ~beidou_b1i_telemetry_decoder_cc(); //!< Class destructor + ~beidou_b1i_telemetry_decoder_cc(); //!< Class destructor void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN void set_channel(int channel); //!< Set receiver's channel @@ -75,37 +75,37 @@ public: private: friend beidou_b1i_telemetry_decoder_cc_sptr - beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump); + beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump); beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump); void decode_subframe(double *symbols, int32_t frame_length); - void decode_word(int32_t word_counter, double* enc_word_symbols, int32_t* dec_word_symbols); - void decode_bch15_11_01(int32_t *bits, int32_t *decbits); + void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t *dec_word_symbols); + void decode_bch15_11_01(const int32_t *bits, int32_t *decbits); //!< Preamble decoding unsigned short int d_preambles_symbols[BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS]; - int32_t *d_preamble_samples; - int32_t *d_secondary_code_symbols; - uint32_t d_samples_per_symbol; - int32_t d_symbols_per_preamble; - int32_t d_samples_per_preamble; - int32_t d_preamble_period_samples; - double *d_subframe_symbols; - uint32_t d_subframe_length_symbols; - uint32_t d_required_symbols; + int32_t *d_preamble_samples; + int32_t *d_secondary_code_symbols; + uint32_t d_samples_per_symbol; + int32_t d_symbols_per_preamble; + int32_t d_samples_per_preamble; + int32_t d_preamble_period_samples; + double *d_subframe_symbols; + uint32_t d_subframe_length_symbols; + uint32_t d_required_symbols; //!< Storage for incoming data std::deque d_symbol_history; //!< Variables for internal functionality - uint64_t d_sample_counter; //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed - uint64_t d_preamble_index; //!< Index of sample number where preamble was found - uint32_t d_stat; //!< Status of decoder - bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved - bool d_flag_preamble; //!< Flag indicating when preamble was found - int32_t d_CRC_error_counter; //!< Number of failed CRC operations - bool flag_SOW_set; //!< Indicates when time of week is set + uint64_t d_sample_counter; //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed + uint64_t d_preamble_index; //!< Index of sample number where preamble was found + uint32_t d_stat; //!< Status of decoder + bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved + bool d_flag_preamble; //!< Flag indicating when preamble was found + int32_t d_CRC_error_counter; //!< Number of failed CRC operations + bool flag_SOW_set; //!< Indicates when time of week is set //!< Navigation Message variable Beidou_Dnav_Navigation_Message d_nav; diff --git a/src/algorithms/telemetry_decoder/libs/CMakeLists.txt b/src/algorithms/telemetry_decoder/libs/CMakeLists.txt index e62abe66a..53a997cc8 100644 --- a/src/algorithms/telemetry_decoder/libs/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/libs/CMakeLists.txt @@ -20,23 +20,23 @@ add_subdirectory(libswiftcnav) set(TELEMETRY_DECODER_LIB_SOURCES - viterbi_decoder.cc + viterbi_decoder.cc ) set(TELEMETRY_DECODER_LIB_HEADERS - viterbi_decoder.h - convolutional.h + viterbi_decoder.h + convolutional.h ) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_SOURCE_DIR}/src/core/system_parameters - ${CMAKE_SOURCE_DIR}/src/core/interfaces - ${CMAKE_SOURCE_DIR}/src/core/receiver - ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/adapters - ${Boost_INCLUDE_DIRS} - ${GLOG_INCLUDE_DIRS} - ${GFlags_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_SOURCE_DIR}/src/core/system_parameters + ${CMAKE_SOURCE_DIR}/src/core/interfaces + ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/adapters + ${Boost_INCLUDE_DIRS} + ${GLOG_INCLUDE_DIRS} + ${GFlags_INCLUDE_DIRS} ) list(SORT TELEMETRY_DECODER_LIB_HEADERS) diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt index 5889b5ac5..934caa56e 100644 --- a/src/algorithms/tracking/adapters/CMakeLists.txt +++ b/src/algorithms/tracking/adapters/CMakeLists.txt @@ -35,56 +35,56 @@ endif() if(ENABLE_FPGA) set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} - gps_l1_ca_dll_pll_tracking_fpga.cc - gps_l2_m_dll_pll_tracking_fpga.cc - galileo_e1_dll_pll_veml_tracking_fpga.cc - galileo_e5a_dll_pll_tracking_fpga.cc + gps_l1_ca_dll_pll_tracking_fpga.cc + gps_l2_m_dll_pll_tracking_fpga.cc + galileo_e1_dll_pll_veml_tracking_fpga.cc + galileo_e5a_dll_pll_tracking_fpga.cc gps_l5_dll_pll_tracking_fpga.cc ) set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} - gps_l1_ca_dll_pll_tracking_fpga.h - gps_l2_m_dll_pll_tracking_fpga.h - galileo_e1_dll_pll_veml_tracking_fpga.h - galileo_e5a_dll_pll_tracking_fpga.h + gps_l1_ca_dll_pll_tracking_fpga.h + gps_l2_m_dll_pll_tracking_fpga.h + galileo_e1_dll_pll_veml_tracking_fpga.h + galileo_e5a_dll_pll_tracking_fpga.h gps_l5_dll_pll_tracking_fpga.h ) endif() set(TRACKING_ADAPTER_SOURCES - galileo_e1_dll_pll_veml_tracking.cc - galileo_e1_tcp_connector_tracking.cc - gps_l1_ca_dll_pll_tracking.cc - gps_l1_ca_dll_pll_c_aid_tracking.cc - gps_l1_ca_tcp_connector_tracking.cc - galileo_e5a_dll_pll_tracking.cc - gps_l2_m_dll_pll_tracking.cc - glonass_l1_ca_dll_pll_tracking.cc - glonass_l1_ca_dll_pll_c_aid_tracking.cc - gps_l1_ca_kf_tracking.cc - gps_l5_dll_pll_tracking.cc - glonass_l2_ca_dll_pll_tracking.cc - glonass_l2_ca_dll_pll_c_aid_tracking.cc - beidou_b1i_dll_pll_tracking.cc - ${OPT_TRACKING_ADAPTERS_SOURCES} + galileo_e1_dll_pll_veml_tracking.cc + galileo_e1_tcp_connector_tracking.cc + gps_l1_ca_dll_pll_tracking.cc + gps_l1_ca_dll_pll_c_aid_tracking.cc + gps_l1_ca_tcp_connector_tracking.cc + galileo_e5a_dll_pll_tracking.cc + gps_l2_m_dll_pll_tracking.cc + glonass_l1_ca_dll_pll_tracking.cc + glonass_l1_ca_dll_pll_c_aid_tracking.cc + gps_l1_ca_kf_tracking.cc + gps_l5_dll_pll_tracking.cc + glonass_l2_ca_dll_pll_tracking.cc + glonass_l2_ca_dll_pll_c_aid_tracking.cc + beidou_b1i_dll_pll_tracking.cc + ${OPT_TRACKING_ADAPTERS_SOURCES} ) set(TRACKING_ADAPTER_HEADERS - galileo_e1_dll_pll_veml_tracking.h - galileo_e1_tcp_connector_tracking.h - gps_l1_ca_dll_pll_tracking.h - gps_l1_ca_dll_pll_c_aid_tracking.h - gps_l1_ca_tcp_connector_tracking.h - galileo_e5a_dll_pll_tracking.h - gps_l2_m_dll_pll_tracking.h - glonass_l1_ca_dll_pll_tracking.h - glonass_l1_ca_dll_pll_c_aid_tracking.h - gps_l1_ca_kf_tracking.h - gps_l5_dll_pll_tracking.h - glonass_l2_ca_dll_pll_tracking.h - glonass_l2_ca_dll_pll_c_aid_tracking.h - beidou_b1i_dll_pll_tracking.h - ${OPT_TRACKING_ADAPTERS_HEADERS} + galileo_e1_dll_pll_veml_tracking.h + galileo_e1_tcp_connector_tracking.h + gps_l1_ca_dll_pll_tracking.h + gps_l1_ca_dll_pll_c_aid_tracking.h + gps_l1_ca_tcp_connector_tracking.h + galileo_e5a_dll_pll_tracking.h + gps_l2_m_dll_pll_tracking.h + glonass_l1_ca_dll_pll_tracking.h + glonass_l1_ca_dll_pll_c_aid_tracking.h + gps_l1_ca_kf_tracking.h + gps_l5_dll_pll_tracking.h + glonass_l2_ca_dll_pll_tracking.h + glonass_l2_ca_dll_pll_c_aid_tracking.h + beidou_b1i_dll_pll_tracking.h + ${OPT_TRACKING_ADAPTERS_HEADERS} ) include_directories( diff --git a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc index 026b27f41..e860da87b 100644 --- a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc @@ -34,21 +34,21 @@ * ------------------------------------------------------------------------- */ -#include "dll_pll_conf.h" #include "beidou_b1i_dll_pll_tracking.h" -#include "configuration_interface.h" -#include "gnss_sdr_flags.h" -#include "display.h" -#include #include "Beidou_B1I.h" +#include "configuration_interface.h" +#include "display.h" +#include "dll_pll_conf.h" +#include "gnss_sdr_flags.h" +#include using google::LogMessage; BeidouB1iDllPllTracking::BeidouB1iDllPllTracking( - ConfigurationInterface* configuration, std::string role, + ConfigurationInterface* configuration, const std::string& role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) { - Dll_Pll_Conf trk_param = Dll_Pll_Conf(); + Dll_Pll_Conf trk_param = Dll_Pll_Conf(); DLOG(INFO) << "role " << role; //################# CONFIGURATION PARAMETERS ######################## std::string default_item_type = "gr_complex"; @@ -118,7 +118,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking( trk_param.carrier_lock_th = carrier_lock_th; //################# MAKE TRACKING GNURadio object ################### - if (item_type.compare("gr_complex") == 0) + if (item_type == "gr_complex") { item_size_ = sizeof(gr_complex); tracking_ = dll_pll_veml_make_tracking(trk_param); @@ -141,9 +141,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking( } -BeidouB1iDllPllTracking::~BeidouB1iDllPllTracking() -{ -} +BeidouB1iDllPllTracking::~BeidouB1iDllPllTracking() = default; void BeidouB1iDllPllTracking::start_tracking() diff --git a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.h b/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.h index d6ff5a358..0716c0142 100644 --- a/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.h @@ -37,8 +37,8 @@ #ifndef GNSS_SDR_BEIDOU_B1I_DLL_PLL_TRACKING_H_ #define GNSS_SDR_BEIDOU_B1I_DLL_PLL_TRACKING_H_ -#include "tracking_interface.h" #include "dll_pll_veml_tracking.h" +#include "tracking_interface.h" #include class ConfigurationInterface; @@ -50,7 +50,7 @@ class BeidouB1iDllPllTracking : public TrackingInterface { public: BeidouB1iDllPllTracking(ConfigurationInterface* configuration, - std::string role, + const std::string& role, unsigned int in_streams, unsigned int out_streams); diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index 2f0c5c583..64ca68b4d 100644 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -35,17 +35,17 @@ */ #include "dll_pll_veml_tracking.h" +#include "Beidou_B1I.h" #include "GPS_L1_CA.h" #include "GPS_L2C.h" #include "GPS_L5.h" #include "Galileo_E1.h" #include "Galileo_E5a.h" -#include "Beidou_B1I.h" #include "MATH_CONSTANTS.h" +#include "beidou_b1i_signal_processing.h" #include "control_message_factory.h" #include "galileo_e1_signal_processing.h" #include "galileo_e5_signal_processing.h" -#include "beidou_b1i_signal_processing.h" #include "gnss_sdr_create_directory.h" #include "gps_l2c_signal.h" #include "gps_l5_signal.h" @@ -279,19 +279,19 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl systemName = "Beidou"; if (signal_type == "B1") { - // GEO Satellites use different secondary code - d_signal_carrier_freq = BEIDOU_B1I_FREQ_HZ; - d_code_period = BEIDOU_B1I_CODE_PERIOD; - d_code_chip_rate = BEIDOU_B1I_CODE_RATE_HZ; - d_code_length_chips = static_cast(BEIDOU_B1I_CODE_LENGTH_CHIPS); - d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; - d_correlation_length_ms = 1; - d_code_samples_per_chip = 1; - d_secondary = true; - trk_parameters.track_pilot = false; - interchange_iq = false; - d_secondary_code_length = static_cast(BEIDOU_B1I_SECONDARY_CODE_LENGTH); - d_secondary_code_string = const_cast(&BEIDOU_B1I_SECONDARY_CODE_STR); + // GEO Satellites use different secondary code + d_signal_carrier_freq = BEIDOU_B1I_FREQ_HZ; + d_code_period = BEIDOU_B1I_CODE_PERIOD; + d_code_chip_rate = BEIDOU_B1I_CODE_RATE_HZ; + d_code_length_chips = static_cast(BEIDOU_B1I_CODE_LENGTH_CHIPS); + d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; + d_correlation_length_ms = 1; + d_code_samples_per_chip = 1; + d_secondary = true; + trk_parameters.track_pilot = false; + interchange_iq = false; + d_secondary_code_length = static_cast(BEIDOU_B1I_SECONDARY_CODE_LENGTH); + d_secondary_code_string = const_cast(&BEIDOU_B1I_SECONDARY_CODE_STR); } else { @@ -575,41 +575,40 @@ void dll_pll_veml_tracking::start_tracking() { beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0); // Update secondary code settings for geo satellites - if(d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) + if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) { - d_symbols_per_bit = 2; - d_correlation_length_ms = 1; - d_code_samples_per_chip = 1; - d_secondary = false; - trk_parameters.track_pilot = false; - interchange_iq = false; - d_secondary_code_length = 0; - d_secondary_code_string = const_cast(&BEIDOU_B1I_D2_SECONDARY_CODE_STR); + d_symbols_per_bit = 2; + d_correlation_length_ms = 1; + d_code_samples_per_chip = 1; + d_secondary = false; + trk_parameters.track_pilot = false; + interchange_iq = false; + d_secondary_code_length = 0; + d_secondary_code_string = const_cast(&BEIDOU_B1I_D2_SECONDARY_CODE_STR); - // preamble bits to sampled symbols - d_preamble_length_symbols = 22; - d_preambles_symbols = static_cast(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment())); - int32_t n = 0; - uint16_t preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = {1,1,1,0,0,0,1,0,0,1,0}; - for (uint16_t preambles_bit : preambles_bits) - { - for (uint32_t j = 0; j < d_symbols_per_bit; j++) - { - if (preambles_bit == 1) - { - d_preambles_symbols[n] = 1; - } - else - { - d_preambles_symbols[n] = -1; - } - n++; - } - } - d_symbol_history.resize(22); // Change fixed buffer size - d_symbol_history.clear(); + // preamble bits to sampled symbols + d_preamble_length_symbols = 22; + d_preambles_symbols = static_cast(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment())); + int32_t n = 0; + uint16_t preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0}; + for (uint16_t preambles_bit : preambles_bits) + { + for (uint32_t j = 0; j < d_symbols_per_bit; j++) + { + if (preambles_bit == 1) + { + d_preambles_symbols[n] = 1; + } + else + { + d_preambles_symbols[n] = -1; + } + n++; + } + } + d_symbol_history.resize(22); // Change fixed buffer size + d_symbol_history.clear(); } - } multicorrelator_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_tracking_code, d_local_code_shift_chips); @@ -732,7 +731,7 @@ bool dll_pll_veml_tracking::acquire_secondary() return true; } - return false; + return false; } @@ -746,29 +745,29 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_ d_cn0_estimation_counter++; return true; } - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; - } - if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock - d_carrier_lock_fail_counter = 0; - return false; - } - return true; + d_cn0_estimation_counter = 0; + // Code lock indicator + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s); + // Carrier lock indicator + d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples); + // Loss of lock detection + if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min) + { + d_carrier_lock_fail_counter++; + } + else + { + if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; + } + if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail) + { + std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; + LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; + this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock + d_carrier_lock_fail_counter = 0; + return false; + } + return true; } @@ -1452,7 +1451,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz << ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples; - consume_each(samples_offset); // shift input to perform alignment with local replica + consume_each(samples_offset); // shift input to perform alignment with local replica return 0; } case 2: // Wide tracking and symbol synchronization @@ -1492,8 +1491,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) next_state = acquire_secondary(); if (next_state) { - LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel - << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel + << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; } @@ -1525,7 +1524,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) } if (corr_value == d_preamble_length_symbols) { - LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel + LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; next_state = true; } diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index fde980c3c..7caea97a2 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -38,6 +38,9 @@ #include "gnss_block_factory.h" #include "array_signal_conditioner.h" #include "beamformer_filter.h" +#include "beidou_b1i_dll_pll_tracking.h" +#include "beidou_b1i_pcps_acquisition.h" +#include "beidou_b1i_telemetry_decoder.h" #include "byte_to_short.h" #include "channel.h" #include "configuration_interface.h" @@ -65,9 +68,6 @@ #include "glonass_l2_ca_dll_pll_tracking.h" #include "glonass_l2_ca_pcps_acquisition.h" #include "glonass_l2_ca_telemetry_decoder.h" -#include "beidou_b1i_pcps_acquisition.h" -#include "beidou_b1i_dll_pll_tracking.h" -#include "beidou_b1i_telemetry_decoder.h" #include "gnss_block_interface.h" #include "gps_l1_ca_dll_pll_c_aid_tracking.h" #include "gps_l1_ca_dll_pll_tracking.h" @@ -289,12 +289,12 @@ std::unique_ptr GNSSBlockFactory::GetObservables(std::shared Galileo_channels + GPS_channels + Glonass_channels + - Beidou_channels + + Beidou_channels + extra_channels, - Galileo_channels + + Galileo_channels + GPS_channels + Glonass_channels + - Beidou_channels); + Beidou_channels); } @@ -312,7 +312,7 @@ std::unique_ptr GNSSBlockFactory::GetPVT(std::shared_ptrproperty("Channels_2G.count", 0); unsigned int Beidou_channels = configuration->property("Channels_B1.count", 0); return GetBlock(configuration, "PVT", implementation, - Galileo_channels + GPS_channels + Glonass_channels + Beidou_channels, 0); + Galileo_channels + GPS_channels + Glonass_channels + Beidou_channels, 0); } @@ -798,7 +798,7 @@ std::unique_ptr GNSSBlockFactory::GetChannel_B1( << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; std::string aux = configuration->property("Acquisition_B1" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; - if (aux.compare("W") != 0) + if (aux != "W") { appendix1 = std::to_string(channel); } @@ -808,7 +808,7 @@ std::unique_ptr GNSSBlockFactory::GetChannel_B1( } aux = configuration->property("Tracking_B1" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; - if (aux.compare("W") != 0) + if (aux != "W") { appendix2 = std::to_string(channel); } @@ -818,7 +818,7 @@ std::unique_ptr GNSSBlockFactory::GetChannel_B1( } aux = configuration->property("TelemetryDecoder_B1" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; - if (aux.compare("W") != 0) + if (aux != "W") { appendix3 = std::to_string(channel); } @@ -1117,7 +1117,6 @@ std::unique_ptr>> GNSSBlockFacto queue); channel_absolute_id++; } - } catch (const std::exception &e) { @@ -1613,7 +1612,7 @@ std::unique_ptr GNSSBlockFactory::GetBlock( else if (implementation == "GPS_L1_CA_KF_Tracking") { std::unique_ptr block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams, - out_streams)); + out_streams)); block = std::move(block_); } else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") @@ -2014,7 +2013,7 @@ std::unique_ptr GNSSBlockFactory::GetTrkBlock( else if (implementation == "GPS_L1_CA_KF_Tracking") { std::unique_ptr block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams, - out_streams)); + out_streams)); block = std::move(block_); } else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 1514e0962..0662f8194 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -1024,13 +1024,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) break; case evBDS_B1: - available_BDS_B1_signals_.push_back(channels_[who]->get_signal()); + available_BDS_B1_signals_.push_back(channels_[who]->get_signal()); break; default: LOG(ERROR) << "This should not happen :-("; break; - } + } } channels_state_[who] = 0; acq_channels_count_--; @@ -1561,7 +1561,7 @@ void GNSSFlowgraph::set_signals_list() std::set available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, - 30, 31, 32, 33, 34, 35, 36, 37}; + 30, 31, 32, 33, 34, 35, 36, 37}; std::string sv_list = configuration_->property("Galileo.prns", std::string("")); @@ -1627,7 +1627,7 @@ void GNSSFlowgraph::set_signals_list() } } sv_list = configuration_->property("Beidou.prns", std::string("")); - + if (sv_list.length() > 0) { @@ -1760,10 +1760,8 @@ void GNSSFlowgraph::set_signals_list() available_BDS_B1_signals_.push_back(Gnss_Signal( Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter), std::string("B1"))); - } } - } @@ -1806,7 +1804,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal if (!pop) { available_GPS_1C_signals_.push_back(result); - } + } if (tracked) { if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0)) @@ -2002,28 +2000,28 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal } if (tracked) { - // In the near future Beidou B2a will be added -// if (configuration_->property("Channels_5C.count", 0) > 0) -// { -// for (unsigned int ch = 0; ch < channels_count_; ch++) -// { -// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("5C") != 0)) untracked_satellite = false; -// } -// if (untracked_satellite) -// { -// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5C"); -// available_BDS_5C_signals_.remove(gs); -// available_BDS_5C_signals_.push_front(gs); -// } -// } + // In the near future Beidou B2a will be added + // if (configuration_->property("Channels_5C.count", 0) > 0) + // { + // for (unsigned int ch = 0; ch < channels_count_; ch++) + // { + // if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("5C") != 0)) untracked_satellite = false; + // } + // if (untracked_satellite) + // { + // Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5C"); + // available_BDS_5C_signals_.remove(gs); + // available_BDS_5C_signals_.push_front(gs); + // } + // } } break; default: LOG(ERROR) << "This should not happen :-("; result = available_GPS_1C_signals_.front(); - if (pop) - { + if (pop) + { available_GPS_1C_signals_.pop_front(); } break; diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index ff6d9084a..67f86bc6b 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -55,7 +55,6 @@ #include #include #include -#include #if ENABLE_FPGA #include "gnss_sdr_fpga_sample_counter.h" @@ -195,7 +194,7 @@ private: evGAL_5X, evGLO_1G, evGLO_2G, - evBDS_B1 + evBDS_B1 }; std::map mapStringValues_; diff --git a/src/core/system_parameters/Beidou_B1I.h b/src/core/system_parameters/Beidou_B1I.h index 1b5412aea..f0b3a7bd9 100644 --- a/src/core/system_parameters/Beidou_B1I.h +++ b/src/core/system_parameters/Beidou_B1I.h @@ -32,27 +32,27 @@ #ifndef GNSS_SDR_BEIDOU_B1I_H_ #define GNSS_SDR_BEIDOU_B1I_H_ -#include -#include // std::pair #include "MATH_CONSTANTS.h" +#include // std::pair +#include // Physical constants -const double BEIDOU_C_m_s = 299792458.0; //!< The speed of light, [m/s] -const double BEIDOU_C_m_ms = 299792.4580; //!< The speed of light, [m/ms] -const double BEIDOU_PI = 3.1415926535898; //!< Pi -const double BEIDOU_TWO_PI = 6.283185307179586;//!< 2Pi -const double BEIDOU_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000 -const double BEIDOU_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000 -const double BEIDOU_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2 +const double BEIDOU_C_m_s = 299792458.0; //!< The speed of light, [m/s] +const double BEIDOU_C_m_ms = 299792.4580; //!< The speed of light, [m/ms] +const double BEIDOU_PI = 3.1415926535898; //!< Pi +const double BEIDOU_TWO_PI = 6.283185307179586; //!< 2Pi +const double BEIDOU_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000 +const double BEIDOU_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000 +const double BEIDOU_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2 // carrier and code frequencies -const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< b1I [Hz] -const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< beidou b1I code rate [chips/s] -const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< beidou b1I code length [chips] -const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< beidou b1I code period [seconds] +const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< b1I [Hz] +const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< beidou b1I code rate [chips/s] +const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< beidou b1I code length [chips] +const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< beidou b1I code period [seconds] const unsigned int BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms] -const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< beidou b1I chip period [seconds] +const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< beidou b1I chip period [seconds] const int BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20; const std::string BEIDOU_B1I_SECONDARY_CODE = "00000100110101001110"; const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110"; @@ -66,34 +66,34 @@ const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00"; * [1] J. Bao-Yen Tsui, Fundamentals of Global Positioning System Receivers. A Software Approach, John Wiley & Sons, * Inc., Hoboken, NJ, 2nd edition, 2005. */ -const double BEIDOU_MAX_TOA_DELAY_MS = 20; //****************** +const double BEIDOU_MAX_TOA_DELAY_MS = 20; //****************** //#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here -const double BEIDOU_STARTOFFSET_ms = 68.802; //**************[ms] Initial sign. travel time (this cannot go here) +const double BEIDOU_STARTOFFSET_ms = 68.802; //**************[ms] Initial sign. travel time (this cannot go here) // OBSERVABLE HISTORY DEEP FOR INTERPOLATION -const int BEIDOU_B1I_HISTORY_DEEP = 100; // **************** +const int BEIDOU_B1I_HISTORY_DEEP = 100; // **************** // NAVIGATION MESSAGE DEMODULATION AND DECODING const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11; -const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // ************** +const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // ************** const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220; const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220; -const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s] -const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; // ************* -const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND*BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s] -const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes -const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes -const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits] -const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds] -const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds] -const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits] +const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s] +const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; // ************* +const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s] +const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes +const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes +const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits] +const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds] +const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds] +const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits] const std::string BEIDOU_DNAV_PREAMBLE = "11100010010"; const int BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11; -const int BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // ************** +const int BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // ************** const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300; const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300; const double BEIDOU_DNAV_DATA_BITS = 300; @@ -106,10 +106,10 @@ const double BEIDOU_B1I_PREAMBLE_PERIOD_SYMBOLS = 300; // BEIDOU D1 NAVIGATION MESSAGE STRUCTURE // GENERAL -const std::vector > D1_PRE( { {1,11} } ); -const std::vector > D1_FRAID( { {16,3} } ); -const std::vector > D1_SOW( { {19,8},{31,12} } ); -const std::vector > D1_PNUM( { {44,7} } ); +const std::vector > D1_PRE({{1, 11}}); +const std::vector > D1_FRAID({{16, 3}}); +const std::vector > D1_SOW({{19, 8}, {31, 12}}); +const std::vector > D1_PNUM({{44, 7}}); // DNAV SCALE FACTORS // EPH @@ -127,220 +127,220 @@ const double D1_BETA3_LSB = TWO_P16; const double D1_A2_LSB = TWO_N66; const double D1_A0_LSB = TWO_N33; const double D1_A1_LSB = TWO_N50; -const double D1_DELTA_N_LSB = PI_TWO_N43; +const double D1_DELTA_N_LSB = PI_TWO_N43; const double D1_CUC_LSB = TWO_N31; -const double D1_M0_LSB = PI_TWO_N31; +const double D1_M0_LSB = PI_TWO_N31; const double D1_E_LSB = TWO_N33; const double D1_CUS_LSB = TWO_N31; const double D1_CRC_LSB = TWO_N6; const double D1_CRS_LSB = TWO_N6; const double D1_SQRT_A_LSB = TWO_N19; const double D1_TOE_LSB = TWO_P3; -const double D1_I0_LSB = PI_TWO_N31; +const double D1_I0_LSB = PI_TWO_N31; const double D1_CIC_LSB = TWO_N31; -const double D1_OMEGA_DOT_LSB = PI_TWO_N43; +const double D1_OMEGA_DOT_LSB = PI_TWO_N43; const double D1_CIS_LSB = TWO_N31; -const double D1_IDOT_LSB = PI_TWO_N43; -const double D1_OMEGA0_LSB = PI_TWO_N31; -const double D1_OMEGA_LSB = PI_TWO_N31; +const double D1_IDOT_LSB = PI_TWO_N43; +const double D1_OMEGA0_LSB = PI_TWO_N31; +const double D1_OMEGA_LSB = PI_TWO_N31; //ALM const double D1_SQRT_A_ALMANAC_LSB = TWO_N11; const double D1_A1_ALMANAC_LSB = TWO_N38; const double D1_A0_ALMANAC_LSB = TWO_N20; -const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23; +const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23; const double D1_E_ALMANAC_LSB = TWO_N21; -const double D1_DELTA_I_LSB = PI_TWO_N19; +const double D1_DELTA_I_LSB = PI_TWO_N19; const double D1_TOA_LSB = TWO_P12; -const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38; -const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23; -const double D1_M0_ALMANAC_LSB = PI_TWO_N23; -const double D1_A0GPS_LSB = 0.1e-9; -const double D1_A1GPS_LSB = 0.1e-9; -const double D1_A0GAL_LSB = 0.1e-9; -const double D1_A1GAL_LSB = 0.1e-9; -const double D1_A0GLO_LSB = 0.1e-9; -const double D1_A1GLO_LSB = 0.1e-9; -const double D1_A0UTC_LSB = TWO_N30; -const double D1_A1UTC_LSB = TWO_N50; +const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38; +const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23; +const double D1_M0_ALMANAC_LSB = PI_TWO_N23; +const double D1_A0GPS_LSB = 0.1e-9; +const double D1_A1GPS_LSB = 0.1e-9; +const double D1_A0GAL_LSB = 0.1e-9; +const double D1_A1GAL_LSB = 0.1e-9; +const double D1_A0GLO_LSB = 0.1e-9; +const double D1_A1GLO_LSB = 0.1e-9; +const double D1_A0UTC_LSB = TWO_N30; +const double D1_A1UTC_LSB = TWO_N50; // SUBFRAME 1 -const std::vector > D1_SAT_H1( { {43,1} } ); -const std::vector > D1_AODC( { {44,5} } ); -const std::vector > D1_URAI( { {49,4} } ); -const std::vector > D1_WN( { {61,13} } ); -const std::vector > D1_TOC( { {74,9},{91,8} } ); -const std::vector > D1_TGD1( { {99,10} } ); -const std::vector > D1_TGD2( { {121,6} } ); -const std::vector > D1_ALPHA0( { {127,8} } ); -const std::vector > D1_ALPHA1( { {135,8} } ); -const std::vector > D1_ALPHA2( { {151,8} } ); -const std::vector > D1_ALPHA3( { {159,8} } ); -const std::vector > D1_BETA0( { {167,6}, {181,2} } ); -const std::vector > D1_BETA1( { {183,8} } ); -const std::vector > D1_BETA2( { {191,8} } ); -const std::vector > D1_BETA3( { {199,4},{211,4} } ); -const std::vector > D1_A2( { {215,11} } ); -const std::vector > D1_A0( { {226,7},{241,17} } ); -const std::vector > D1_A1( { {258,5},{271,17} } ); -const std::vector > D1_AODE( { {288,5} } ); +const std::vector > D1_SAT_H1({{43, 1}}); +const std::vector > D1_AODC({{44, 5}}); +const std::vector > D1_URAI({{49, 4}}); +const std::vector > D1_WN({{61, 13}}); +const std::vector > D1_TOC({{74, 9}, {91, 8}}); +const std::vector > D1_TGD1({{99, 10}}); +const std::vector > D1_TGD2({{121, 6}}); +const std::vector > D1_ALPHA0({{127, 8}}); +const std::vector > D1_ALPHA1({{135, 8}}); +const std::vector > D1_ALPHA2({{151, 8}}); +const std::vector > D1_ALPHA3({{159, 8}}); +const std::vector > D1_BETA0({{167, 6}, {181, 2}}); +const std::vector > D1_BETA1({{183, 8}}); +const std::vector > D1_BETA2({{191, 8}}); +const std::vector > D1_BETA3({{199, 4}, {211, 4}}); +const std::vector > D1_A2({{215, 11}}); +const std::vector > D1_A0({{226, 7}, {241, 17}}); +const std::vector > D1_A1({{258, 5}, {271, 17}}); +const std::vector > D1_AODE({{288, 5}}); //SUBFRAME 2 -const std::vector > D1_DELTA_N( { {43,10},{61,6} } ); -const std::vector > D1_CUC( { {67,16},{91,2} } ); -const std::vector > D1_M0( { {93,20}, {121,12} } ); -const std::vector > D1_E( { {133,10},{151,22} } ); -const std::vector > D1_CUS( { {181,18} } ); -const std::vector > D1_CRC( { {199,4},{211,14} } ); -const std::vector > D1_CRS( { {225,8},{241,10} } ); -const std::vector > D1_SQRT_A( { {251,12},{271,20} } ); -const std::vector > D1_TOE_SF2( { {291,2} } ); +const std::vector > D1_DELTA_N({{43, 10}, {61, 6}}); +const std::vector > D1_CUC({{67, 16}, {91, 2}}); +const std::vector > D1_M0({{93, 20}, {121, 12}}); +const std::vector > D1_E({{133, 10}, {151, 22}}); +const std::vector > D1_CUS({{181, 18}}); +const std::vector > D1_CRC({{199, 4}, {211, 14}}); +const std::vector > D1_CRS({{225, 8}, {241, 10}}); +const std::vector > D1_SQRT_A({{251, 12}, {271, 20}}); +const std::vector > D1_TOE_SF2({{291, 2}}); //SUBFRAME 3 -const std::vector > D1_TOE_SF3( { {43,10},{61,5} } ); -const std::vector > D1_I0( { {66,17},{91,15} } ); -const std::vector > D1_CIC( { {106,7},{121,11} } ); -const std::vector > D1_OMEGA_DOT( { {132,11},{151,13} } ); -const std::vector > D1_CIS( { {164,9},{181,9} } ); -const std::vector > D1_IDOT( { {190,13},{211,1} } ); -const std::vector > D1_OMEGA0( { {212,21},{241,11} } ); -const std::vector > D1_OMEGA( { {252,11},{271,21} } ); +const std::vector > D1_TOE_SF3({{43, 10}, {61, 5}}); +const std::vector > D1_I0({{66, 17}, {91, 15}}); +const std::vector > D1_CIC({{106, 7}, {121, 11}}); +const std::vector > D1_OMEGA_DOT({{132, 11}, {151, 13}}); +const std::vector > D1_CIS({{164, 9}, {181, 9}}); +const std::vector > D1_IDOT({{190, 13}, {211, 1}}); +const std::vector > D1_OMEGA0({{212, 21}, {241, 11}}); +const std::vector > D1_OMEGA({{252, 11}, {271, 21}}); //SUBFRAME 4 AND PAGES 1 THROUGH 6 IN SUBFRAME 5 -const std::vector > D1_SQRT_A_ALMANAC( { {51,2},{61,22} } ); -const std::vector > D1_A1_ALMANAC( { {91,11} } ); -const std::vector > D1_A0_ALMANAC( { {102,11} } ); -const std::vector > D1_OMEGA0_ALMANAC( { {121,22},{151,2} } ); -const std::vector > D1_E_ALMANAC( { {153,17} } ); -const std::vector > D1_DELTA_I( { {170,3},{181,13} } ); -const std::vector > D1_TOA( { {194,8} } ); -const std::vector > D1_OMEGA_DOT_ALMANAC( { {202,1}, {211,16} } ); -const std::vector > D1_OMEGA_ALMANAC( { {227,6},{241,18} } ); -const std::vector > D1_M0_ALMANAC( { {259,4},{271,20} } ); +const std::vector > D1_SQRT_A_ALMANAC({{51, 2}, {61, 22}}); +const std::vector > D1_A1_ALMANAC({{91, 11}}); +const std::vector > D1_A0_ALMANAC({{102, 11}}); +const std::vector > D1_OMEGA0_ALMANAC({{121, 22}, {151, 2}}); +const std::vector > D1_E_ALMANAC({{153, 17}}); +const std::vector > D1_DELTA_I({{170, 3}, {181, 13}}); +const std::vector > D1_TOA({{194, 8}}); +const std::vector > D1_OMEGA_DOT_ALMANAC({{202, 1}, {211, 16}}); +const std::vector > D1_OMEGA_ALMANAC({{227, 6}, {241, 18}}); +const std::vector > D1_M0_ALMANAC({{259, 4}, {271, 20}}); //SUBFRAME 5 PAGE 7 -const std::vector > D1_HEA1( { {51,2},{61,7} } ); -const std::vector > D1_HEA2( { {68,9} } ); -const std::vector > D1_HEA3( { {77,6},{91,3} } ); -const std::vector > D1_HEA4( { {94,9} } ); -const std::vector > D1_HEA5( { {103,9} } ); -const std::vector > D1_HEA6( { {112,1},{121,8} } ); -const std::vector > D1_HEA7( { {129,9} } ); -const std::vector > D1_HEA8( { {138,5},{151,4} } ); -const std::vector > D1_HEA9( { {155,9} } ); -const std::vector > D1_HEA10( { {164,9} } ); -const std::vector > D1_HEA11( { {181,9} } ); -const std::vector > D1_HEA12( { {190,9} } ); -const std::vector > D1_HEA13( { {199,4},{211,5} } ); -const std::vector > D1_HEA14( { {216,9} } ); -const std::vector > D1_HEA15( { {225,8},{241,1} } ); -const std::vector > D1_HEA16( { {242,9} } ); -const std::vector > D1_HEA17( { {251,9} } ); -const std::vector > D1_HEA18( { {260,3},{271,6} } ); -const std::vector > D1_HEA19( { {277,9} } ); +const std::vector > D1_HEA1({{51, 2}, {61, 7}}); +const std::vector > D1_HEA2({{68, 9}}); +const std::vector > D1_HEA3({{77, 6}, {91, 3}}); +const std::vector > D1_HEA4({{94, 9}}); +const std::vector > D1_HEA5({{103, 9}}); +const std::vector > D1_HEA6({{112, 1}, {121, 8}}); +const std::vector > D1_HEA7({{129, 9}}); +const std::vector > D1_HEA8({{138, 5}, {151, 4}}); +const std::vector > D1_HEA9({{155, 9}}); +const std::vector > D1_HEA10({{164, 9}}); +const std::vector > D1_HEA11({{181, 9}}); +const std::vector > D1_HEA12({{190, 9}}); +const std::vector > D1_HEA13({{199, 4}, {211, 5}}); +const std::vector > D1_HEA14({{216, 9}}); +const std::vector > D1_HEA15({{225, 8}, {241, 1}}); +const std::vector > D1_HEA16({{242, 9}}); +const std::vector > D1_HEA17({{251, 9}}); +const std::vector > D1_HEA18({{260, 3}, {271, 6}}); +const std::vector > D1_HEA19({{277, 9}}); //SUBFRAME 5 PAGE 8 -const std::vector > D1_HEA20( { {51,2},{61,7} } ); -const std::vector > D1_HEA21( { {68,9} } ); -const std::vector > D1_HEA22( { {77,6},{91,3} } ); -const std::vector > D1_HEA23( { {94,9} } ); -const std::vector > D1_HEA24( { {103,9} } ); -const std::vector > D1_HEA25( { {112,1},{121,8} } ); -const std::vector > D1_HEA26( { {129,9} } ); -const std::vector > D1_HEA27( { {138,5},{151,4} } ); -const std::vector > D1_HEA28( { {155,9} } ); -const std::vector > D1_HEA29( { {164,9} } ); -const std::vector > D1_HEA30( { {181,9} } ); -const std::vector > D1_WNA( { {190,8} } ); -const std::vector > D1_TOA2( { {198,5},{211,3} } ); +const std::vector > D1_HEA20({{51, 2}, {61, 7}}); +const std::vector > D1_HEA21({{68, 9}}); +const std::vector > D1_HEA22({{77, 6}, {91, 3}}); +const std::vector > D1_HEA23({{94, 9}}); +const std::vector > D1_HEA24({{103, 9}}); +const std::vector > D1_HEA25({{112, 1}, {121, 8}}); +const std::vector > D1_HEA26({{129, 9}}); +const std::vector > D1_HEA27({{138, 5}, {151, 4}}); +const std::vector > D1_HEA28({{155, 9}}); +const std::vector > D1_HEA29({{164, 9}}); +const std::vector > D1_HEA30({{181, 9}}); +const std::vector > D1_WNA({{190, 8}}); +const std::vector > D1_TOA2({{198, 5}, {211, 3}}); //SUBFRAME 5 PAGE 9 -const std::vector > D1_A0GPS( { {97,14} } ); -const std::vector > D1_A1GPS( { {111,2},{121,14} } ); -const std::vector > D1_A0GAL( { {135,8},{151,6} } ); -const std::vector > D1_A1GAL( { {157,16} } ); -const std::vector > D1_A0GLO( { {181,14} } ); -const std::vector > D1_A1GLO( { {195,8},{211,8} } ); +const std::vector > D1_A0GPS({{97, 14}}); +const std::vector > D1_A1GPS({{111, 2}, {121, 14}}); +const std::vector > D1_A0GAL({{135, 8}, {151, 6}}); +const std::vector > D1_A1GAL({{157, 16}}); +const std::vector > D1_A0GLO({{181, 14}}); +const std::vector > D1_A1GLO({{195, 8}, {211, 8}}); //SUBFRAME 5 PAGE 10 -const std::vector > D1_DELTA_T_LS( { {51,2},{61,6} } ); -const std::vector > D1_DELTA_T_LSF( { {67,8} } ); -const std::vector > D1_WN_LSF( { {75,8} } ); -const std::vector > D1_A0UTC( { {91,22},{121,10} } ); -const std::vector > D1_A1UTC( { {131,12},{151,12} } ); -const std::vector > D1_DN( { {163,8} } ); +const std::vector > D1_DELTA_T_LS({{51, 2}, {61, 6}}); +const std::vector > D1_DELTA_T_LSF({{67, 8}}); +const std::vector > D1_WN_LSF({{75, 8}}); +const std::vector > D1_A0UTC({{91, 22}, {121, 10}}); +const std::vector > D1_A1UTC({{131, 12}, {151, 12}}); +const std::vector > D1_DN({{163, 8}}); // D2 NAV Message Decoding Information -const std::vector > D2_PRE( { {1,11} } ); -const std::vector > D2_FRAID( { {16,3} } ); -const std::vector > D2_SOW( { {19,8},{31,12} } ); -const std::vector > D2_PNUM( { {43,4} } ); +const std::vector > D2_PRE({{1, 11}}); +const std::vector > D2_FRAID({{16, 3}}); +const std::vector > D2_SOW({{19, 8}, {31, 12}}); +const std::vector > D2_PNUM({{43, 4}}); // D2 NAV, SUBFRAME 1, PAGE 1 -const std::vector > D2_SAT_H1( { {47,1} } ); -const std::vector > D2_AODC( { {48,5} } ); -const std::vector > D2_URAI( { {61,4} } ); -const std::vector > D2_WN( { {65,13} } ); -const std::vector > D2_TOC( { {78,5},{91,12} } ); -const std::vector > D2_TGD1( { {103,10} } ); -const std::vector > D2_TGD2( { {121,10} } ); +const std::vector > D2_SAT_H1({{47, 1}}); +const std::vector > D2_AODC({{48, 5}}); +const std::vector > D2_URAI({{61, 4}}); +const std::vector > D2_WN({{65, 13}}); +const std::vector > D2_TOC({{78, 5}, {91, 12}}); +const std::vector > D2_TGD1({{103, 10}}); +const std::vector > D2_TGD2({{121, 10}}); // D2 NAV, SUBFRAME 1, PAGE 2 -const std::vector > D2_ALPHA0( { {47,6}, {61,2} } ); -const std::vector > D2_ALPHA1( { {63,8} } ); -const std::vector > D2_ALPHA2( { {71,8} } ); -const std::vector > D2_ALPHA3( { {79,4}, {91,4} } ); -const std::vector > D2_BETA0( { {95,8} } ); -const std::vector > D2_BETA1( { {103,8} } ); -const std::vector > D2_BETA2( { {111,2}, {121,6} } ); -const std::vector > D2_BETA3( { {127,8} } ); +const std::vector > D2_ALPHA0({{47, 6}, {61, 2}}); +const std::vector > D2_ALPHA1({{63, 8}}); +const std::vector > D2_ALPHA2({{71, 8}}); +const std::vector > D2_ALPHA3({{79, 4}, {91, 4}}); +const std::vector > D2_BETA0({{95, 8}}); +const std::vector > D2_BETA1({{103, 8}}); +const std::vector > D2_BETA2({{111, 2}, {121, 6}}); +const std::vector > D2_BETA3({{127, 8}}); // D2 NAV, SUBFRAME 1, PAGE 3 -const std::vector > D2_A0( { {101,12},{121,12} } ); -const std::vector > D2_A1_MSB( { {133,4} } ); -const std::vector > D2_A1_LSB( { {47,6}, {61, 12} } ); -const std::vector > D2_A1( { {279,22} } ); +const std::vector > D2_A0({{101, 12}, {121, 12}}); +const std::vector > D2_A1_MSB({{133, 4}}); +const std::vector > D2_A1_LSB({{47, 6}, {61, 12}}); +const std::vector > D2_A1({{279, 22}}); // D2 NAV, SUBFRAME 1, PAGE 4 -const std::vector > D2_A2( { {73,10}, {91,1} } ); -const std::vector > D2_AODE( { {92,5} } ); -const std::vector > D2_DELTA_N( { {97,16} } ); -const std::vector > D2_CUC_MSB( { {121,14} } ); -const std::vector > D2_CUC_LSB( { {47,4} } ); -const std::vector > D2_CUC( { {283,18} } ); +const std::vector > D2_A2({{73, 10}, {91, 1}}); +const std::vector > D2_AODE({{92, 5}}); +const std::vector > D2_DELTA_N({{97, 16}}); +const std::vector > D2_CUC_MSB({{121, 14}}); +const std::vector > D2_CUC_LSB({{47, 4}}); +const std::vector > D2_CUC({{283, 18}}); // D2 NAV, SUBFRAME 1, PAGE 5 -const std::vector > D2_M0( { {51,2}, {61,22}, {91,8} } ); -const std::vector > D2_CUS( { {99,14}, {121, 4} } ); -const std::vector > D2_E_MSB( { {125,10} } ); +const std::vector > D2_M0({{51, 2}, {61, 22}, {91, 8}}); +const std::vector > D2_CUS({{99, 14}, {121, 4}}); +const std::vector > D2_E_MSB({{125, 10}}); // D2 NAV, SUBFRAME 1, PAGE 6 -const std::vector > D2_E_LSB( { {47,6}, {61, 16} } ); -const std::vector > D2_SQRT_A( { {77,6},{91,22}, {121,4} } ); -const std::vector > D2_CIC_MSB( { {125,10} } ); -const std::vector > D2_CIC_LSB( { {47,6}, {61,2} } ); -const std::vector > D2_CIC( { {283,18} } ); +const std::vector > D2_E_LSB({{47, 6}, {61, 16}}); +const std::vector > D2_SQRT_A({{77, 6}, {91, 22}, {121, 4}}); +const std::vector > D2_CIC_MSB({{125, 10}}); +const std::vector > D2_CIC_LSB({{47, 6}, {61, 2}}); +const std::vector > D2_CIC({{283, 18}}); // D2 NAV, SUBFRAME 1, PAGE 7 -const std::vector > D2_CIS( { {63,18} } ); -const std::vector > D2_TOE( { {81,2},{91,15} } ); -const std::vector > D2_I0_MSB( { {106,7},{121,14} } ); -const std::vector > D2_I0_LSB( { {47,6},{61,5} } ); -const std::vector > D2_I0( { {269,32} } ); +const std::vector > D2_CIS({{63, 18}}); +const std::vector > D2_TOE({{81, 2}, {91, 15}}); +const std::vector > D2_I0_MSB({{106, 7}, {121, 14}}); +const std::vector > D2_I0_LSB({{47, 6}, {61, 5}}); +const std::vector > D2_I0({{269, 32}}); // D2 NAV, SUBFRAME 1, PAGE 8 -const std::vector > D2_CRC( { {66,17},{91,1} } ); -const std::vector > D2_CRS( { {92,18} } ); -const std::vector > D2_OMEGA_DOT_MSB( { {110,3},{121,16} } ); -const std::vector > D2_OMEGA_DOT_LSB( { {47,5} } ); -const std::vector > D2_OMEGA_DOT( { {277,24} } ); +const std::vector > D2_CRC({{66, 17}, {91, 1}}); +const std::vector > D2_CRS({{92, 18}}); +const std::vector > D2_OMEGA_DOT_MSB({{110, 3}, {121, 16}}); +const std::vector > D2_OMEGA_DOT_LSB({{47, 5}}); +const std::vector > D2_OMEGA_DOT({{277, 24}}); // D2 NAV, SUBFRAME 1, PAGE 9 -const std::vector > D2_OMEGA0( { {52,1},{61,22},{91,9} } ); -const std::vector > D2_OMEGA_MSB( { {100,13},{121,14} } ); -const std::vector > D2_OMEGA_LSB( { {47,5} } ); -const std::vector > D2_OMEGA( { {269,32} } ); +const std::vector > D2_OMEGA0({{52, 1}, {61, 22}, {91, 9}}); +const std::vector > D2_OMEGA_MSB({{100, 13}, {121, 14}}); +const std::vector > D2_OMEGA_LSB({{47, 5}}); +const std::vector > D2_OMEGA({{269, 32}}); // D2 NAV, SUBFRAME 1, PAGE 10 -const std::vector > D2_IDOT( { {52,1},{61,13} } ); +const std::vector > D2_IDOT({{52, 1}, {61, 13}}); #endif /* GNSS_SDR_BEIDOU_B1I_H_ */ diff --git a/src/core/system_parameters/CMakeLists.txt b/src/core/system_parameters/CMakeLists.txt index 4624ca594..45a3513c3 100644 --- a/src/core/system_parameters/CMakeLists.txt +++ b/src/core/system_parameters/CMakeLists.txt @@ -18,96 +18,96 @@ set(SYSTEM_PARAMETERS_SOURCES - gnss_satellite.cc - gnss_signal.cc - gps_navigation_message.cc - gps_ephemeris.cc - gps_iono.cc - gps_almanac.cc - gps_utc_model.cc - gps_acq_assist.cc + gnss_satellite.cc + gnss_signal.cc + gps_navigation_message.cc + gps_ephemeris.cc + gps_iono.cc + gps_almanac.cc + gps_utc_model.cc + gps_acq_assist.cc agnss_ref_time.cc agnss_ref_location.cc - galileo_utc_model.cc - galileo_ephemeris.cc - galileo_almanac.cc + galileo_utc_model.cc + galileo_ephemeris.cc + galileo_almanac.cc galileo_almanac_helper.cc - galileo_iono.cc - galileo_navigation_message.cc - beidou_dnav_navigation_message.cc - beidou_dnav_ephemeris.cc - beidou_dnav_iono.cc - beidou_dnav_almanac.cc - beidou_dnav_utc_model.cc - sbas_ephemeris.cc - galileo_fnav_message.cc - gps_cnav_ephemeris.cc - gps_cnav_navigation_message.cc - gps_cnav_iono.cc - gps_cnav_utc_model.cc - rtcm.cc - glonass_gnav_ephemeris.cc - glonass_gnav_almanac.cc - glonass_gnav_utc_model.cc - glonass_gnav_navigation_message.cc + galileo_iono.cc + galileo_navigation_message.cc + beidou_dnav_navigation_message.cc + beidou_dnav_ephemeris.cc + beidou_dnav_iono.cc + beidou_dnav_almanac.cc + beidou_dnav_utc_model.cc + sbas_ephemeris.cc + galileo_fnav_message.cc + gps_cnav_ephemeris.cc + gps_cnav_navigation_message.cc + gps_cnav_iono.cc + gps_cnav_utc_model.cc + rtcm.cc + glonass_gnav_ephemeris.cc + glonass_gnav_almanac.cc + glonass_gnav_utc_model.cc + glonass_gnav_navigation_message.cc ) set(SYSTEM_PARAMETERS_HEADERS - gnss_satellite.h - gnss_signal.h - gps_navigation_message.h - gps_ephemeris.h - gps_iono.h - gps_almanac.h - gps_utc_model.h - gps_acq_assist.h + gnss_satellite.h + gnss_signal.h + gps_navigation_message.h + gps_ephemeris.h + gps_iono.h + gps_almanac.h + gps_utc_model.h + gps_acq_assist.h agnss_ref_time.h agnss_ref_location.h - galileo_utc_model.h - galileo_ephemeris.h - galileo_almanac.h + galileo_utc_model.h + galileo_ephemeris.h + galileo_almanac.h galileo_almanac_helper.h - galileo_iono.h - galileo_navigation_message.h - sbas_ephemeris.h - galileo_fnav_message.h - gps_cnav_ephemeris.h - gps_cnav_navigation_message.h - gps_cnav_iono.h - gps_cnav_utc_model.h - rtcm.h - glonass_gnav_ephemeris.h - glonass_gnav_almanac.h - glonass_gnav_utc_model.h - glonass_gnav_navigation_message.h - beidou_dnav_navigation_message.h - beidou_dnav_ephemeris.h - beidou_dnav_iono.h - beidou_dnav_almanac.h - beidou_dnav_utc_model.h - display.h - Galileo_E1.h - Galileo_E5a.h - GLONASS_L1_L2_CA.h - gnss_frequencies.h - gnss_obs_codes.h - gnss_synchro.h - GPS_CNAV.h - GPS_L1_CA.h - GPS_L2C.h - GPS_L5.h - Beidou_B1I.h - MATH_CONSTANTS.h + galileo_iono.h + galileo_navigation_message.h + sbas_ephemeris.h + galileo_fnav_message.h + gps_cnav_ephemeris.h + gps_cnav_navigation_message.h + gps_cnav_iono.h + gps_cnav_utc_model.h + rtcm.h + glonass_gnav_ephemeris.h + glonass_gnav_almanac.h + glonass_gnav_utc_model.h + glonass_gnav_navigation_message.h + beidou_dnav_navigation_message.h + beidou_dnav_ephemeris.h + beidou_dnav_iono.h + beidou_dnav_almanac.h + beidou_dnav_utc_model.h + display.h + Galileo_E1.h + Galileo_E5a.h + GLONASS_L1_L2_CA.h + gnss_frequencies.h + gnss_obs_codes.h + gnss_synchro.h + GPS_CNAV.h + GPS_L1_CA.h + GPS_L2C.h + GPS_L5.h + Beidou_B1I.h + MATH_CONSTANTS.h ) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_SOURCE_DIR}/src/core/receiver - ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs - ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib - ${GLOG_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} - ${GFlags_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs + ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib + ${GLOG_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${GFlags_INCLUDE_DIRS} ) list(SORT SYSTEM_PARAMETERS_HEADERS) diff --git a/src/core/system_parameters/MATH_CONSTANTS.h b/src/core/system_parameters/MATH_CONSTANTS.h index 7acb8270a..3e7fa3c16 100644 --- a/src/core/system_parameters/MATH_CONSTANTS.h +++ b/src/core/system_parameters/MATH_CONSTANTS.h @@ -46,7 +46,7 @@ const double PI = 3.1415926535897932; //!< pi const double PI_2 = 2.0 * PI; //!< 2 * pi -const double TWO_P3 = (8); //!< 2^3 +const double TWO_P3 = (8); //!< 2^3 const double TWO_P4 = (16); //!< 2^4 const double TWO_P11 = (2048); //!< 2^11 const double TWO_P12 = (4096); //!< 2^12 @@ -92,14 +92,14 @@ const double TWO_N44 = (5.684341886080802e-14); //!< 2^-44 const double TWO_N46 = (1.4210854715202e-014); //!< 2^-46 const double TWO_N48 = (3.552713678800501e-15); //!< 2^-46 -const double TWO_N50 = (8.881784197001252e-016); //!< 2^-50 -const double TWO_N51 = (4.44089209850063e-016); //!< 2^-51 -const double TWO_N55 = (2.775557561562891e-017); //!< 2^-55 -const double TWO_N57 = (6.938893903907228e-18); //!< 2^-57 -const double TWO_N59 = (1.73472347597681e-018); //!< 2^-59 -const double TWO_N60 = (8.673617379884036e-19); //!< 2^-60 -const double TWO_N66 = (1.3552527156068805425093160010874271392822265625e-20); //!< 2^-66 -const double TWO_N68 = (3.388131789017201e-21); //!< 2^-68 +const double TWO_N50 = (8.881784197001252e-016); //!< 2^-50 +const double TWO_N51 = (4.44089209850063e-016); //!< 2^-51 +const double TWO_N55 = (2.775557561562891e-017); //!< 2^-55 +const double TWO_N57 = (6.938893903907228e-18); //!< 2^-57 +const double TWO_N59 = (1.73472347597681e-018); //!< 2^-59 +const double TWO_N60 = (8.673617379884036e-19); //!< 2^-60 +const double TWO_N66 = (1.3552527156068805425093160010874271392822265625e-20); //!< 2^-66 +const double TWO_N68 = (3.388131789017201e-21); //!< 2^-68 const double PI_TWO_N19 = (5.992112452678286e-006); //!< Pi*2^-19 diff --git a/src/core/system_parameters/beidou_dnav_ephemeris.cc b/src/core/system_parameters/beidou_dnav_ephemeris.cc index c2e941c32..bb9bcde71 100644 --- a/src/core/system_parameters/beidou_dnav_ephemeris.cc +++ b/src/core/system_parameters/beidou_dnav_ephemeris.cc @@ -30,11 +30,9 @@ */ #include "beidou_dnav_ephemeris.h" - -#include - #include "Beidou_B1I.h" #include "gnss_satellite.h" +#include Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris() { @@ -63,27 +61,27 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris() d_AODE = 0; d_TGD1 = 0; d_TGD2 = 0; - d_AODC = 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] + d_AODC = 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] d_AODC = 0; - 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. + 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; i_sig_type = 0; i_nav_type = 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] + 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 auto gnss_sat = Gnss_Satellite(); - std::string _system ("Beidou"); - for(unsigned int i = 1; i < 36; i++) + std::string _system("Beidou"); + for (unsigned int i = 1; i < 36; i++) { satelliteBlock[i] = gnss_sat.what_block(_system, i); } @@ -102,7 +100,7 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris() double Beidou_Dnav_Ephemeris::check_t(double time) { double corrTime; - double half_week = 302400.0; // seconds + double half_week = 302400.0; // seconds corrTime = time; if (time > half_week) { @@ -166,9 +164,9 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime) // --- Iteratively compute eccentric anomaly ---------------------------- for (int ii = 1; ii < 20; ii++) { - E_old = E; - E = M + d_eccentricity * sin(E); - dE = fmod(E - E_old, 2.0 * BEIDOU_PI); + E_old = E; + E = M + d_eccentricity * sin(E); + dE = fmod(E - E_old, 2.0 * BEIDOU_PI); if (fabs(dE) < 1e-12) { //Necessary precision is reached, exit from the loop @@ -225,9 +223,9 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime) // --- Iteratively compute eccentric anomaly ---------------------------- for (int ii = 1; ii < 20; ii++) { - E_old = E; - E = M + d_eccentricity * sin(E); - dE = fmod(E - E_old, 2.0 * BEIDOU_PI); + E_old = E; + E = M + d_eccentricity * sin(E); + dE = fmod(E - E_old, 2.0 * BEIDOU_PI); if (fabs(dE) < 1e-12) { //Necessary precision is reached, exit from the loop @@ -247,16 +245,16 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime) phi = fmod((phi), (2.0 * BEIDOU_PI)); // Correct argument of latitude - u = phi + d_Cuc * cos(2.0 * phi) + d_Cus * sin(2.0 * phi); + u = phi + d_Cuc * cos(2.0 * phi) + d_Cus * sin(2.0 * phi); // Correct radius - r = a * (1.0 - d_eccentricity*cos(E)) + d_Crc * cos(2.0 * phi) + d_Crs * sin(2.0 * phi); + r = a * (1.0 - d_eccentricity * cos(E)) + d_Crc * cos(2.0 * phi) + d_Crs * sin(2.0 * phi); // Correct inclination i = d_i_0 + d_IDOT * tk + d_Cic * cos(2.0 * phi) + d_Cis * sin(2.0 * phi); // Compute the angle between the ascending node and the Greenwich meridian - Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT)*tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe; + Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe; // Reduce to between 0 and 2*pi rad Omega = fmod((Omega + 2.0 * BEIDOU_PI), (2.0 * BEIDOU_PI)); @@ -268,7 +266,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime) // Satellite's velocity. Can be useful for Vector Tracking loops double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT; - d_satvel_X = - Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); + d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega); d_satvel_Z = d_satpos_Y * sin(i); diff --git a/src/core/system_parameters/beidou_dnav_ephemeris.h b/src/core/system_parameters/beidou_dnav_ephemeris.h index aae35a412..79aad2eb7 100644 --- a/src/core/system_parameters/beidou_dnav_ephemeris.h +++ b/src/core/system_parameters/beidou_dnav_ephemeris.h @@ -33,11 +33,10 @@ #define GNSS_SDR_BEIDOU_DNAV_EPHEMERIS_H_ -#include -#include #include "boost/assign.hpp" #include - +#include +#include /*! @@ -56,45 +55,46 @@ private: * \param[out] - corrected time, in seconds */ double check_t(double time); + public: - unsigned int i_satellite_PRN; // SV PRN NUMBER - double d_TOW; //!< Time of BEIDOU 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_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_BEIDOU_week; //!< BEIDOU week number, aka WN [week] - 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) + unsigned int i_satellite_PRN; // SV PRN NUMBER + double d_TOW; //!< Time of BEIDOU 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_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_BEIDOU_week; //!< BEIDOU week number, aka WN [week] + 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_TGD1; //!< Estimated Group Delay Differential on B1I [s] - double d_TGD2; //!< Estimated Group Delay Differential on B2I [s] - double d_AODC; //!< Age of Data, Clock - double d_AODE; //!< Age of Data, Ephemeris - 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] + double d_TGD1; //!< Estimated Group Delay Differential on B1I [s] + double d_TGD2; //!< Estimated Group Delay Differential on B2I [s] + double d_AODC; //!< Age of Data, Clock + double d_AODE; //!< Age of Data, Ephemeris + 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] - int i_sig_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */ - int i_nav_type; //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */ + int i_sig_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q) */ + int i_nav_type; //!< BDS: nav type (0:unknown,1:IGSO/MEO,2:GEO) */ - 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. + 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] + 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] /*! \brief If true, enhanced level of integrity assurance. * @@ -111,22 +111,22 @@ public: 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 + 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). + 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] + 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 satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus + std::map satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus - template + template /*! * \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. @@ -134,47 +134,49 @@ public: void serialize(Archive& archive, const unsigned int version) { using boost::serialization::make_nvp; - if(version){}; + if (version) + { + }; - 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_AODE", d_AODE); - 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_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_BEIDOU_week", i_BEIDOU_week); //!< GPS week number, aka WN [week] - 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_AODC", d_AODC); //!< Issue of Data, Clock - archive & make_nvp("d_TGD1", d_TGD1); //!< 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_TGD2", d_TGD2); //!< 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("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("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_AODE", d_AODE); + 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_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_BEIDOU_week", i_BEIDOU_week); //!< GPS week number, aka WN [week] + 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_AODC", d_AODC); //!< Issue of Data, Clock + archive& make_nvp("d_TGD1", d_TGD1); //!< 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_TGD2", d_TGD2); //!< 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("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("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("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 + 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 } /*! diff --git a/src/core/system_parameters/beidou_dnav_iono.cc b/src/core/system_parameters/beidou_dnav_iono.cc index e67f6f4f2..b7d4ebb7e 100644 --- a/src/core/system_parameters/beidou_dnav_iono.cc +++ b/src/core/system_parameters/beidou_dnav_iono.cc @@ -43,4 +43,3 @@ Beidou_Dnav_Iono::Beidou_Dnav_Iono() d_beta2 = 0.0; d_beta3 = 0.0; } - diff --git a/src/core/system_parameters/beidou_dnav_iono.h b/src/core/system_parameters/beidou_dnav_iono.h index cd67b1c37..1bedd8a83 100644 --- a/src/core/system_parameters/beidou_dnav_iono.h +++ b/src/core/system_parameters/beidou_dnav_iono.h @@ -44,20 +44,20 @@ class Beidou_Dnav_Iono { public: - bool valid; //!< Valid flag + bool valid; //!< Valid flag // 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] + 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] - Beidou_Dnav_Iono(); //!< Default constructor + Beidou_Dnav_Iono(); //!< Default constructor - template + template /*! * \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. @@ -65,15 +65,17 @@ public: void serialize(Archive& archive, const unsigned int version) { using boost::serialization::make_nvp; - if(version){}; - archive & make_nvp("d_alpha0",d_alpha0); - archive & make_nvp("d_alpha1",d_alpha1); - archive & make_nvp("d_alpha2",d_alpha2); - archive & make_nvp("d_alpha3",d_alpha3); - archive & make_nvp("d_beta0",d_beta0); - archive & make_nvp("d_beta1",d_beta1); - archive & make_nvp("d_beta2",d_beta2); - archive & make_nvp("d_beta3",d_beta3); + if (version) + { + }; + archive& make_nvp("d_alpha0", d_alpha0); + archive& make_nvp("d_alpha1", d_alpha1); + archive& make_nvp("d_alpha2", d_alpha2); + archive& make_nvp("d_alpha3", d_alpha3); + archive& make_nvp("d_beta0", d_beta0); + archive& make_nvp("d_beta1", d_beta1); + archive& make_nvp("d_beta2", d_beta2); + archive& make_nvp("d_beta3", d_beta3); } }; diff --git a/src/core/system_parameters/beidou_dnav_navigation_message.cc b/src/core/system_parameters/beidou_dnav_navigation_message.cc index 5022b22d0..0b9f1be9d 100644 --- a/src/core/system_parameters/beidou_dnav_navigation_message.cc +++ b/src/core/system_parameters/beidou_dnav_navigation_message.cc @@ -30,20 +30,19 @@ */ #include "beidou_dnav_navigation_message.h" - -#include -#include -#include -#include #include // for boost::crc_basic, boost::crc_optimal #include #include +#include +#include #include +#include +#include void Beidou_Dnav_Navigation_Message::reset() { - // Control variable for message decoding + // Control variable for message decoding flag_eph_valid = false; flag_iono_valid = false; flag_utc_model_valid = false; @@ -73,24 +72,24 @@ void Beidou_Dnav_Navigation_Message::reset() flag_sf1_p10 = false; // D2 NAV Decoding UNique Attributes - d_A_f1_msb_bits = 0; - d_A_f1_lsb_bits = 0; - d_Cuc_msb_bits = 0; - d_Cuc_lsb_bits = 0; - d_eccentricity_msb_bits = 0; - d_eccentricity_lsb_bits = 0; - d_Cic_msb_bits = 0; - d_Cic_lsb_bits = 0; - d_i_0_msb_bits = 0; - d_i_0_lsb_bits = 0; - d_OMEGA_msb_bits = 0; - d_OMEGA_lsb_bits = 0; - d_OMEGA_DOT_msb_bits = 0; - d_OMEGA_DOT_lsb_bits = 0; + d_A_f1_msb_bits = 0; + d_A_f1_lsb_bits = 0; + d_Cuc_msb_bits = 0; + d_Cuc_lsb_bits = 0; + d_eccentricity_msb_bits = 0; + d_eccentricity_lsb_bits = 0; + d_Cic_msb_bits = 0; + d_Cic_lsb_bits = 0; + d_i_0_msb_bits = 0; + d_i_0_lsb_bits = 0; + d_OMEGA_msb_bits = 0; + d_OMEGA_lsb_bits = 0; + d_OMEGA_DOT_msb_bits = 0; + d_OMEGA_DOT_lsb_bits = 0; // D2 NAV Decoding UNique Attributes - d_eccentricity_msb = 0; - d_eccentricity_lsb = 0; + d_eccentricity_msb = 0; + d_eccentricity_lsb = 0; d_SOW = 0; d_SOW_SF1 = 0; @@ -122,7 +121,7 @@ void Beidou_Dnav_Navigation_Message::reset() d_TGD1 = 0; d_TGD2 = 0; d_AODC = -1; -// i_AODO = 0; + // i_AODO = 0; b_fit_interval_flag = false; d_spare1 = 0; @@ -171,12 +170,12 @@ void Beidou_Dnav_Navigation_Message::reset() d_DeltaT_LS = 0; i_WN_LSF = 0; i_DN = 0; - d_DeltaT_LSF= 0; + d_DeltaT_LSF = 0; //Almanac d_Toa = 0; i_WN_A = 0; - for (int i=1; i < 36; i++ ) + for (int i = 1; i < 36; i++) { almanacHealth[i] = 0; } @@ -208,8 +207,8 @@ void Beidou_Dnav_Navigation_Message::reset() d_A_f2 = 0; auto gnss_sat = Gnss_Satellite(); - std::string _system ("Beidou"); - for(unsigned int i = 1; i < 36; i++) + std::string _system("Beidou"); + for (unsigned int i = 1; i < 36; i++) { satelliteBlock[i] = gnss_sat.what_block(_system, i); } @@ -227,7 +226,7 @@ void Beidou_Dnav_Navigation_Message::print_beidou_word_bytes(unsigned int BEIDOU std::cout << std::endl; } -bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset bits, const std::vector> parameter) +bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset bits, const std::vector>& parameter) { bool value; @@ -242,7 +241,7 @@ bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset bits, const std::vector> parameter) +unsigned long int Beidou_Dnav_Navigation_Message::read_navigation_unsigned(std::bitset bits, const std::vector>& parameter) { unsigned long int value = 0; int num_of_slices = parameter.size(); @@ -250,28 +249,28 @@ unsigned long int Beidou_Dnav_Navigation_Message::read_navigation_unsigned(std:: { for (int j = 0; j < parameter[i].second; j++) { - value <<= 1; //shift left + value <<= 1; //shift left if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) { - value += 1; // insert the bit + value += 1; // insert the bit } } } return value; } -signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bitset bits, const std::vector> parameter) +signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bitset bits, const std::vector>& 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 + 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[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1) { - value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable + value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable } else { @@ -282,11 +281,11 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits { for (int j = 0; j < parameter[i].second; j++) { - value <<= 1; //shift left - value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable) + value <<= 1; //shift left + value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable) if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) { - value += 1; // insert the bit + value += 1; // insert the bit } } } @@ -307,11 +306,11 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits { for (int j = 0; j < parameter[i].second; j++) { - value <<= 1; //shift left - value &= 0xFFFFFFFE; //reset the corresponding bit + value <<= 1; //shift left + value &= 0xFFFFFFFE; //reset the corresponding bit if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) { - value += 1; // insert the bit + value += 1; // insert the bit } } } @@ -322,7 +321,7 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits double Beidou_Dnav_Navigation_Message::check_t(double time) { double corrTime; - double half_week = 302400; // seconds + double half_week = 302400; // seconds corrTime = time; if (time > half_week) { @@ -387,9 +386,9 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime) // --- Iteratively compute eccentric anomaly ---------------------------- for (int ii = 1; ii < 20; ii++) { - E_old = E; - E = M + d_eccentricity * sin(E); - dE = fmod(E - E_old, 2 * BEIDOU_PI); + E_old = E; + E = M + d_eccentricity * sin(E); + dE = fmod(E - E_old, 2 * BEIDOU_PI); if (fabs(dE) < 1e-12) { //Necessary precision is reached, exit from the loop @@ -412,10 +411,10 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime) phi = fmod((phi), (2 * BEIDOU_PI)); // Correct argument of latitude - u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi); + u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi); // Correct radius - r = a * (1 - d_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi); + r = a * (1 - d_eccentricity * cos(E)) + d_Crc * cos(2 * phi) + d_Crs * sin(2 * phi); // Correct inclination i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi); @@ -433,12 +432,12 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime) // Satellite's velocity. Can be useful for Vector Tracking loops double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT; - d_satvel_X = - Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); + d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega); d_satvel_Z = d_satpos_Y * sin(i); } -int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subframe) +int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subframe) { int subframe_ID = 0; std::bitset subframe_bits(subframe); @@ -450,291 +449,289 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const &subfr // Decode all 5 sub-frames switch (subframe_ID) - { - case 1: // --- It is subframe 1 --- - d_SOW_SF1 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SOW = d_SOW_SF1; // Set transmission time + { + case 1: // --- It is subframe 1 --- + d_SOW_SF1 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SOW = d_SOW_SF1; // Set transmission time - i_SV_health = static_cast(read_navigation_unsigned(subframe_bits, D1_SAT_H1)); + i_SV_health = static_cast(read_navigation_unsigned(subframe_bits, D1_SAT_H1)); - d_AODC = static_cast(read_navigation_unsigned(subframe_bits, D1_AODC)); - i_SV_accuracy = static_cast(read_navigation_unsigned(subframe_bits, D1_URAI)); // (20.3.3.3.1.3) + d_AODC = static_cast(read_navigation_unsigned(subframe_bits, D1_AODC)); + i_SV_accuracy = static_cast(read_navigation_unsigned(subframe_bits, D1_URAI)); // (20.3.3.3.1.3) - i_BEIDOU_week = static_cast(read_navigation_unsigned(subframe_bits, D1_WN)); + i_BEIDOU_week = static_cast(read_navigation_unsigned(subframe_bits, D1_WN)); - d_Toc = static_cast(read_navigation_unsigned(subframe_bits, D1_TOC)); - d_Toc = d_Toc * D1_TOC_LSB; + d_Toc = static_cast(read_navigation_unsigned(subframe_bits, D1_TOC)); + d_Toc = d_Toc * D1_TOC_LSB; - d_TGD1 = static_cast(read_navigation_signed(subframe_bits, D1_TGD1)); - d_TGD1 = d_TGD1 * D1_TGD1_LSB; + d_TGD1 = static_cast(read_navigation_signed(subframe_bits, D1_TGD1)); + d_TGD1 = d_TGD1 * D1_TGD1_LSB; - d_TGD2 = static_cast(read_navigation_signed(subframe_bits, D1_TGD2)); - d_TGD2 = d_TGD2 * D1_TGD2_LSB; + d_TGD2 = static_cast(read_navigation_signed(subframe_bits, D1_TGD2)); + d_TGD2 = d_TGD2 * D1_TGD2_LSB; - d_alpha0 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA0)); - d_alpha0 = d_alpha0 * D1_ALPHA0_LSB; + d_alpha0 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA0)); + d_alpha0 = d_alpha0 * D1_ALPHA0_LSB; - d_alpha1 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA1)); - d_alpha1 = d_alpha1 * D1_ALPHA1_LSB; - d_alpha2 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA2)); - d_alpha2 = d_alpha2 * D1_ALPHA2_LSB; - d_alpha3 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA3)); - d_alpha3 = d_alpha3 * D1_ALPHA3_LSB; - d_beta0 = static_cast(read_navigation_signed(subframe_bits, D1_BETA0)); - d_beta0 = d_beta0 * D1_BETA0_LSB; - d_beta1 = static_cast(read_navigation_signed(subframe_bits, D1_BETA1)); - d_beta1 = d_beta1 * D1_BETA1_LSB; - d_beta2 = static_cast(read_navigation_signed(subframe_bits, D1_BETA2)); - d_beta2 = d_beta2 * D1_BETA2_LSB; - d_beta3 = static_cast(read_navigation_signed(subframe_bits, D1_BETA3)); - d_beta3 = d_beta3 * D1_BETA3_LSB; + d_alpha1 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA1)); + d_alpha1 = d_alpha1 * D1_ALPHA1_LSB; + d_alpha2 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA2)); + d_alpha2 = d_alpha2 * D1_ALPHA2_LSB; + d_alpha3 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA3)); + d_alpha3 = d_alpha3 * D1_ALPHA3_LSB; + d_beta0 = static_cast(read_navigation_signed(subframe_bits, D1_BETA0)); + d_beta0 = d_beta0 * D1_BETA0_LSB; + d_beta1 = static_cast(read_navigation_signed(subframe_bits, D1_BETA1)); + d_beta1 = d_beta1 * D1_BETA1_LSB; + d_beta2 = static_cast(read_navigation_signed(subframe_bits, D1_BETA2)); + d_beta2 = d_beta2 * D1_BETA2_LSB; + d_beta3 = static_cast(read_navigation_signed(subframe_bits, D1_BETA3)); + d_beta3 = d_beta3 * D1_BETA3_LSB; - d_A_f2 = static_cast(read_navigation_signed(subframe_bits, D1_A2)); - d_A_f2 = d_A_f2 * D1_A2_LSB; - d_A_f0 = static_cast(read_navigation_signed(subframe_bits, D1_A0)); - d_A_f0 = d_A_f0 * D1_A0_LSB; - d_A_f1 = static_cast(read_navigation_signed(subframe_bits, D1_A1)); - d_A_f1 = d_A_f1 * D1_A1_LSB; + d_A_f2 = static_cast(read_navigation_signed(subframe_bits, D1_A2)); + d_A_f2 = d_A_f2 * D1_A2_LSB; + d_A_f0 = static_cast(read_navigation_signed(subframe_bits, D1_A0)); + d_A_f0 = d_A_f0 * D1_A0_LSB; + d_A_f1 = static_cast(read_navigation_signed(subframe_bits, D1_A1)); + d_A_f1 = d_A_f1 * D1_A1_LSB; - d_AODE = static_cast(read_navigation_unsigned(subframe_bits, D1_AODE)); + d_AODE = static_cast(read_navigation_unsigned(subframe_bits, D1_AODE)); - // Set system flags for message reception - flag_d1_sf1 = true; - flag_iono_valid = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_d1_sf1 = true; + flag_iono_valid = true; + flag_new_SOW_available = true; - break; + break; - case 2: // --- It is subframe 2 --- + case 2: // --- It is subframe 2 --- - d_SOW_SF2 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SOW = d_SOW_SF2; // Set transmission time + d_SOW_SF2 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SOW = d_SOW_SF2; // Set transmission time - d_Cuc = static_cast(read_navigation_signed(subframe_bits, D1_CUC)); - d_Cuc = d_Cuc * D1_CUC_LSB; + d_Cuc = static_cast(read_navigation_signed(subframe_bits, D1_CUC)); + d_Cuc = d_Cuc * D1_CUC_LSB; - d_M_0 = static_cast(read_navigation_signed(subframe_bits, D1_M0)); - d_M_0 = d_M_0 * D1_M0_LSB; + d_M_0 = static_cast(read_navigation_signed(subframe_bits, D1_M0)); + d_M_0 = d_M_0 * D1_M0_LSB; - d_eccentricity = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); - d_eccentricity = d_eccentricity * D1_E_LSB; + d_eccentricity = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); + d_eccentricity = d_eccentricity * D1_E_LSB; - d_Cus = static_cast(read_navigation_signed(subframe_bits, D1_CUS)); - d_Cus = d_Cus * D1_CUS_LSB; + d_Cus = static_cast(read_navigation_signed(subframe_bits, D1_CUS)); + d_Cus = d_Cus * D1_CUS_LSB; - d_Crc = static_cast(read_navigation_signed(subframe_bits, D1_CRC)); - d_Crc = d_Crc * D1_CRC_LSB; + d_Crc = static_cast(read_navigation_signed(subframe_bits, D1_CRC)); + d_Crc = d_Crc * D1_CRC_LSB; - d_Crs = static_cast(read_navigation_signed(subframe_bits, D1_CRS)); - d_Crs = d_Crs * D1_CRS_LSB; + d_Crs = static_cast(read_navigation_signed(subframe_bits, D1_CRS)); + d_Crs = d_Crs * D1_CRS_LSB; - d_sqrt_A = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A)); - d_sqrt_A = d_sqrt_A * D1_SQRT_A_LSB; + d_sqrt_A = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A)); + d_sqrt_A = d_sqrt_A * D1_SQRT_A_LSB; - d_Toe_sf2 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOE_SF2)); - d_Toe_sf2 = static_cast((static_cast(d_Toe_sf2) << 15)); + d_Toe_sf2 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOE_SF2)); + d_Toe_sf2 = static_cast((static_cast(d_Toe_sf2) << 15)); - // Set system flags for message reception - flag_d1_sf2 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_d1_sf2 = true; + flag_new_SOW_available = true; - break; + break; - case 3: // --- It is subframe 3 --- - - d_SOW_SF3 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SOW = d_SOW_SF3; // Set transmission time + case 3: // --- It is subframe 3 --- - d_Toe_sf3 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOE_SF3)); + d_SOW_SF3 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SOW = d_SOW_SF3; // Set transmission time - d_i_0 = static_cast(read_navigation_signed(subframe_bits, D1_I0)); - d_i_0 = d_i_0 * D1_I0_LSB; + d_Toe_sf3 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOE_SF3)); - d_Cic = static_cast(read_navigation_signed(subframe_bits, D1_CIC)); - d_Cic = d_Cic * D1_CIC_LSB; + d_i_0 = static_cast(read_navigation_signed(subframe_bits, D1_I0)); + d_i_0 = d_i_0 * D1_I0_LSB; - d_OMEGA_DOT = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT)); - d_OMEGA_DOT = d_OMEGA_DOT * D1_OMEGA_DOT_LSB; + d_Cic = static_cast(read_navigation_signed(subframe_bits, D1_CIC)); + d_Cic = d_Cic * D1_CIC_LSB; - d_Cis = static_cast(read_navigation_signed(subframe_bits, D1_CIS)); - d_Cis = d_Cis * D1_CIS_LSB; + d_OMEGA_DOT = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT)); + d_OMEGA_DOT = d_OMEGA_DOT * D1_OMEGA_DOT_LSB; - d_IDOT = static_cast(read_navigation_signed(subframe_bits, D1_IDOT)); - d_IDOT = d_IDOT * D1_IDOT_LSB; + d_Cis = static_cast(read_navigation_signed(subframe_bits, D1_CIS)); + d_Cis = d_Cis * D1_CIS_LSB; - d_OMEGA0 = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0)); - d_OMEGA0 = d_OMEGA0 * D1_OMEGA0_LSB; + d_IDOT = static_cast(read_navigation_signed(subframe_bits, D1_IDOT)); + d_IDOT = d_IDOT * D1_IDOT_LSB; - d_OMEGA = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA)); - d_OMEGA = d_OMEGA * D1_OMEGA_LSB; + d_OMEGA0 = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0)); + d_OMEGA0 = d_OMEGA0 * D1_OMEGA0_LSB; - // Set system flags for message reception - flag_d1_sf3 = true; - flag_new_SOW_available = true; + d_OMEGA = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA)); + d_OMEGA = d_OMEGA * D1_OMEGA_LSB; - break; + // Set system flags for message reception + flag_d1_sf3 = true; + flag_new_SOW_available = true; - case 4: // --- It is subframe 4 --- - d_SOW_SF4 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SOW = d_SOW_SF4; // Set transmission time + break; - d_SQRT_A_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC)); - d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB; + case 4: // --- It is subframe 4 --- + d_SOW_SF4 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SOW = d_SOW_SF4; // Set transmission time - d_A1_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A1_ALMANAC)); - d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB; + d_SQRT_A_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC)); + d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB; - d_A0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A0_ALMANAC)); - d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB; + d_A1_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A1_ALMANAC)); + d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB; - d_OMEGA0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC)); - d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB; + d_A0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A0_ALMANAC)); + d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB; - d_E_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); - d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB; + d_OMEGA0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC)); + d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB; - d_DELTA_I = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_I)); - d_DELTA_I = D1_DELTA_I_LSB; + d_E_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); + d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB; - d_TOA = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA)); - d_TOA = d_TOA * D1_TOA_LSB; + d_DELTA_I = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_I)); + d_DELTA_I = D1_DELTA_I_LSB; - d_OMEGA_DOT_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC)); - d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB; + d_TOA = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA)); + d_TOA = d_TOA * D1_TOA_LSB; - d_OMEGA_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC)); - d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB; + d_OMEGA_DOT_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC)); + d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB; - d_M0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_M0)); - d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB; + d_OMEGA_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC)); + d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB; - // Set system flags for message reception - flag_d1_sf4 = true; - flag_new_SOW_available = true; + d_M0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_M0)); + d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB; - break; - - case 5: // --- It is subframe 5 --- - int SV_page_5; - d_SOW_SF5 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SOW = d_SOW_SF5; // Set transmission time - - SV_page_5 = static_cast(read_navigation_unsigned(subframe_bits, D1_PNUM)); - - if (SV_page_5 < 7) - { - d_SOW_SF4 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); - d_SQRT_A_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC)); - d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB; - - d_A1_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A1_ALMANAC)); - d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB; - - d_A0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A0_ALMANAC)); - d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB; - - d_OMEGA0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC)); - d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB; - - d_E_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); - d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB; - - d_DELTA_I = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_I)); - d_DELTA_I = D1_DELTA_I_LSB; - - d_TOA = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA)); - d_TOA = d_TOA * D1_TOA_LSB; - - d_OMEGA_DOT_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC)); - d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB; - - d_OMEGA_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC)); - d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB; - - d_M0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_M0)); - d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB; - - } - - if (SV_page_5 == 7) - { - almanacHealth[1] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA1)); - almanacHealth[2] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA2)); - almanacHealth[3] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA3)); - almanacHealth[4] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA4)); - almanacHealth[5] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA5)); - almanacHealth[6] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA6)); - almanacHealth[7] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA7)); - almanacHealth[8] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA8)); - almanacHealth[9] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA9)); - almanacHealth[10] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA10)); - almanacHealth[11] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA11)); - almanacHealth[12] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA12)); - almanacHealth[13] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA13)); - almanacHealth[14] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA14)); - almanacHealth[15] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA15)); - almanacHealth[16] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA16)); - almanacHealth[17] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA17)); - almanacHealth[18] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA18)); - almanacHealth[19] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA19)); - } - if (SV_page_5 == 8) - { - almanacHealth[20] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA20)); - almanacHealth[21] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA21)); - almanacHealth[22] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA22)); - almanacHealth[23] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA23)); - almanacHealth[24] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA24)); - almanacHealth[25] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA25)); - almanacHealth[26] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA26)); - almanacHealth[27] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA27)); - almanacHealth[28] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA28)); - almanacHealth[29] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA29)); - almanacHealth[30] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA30)); - almanac_WN = static_cast(read_navigation_unsigned(subframe_bits, D1_WNA)); - d_toa2 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA2)); - - } - - if (SV_page_5 == 9) - { - d_A0GPS = static_cast(read_navigation_signed(subframe_bits, D1_A0GPS)) * D1_A0GPS_LSB; - d_A1GPS = static_cast(read_navigation_signed(subframe_bits, D1_A1GPS)) * D1_A1GPS_LSB; - d_A0GAL = static_cast(read_navigation_signed(subframe_bits, D1_A0GAL)) * D1_A0GAL_LSB; - d_A1GAL = static_cast(read_navigation_signed(subframe_bits, D1_A1GAL)) * D1_A1GAL_LSB; - d_A0GLO = static_cast(read_navigation_signed(subframe_bits, D1_A0GLO)) * D1_A0GLO_LSB; - d_A1GLO = static_cast(read_navigation_signed(subframe_bits, D1_A1GLO)) * D1_A1GLO_LSB; - - flag_d1_sf5_p9 = true; - } - if (SV_page_5 == 10) - { - d_DeltaT_LS = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_T_LS)); - d_DeltaT_LSF = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_T_LSF)); - i_WN_LSF = static_cast(read_navigation_signed(subframe_bits, D1_WN_LSF)); - d_A0UTC = static_cast(read_navigation_signed(subframe_bits, D1_A0UTC)); - d_A0UTC = d_A0GPS * D1_A0GPS_LSB; - d_A1UTC = static_cast(read_navigation_signed(subframe_bits, D1_A1UTC)); - d_A1UTC = d_A1UTC * D1_A1UTC_LSB; - - flag_d1_sf5_p10 = true; - } - - // Set system flags for message reception - flag_d1_sf5 = true; - flag_new_SOW_available = true; - - break; - - default: - break; - } // switch subframeID ... + // Set system flags for message reception + flag_d1_sf4 = true; + flag_new_SOW_available = true; + + break; + + case 5: // --- It is subframe 5 --- + int SV_page_5; + d_SOW_SF5 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SOW = d_SOW_SF5; // Set transmission time + + SV_page_5 = static_cast(read_navigation_unsigned(subframe_bits, D1_PNUM)); + + if (SV_page_5 < 7) + { + d_SOW_SF4 = static_cast(read_navigation_unsigned(subframe_bits, D1_SOW)); + d_SQRT_A_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_SQRT_A_ALMANAC)); + d_SQRT_A_ALMANAC = d_SQRT_A_ALMANAC * D1_SQRT_A_ALMANAC_LSB; + + d_A1_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A1_ALMANAC)); + d_A1_ALMANAC = d_A1_ALMANAC * D1_A1_ALMANAC_LSB; + + d_A0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_A0_ALMANAC)); + d_A0_ALMANAC = d_A0_ALMANAC * D1_A0_ALMANAC_LSB; + + d_OMEGA0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA0_ALMANAC)); + d_OMEGA0_ALMANAC = d_OMEGA0_ALMANAC * D1_OMEGA0_ALMANAC_LSB; + + d_E_ALMANAC = static_cast(read_navigation_unsigned(subframe_bits, D1_E)); + d_E_ALMANAC = d_E_ALMANAC * D1_E_ALMANAC_LSB; + + d_DELTA_I = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_I)); + d_DELTA_I = D1_DELTA_I_LSB; + + d_TOA = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA)); + d_TOA = d_TOA * D1_TOA_LSB; + + d_OMEGA_DOT_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_DOT_ALMANAC)); + d_OMEGA_DOT_ALMANAC = D1_OMEGA_DOT_ALMANAC_LSB; + + d_OMEGA_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_OMEGA_ALMANAC)); + d_OMEGA_ALMANAC = d_OMEGA_ALMANAC * D1_OMEGA_ALMANAC_LSB; + + d_M0_ALMANAC = static_cast(read_navigation_signed(subframe_bits, D1_M0)); + d_M0_ALMANAC = d_M0_ALMANAC * D1_M0_ALMANAC_LSB; + } + + if (SV_page_5 == 7) + { + almanacHealth[1] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA1)); + almanacHealth[2] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA2)); + almanacHealth[3] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA3)); + almanacHealth[4] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA4)); + almanacHealth[5] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA5)); + almanacHealth[6] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA6)); + almanacHealth[7] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA7)); + almanacHealth[8] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA8)); + almanacHealth[9] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA9)); + almanacHealth[10] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA10)); + almanacHealth[11] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA11)); + almanacHealth[12] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA12)); + almanacHealth[13] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA13)); + almanacHealth[14] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA14)); + almanacHealth[15] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA15)); + almanacHealth[16] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA16)); + almanacHealth[17] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA17)); + almanacHealth[18] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA18)); + almanacHealth[19] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA19)); + } + if (SV_page_5 == 8) + { + almanacHealth[20] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA20)); + almanacHealth[21] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA21)); + almanacHealth[22] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA22)); + almanacHealth[23] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA23)); + almanacHealth[24] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA24)); + almanacHealth[25] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA25)); + almanacHealth[26] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA26)); + almanacHealth[27] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA27)); + almanacHealth[28] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA28)); + almanacHealth[29] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA29)); + almanacHealth[30] = static_cast(read_navigation_unsigned(subframe_bits, D1_HEA30)); + almanac_WN = static_cast(read_navigation_unsigned(subframe_bits, D1_WNA)); + d_toa2 = static_cast(read_navigation_unsigned(subframe_bits, D1_TOA2)); + } + + if (SV_page_5 == 9) + { + d_A0GPS = static_cast(read_navigation_signed(subframe_bits, D1_A0GPS)) * D1_A0GPS_LSB; + d_A1GPS = static_cast(read_navigation_signed(subframe_bits, D1_A1GPS)) * D1_A1GPS_LSB; + d_A0GAL = static_cast(read_navigation_signed(subframe_bits, D1_A0GAL)) * D1_A0GAL_LSB; + d_A1GAL = static_cast(read_navigation_signed(subframe_bits, D1_A1GAL)) * D1_A1GAL_LSB; + d_A0GLO = static_cast(read_navigation_signed(subframe_bits, D1_A0GLO)) * D1_A0GLO_LSB; + d_A1GLO = static_cast(read_navigation_signed(subframe_bits, D1_A1GLO)) * D1_A1GLO_LSB; + + flag_d1_sf5_p9 = true; + } + if (SV_page_5 == 10) + { + d_DeltaT_LS = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_T_LS)); + d_DeltaT_LSF = static_cast(read_navigation_signed(subframe_bits, D1_DELTA_T_LSF)); + i_WN_LSF = static_cast(read_navigation_signed(subframe_bits, D1_WN_LSF)); + d_A0UTC = static_cast(read_navigation_signed(subframe_bits, D1_A0UTC)); + d_A0UTC = d_A0GPS * D1_A0GPS_LSB; + d_A1UTC = static_cast(read_navigation_signed(subframe_bits, D1_A1UTC)); + d_A1UTC = d_A1UTC * D1_A1UTC_LSB; + + flag_d1_sf5_p10 = true; + } + + // Set system flags for message reception + flag_d1_sf5 = true; + flag_new_SOW_available = true; + + break; + + default: + break; + } // switch subframeID ... return subframe_ID; } -int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subframe) +int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& subframe) { int subframe_ID = 0; int page_ID = 0; @@ -749,176 +746,176 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const &subfr // Decode all 5 sub-frames switch (subframe_ID) - { - //--- Decode the sub-frame id ------------------------------------------ - case 1: + { + //--- Decode the sub-frame id ------------------------------------------ + case 1: - switch(page_ID) - { - case 1: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - i_SV_health = static_cast(read_navigation_unsigned(subframe_bits, D2_SAT_H1)); - d_AODC = static_cast(read_navigation_unsigned(subframe_bits, D2_AODC)); - i_SV_accuracy = static_cast(read_navigation_unsigned(subframe_bits, D2_URAI)); // (20.3.3.3.1.3) - i_BEIDOU_week = static_cast(read_navigation_unsigned(subframe_bits, D2_WN)); - d_Toc = static_cast(read_navigation_unsigned(subframe_bits, D2_TOC)) * D1_TOC_LSB; - d_TGD1 = static_cast(read_navigation_signed(subframe_bits, D2_TGD1)) * D1_TGD1_LSB; + switch (page_ID) + { + case 1: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + i_SV_health = static_cast(read_navigation_unsigned(subframe_bits, D2_SAT_H1)); + d_AODC = static_cast(read_navigation_unsigned(subframe_bits, D2_AODC)); + i_SV_accuracy = static_cast(read_navigation_unsigned(subframe_bits, D2_URAI)); // (20.3.3.3.1.3) + i_BEIDOU_week = static_cast(read_navigation_unsigned(subframe_bits, D2_WN)); + d_Toc = static_cast(read_navigation_unsigned(subframe_bits, D2_TOC)) * D1_TOC_LSB; + d_TGD1 = static_cast(read_navigation_signed(subframe_bits, D2_TGD1)) * D1_TGD1_LSB; - // Set system flags for message reception - flag_sf1_p1 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p1 = true; + flag_new_SOW_available = true; - break; - case 2: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_alpha0 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA0))*D1_ALPHA0_LSB; - d_alpha1 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA1))*D1_ALPHA1_LSB; - d_alpha2 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA2))*D1_ALPHA2_LSB; - d_alpha3 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA3))*D1_ALPHA3_LSB; - d_beta0 = static_cast(read_navigation_signed(subframe_bits, D2_BETA0))*D1_BETA0_LSB; - d_beta1 = static_cast(read_navigation_signed(subframe_bits, D2_BETA1))*D1_BETA1_LSB; - d_beta2 = static_cast(read_navigation_signed(subframe_bits, D2_BETA2))*D1_BETA2_LSB; - d_beta3 = static_cast(read_navigation_signed(subframe_bits, D2_BETA3))*D1_BETA3_LSB; + break; + case 2: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_alpha0 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA0)) * D1_ALPHA0_LSB; + d_alpha1 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA1)) * D1_ALPHA1_LSB; + d_alpha2 = static_cast(read_navigation_signed(subframe_bits, D2_ALPHA2)) * D1_ALPHA2_LSB; + d_alpha3 = static_cast(read_navigation_signed(subframe_bits, D1_ALPHA3)) * D1_ALPHA3_LSB; + d_beta0 = static_cast(read_navigation_signed(subframe_bits, D2_BETA0)) * D1_BETA0_LSB; + d_beta1 = static_cast(read_navigation_signed(subframe_bits, D2_BETA1)) * D1_BETA1_LSB; + d_beta2 = static_cast(read_navigation_signed(subframe_bits, D2_BETA2)) * D1_BETA2_LSB; + d_beta3 = static_cast(read_navigation_signed(subframe_bits, D2_BETA3)) * D1_BETA3_LSB; - // Set system flags for message reception - flag_sf1_p2 = true; - flag_iono_valid = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p2 = true; + flag_iono_valid = true; + flag_new_SOW_available = true; - break; - case 3: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_A_f0 = static_cast(read_navigation_signed(subframe_bits, D2_A0))*D1_A0_LSB; - d_A_f1_msb_bits = (read_navigation_unsigned(subframe_bits, D2_A1_MSB)); - // Adjust for lsb in next page - d_A_f1_msb_bits = d_A_f1_msb_bits << 18; + break; + case 3: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_A_f0 = static_cast(read_navigation_signed(subframe_bits, D2_A0)) * D1_A0_LSB; + d_A_f1_msb_bits = (read_navigation_unsigned(subframe_bits, D2_A1_MSB)); + // Adjust for lsb in next page + d_A_f1_msb_bits = d_A_f1_msb_bits << 18; - // Set system flags for message reception - flag_sf1_p3 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p3 = true; + flag_new_SOW_available = true; - break; - case 4: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_A_f1_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_A1_LSB)); - d_A_f2 = static_cast(read_navigation_signed(subframe_bits, D1_A2))*D1_A2_LSB; - d_AODE = static_cast(read_navigation_unsigned(subframe_bits, D2_AODE)); - d_Delta_n = static_cast(read_navigation_signed(subframe_bits, D2_DELTA_N))*D1_DELTA_N_LSB; - d_Cuc_msb_bits = (read_navigation_unsigned(subframe_bits, D2_CUC_MSB)); - // Adjust for lsb in next page - d_Cuc_msb_bits = d_Cuc_msb_bits << 4; + break; + case 4: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_A_f1_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_A1_LSB)); + d_A_f2 = static_cast(read_navigation_signed(subframe_bits, D1_A2)) * D1_A2_LSB; + d_AODE = static_cast(read_navigation_unsigned(subframe_bits, D2_AODE)); + d_Delta_n = static_cast(read_navigation_signed(subframe_bits, D2_DELTA_N)) * D1_DELTA_N_LSB; + d_Cuc_msb_bits = (read_navigation_unsigned(subframe_bits, D2_CUC_MSB)); + // Adjust for lsb in next page + d_Cuc_msb_bits = d_Cuc_msb_bits << 4; - // Set system flags for message reception - flag_sf1_p4 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p4 = true; + flag_new_SOW_available = true; - break; - case 5: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_Cuc_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_CUC_LSB)); - d_M_0 = static_cast(read_navigation_signed(subframe_bits, D2_M0))*D1_M0_LSB; - d_Cus = static_cast(read_navigation_signed(subframe_bits, D2_CUS))*D1_CUS_LSB; - d_eccentricity_msb = static_cast(read_navigation_unsigned(subframe_bits, D2_E_MSB)); - d_eccentricity_msb_bits = (read_navigation_unsigned(subframe_bits, D2_E_MSB)); - // Adjust for lsb in next page (shift number of lsb to the left) - d_eccentricity_msb = static_cast((static_cast(d_eccentricity_msb) << 22)); - d_eccentricity_msb_bits = d_eccentricity_msb_bits << 22; + break; + case 5: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_Cuc_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_CUC_LSB)); + d_M_0 = static_cast(read_navigation_signed(subframe_bits, D2_M0)) * D1_M0_LSB; + d_Cus = static_cast(read_navigation_signed(subframe_bits, D2_CUS)) * D1_CUS_LSB; + d_eccentricity_msb = static_cast(read_navigation_unsigned(subframe_bits, D2_E_MSB)); + d_eccentricity_msb_bits = (read_navigation_unsigned(subframe_bits, D2_E_MSB)); + // Adjust for lsb in next page (shift number of lsb to the left) + d_eccentricity_msb = static_cast((static_cast(d_eccentricity_msb) << 22)); + d_eccentricity_msb_bits = d_eccentricity_msb_bits << 22; - // Set system flags for message reception - flag_sf1_p5 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p5 = true; + flag_new_SOW_available = true; - break; - case 6: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_eccentricity_lsb = static_cast(read_navigation_unsigned(subframe_bits, D2_E_LSB)); - d_eccentricity_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_E_LSB)); - d_sqrt_A = static_cast(read_navigation_unsigned(subframe_bits, D2_SQRT_A))*D1_SQRT_A_LSB; - d_Cic_msb_bits = (read_navigation_unsigned(subframe_bits, D2_CIC_MSB)); - // Adjust for lsb in next page (shift number of lsb to the left) - d_Cic_msb_bits = d_Cic_msb_bits << 8; + break; + case 6: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_eccentricity_lsb = static_cast(read_navigation_unsigned(subframe_bits, D2_E_LSB)); + d_eccentricity_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_E_LSB)); + d_sqrt_A = static_cast(read_navigation_unsigned(subframe_bits, D2_SQRT_A)) * D1_SQRT_A_LSB; + d_Cic_msb_bits = (read_navigation_unsigned(subframe_bits, D2_CIC_MSB)); + // Adjust for lsb in next page (shift number of lsb to the left) + d_Cic_msb_bits = d_Cic_msb_bits << 8; - // Set system flags for message reception - flag_sf1_p6 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p6 = true; + flag_new_SOW_available = true; - break; - case 7: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_Cic_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_CIC_LSB)); - d_Cis = static_cast(read_navigation_signed(subframe_bits, D2_CIS))*D1_CIS_LSB; - d_Toe = static_cast(read_navigation_unsigned(subframe_bits, D2_TOE))*D1_TOE_LSB; - d_i_0_msb_bits = (read_navigation_unsigned(subframe_bits, D2_I0_MSB)); - // Adjust for lsb in next page (shift number of lsb to the left) - d_i_0_msb_bits = d_i_0_msb_bits << 11; + break; + case 7: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_Cic_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_CIC_LSB)); + d_Cis = static_cast(read_navigation_signed(subframe_bits, D2_CIS)) * D1_CIS_LSB; + d_Toe = static_cast(read_navigation_unsigned(subframe_bits, D2_TOE)) * D1_TOE_LSB; + d_i_0_msb_bits = (read_navigation_unsigned(subframe_bits, D2_I0_MSB)); + // Adjust for lsb in next page (shift number of lsb to the left) + d_i_0_msb_bits = d_i_0_msb_bits << 11; - // Set system flags for message reception - flag_sf1_p7 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p7 = true; + flag_new_SOW_available = true; - break; - case 8: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_i_0_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_I0_LSB)); - d_Crc = static_cast(read_navigation_signed(subframe_bits, D2_CRC))*D1_CRC_LSB; - d_Crs = static_cast(read_navigation_signed(subframe_bits, D2_CRS))*D1_CRS_LSB; - d_OMEGA_DOT_msb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_DOT_MSB)); - // Adjust for lsb in next page (shift number of lsb to the left) - d_OMEGA_DOT_msb_bits = d_OMEGA_DOT_msb_bits << 5; + break; + case 8: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_i_0_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_I0_LSB)); + d_Crc = static_cast(read_navigation_signed(subframe_bits, D2_CRC)) * D1_CRC_LSB; + d_Crs = static_cast(read_navigation_signed(subframe_bits, D2_CRS)) * D1_CRS_LSB; + d_OMEGA_DOT_msb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_DOT_MSB)); + // Adjust for lsb in next page (shift number of lsb to the left) + d_OMEGA_DOT_msb_bits = d_OMEGA_DOT_msb_bits << 5; - // Set system flags for message reception - flag_sf1_p8 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p8 = true; + flag_new_SOW_available = true; - break; - case 9: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_OMEGA_DOT_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_DOT_LSB)); - d_OMEGA0 = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA0))*D1_OMEGA0_LSB; - d_OMEGA_msb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_MSB)); - // Adjust for lsb in next page (shift number of lsb to the left) - d_OMEGA_msb_bits = d_OMEGA_msb_bits << 5; + break; + case 9: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_OMEGA_DOT_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_DOT_LSB)); + d_OMEGA0 = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA0)) * D1_OMEGA0_LSB; + d_OMEGA_msb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_MSB)); + // Adjust for lsb in next page (shift number of lsb to the left) + d_OMEGA_msb_bits = d_OMEGA_msb_bits << 5; - // Set system flags for message reception - flag_sf1_p9 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p9 = true; + flag_new_SOW_available = true; - break; - case 10: - d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); - d_OMEGA_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_LSB)); - d_IDOT = static_cast(read_navigation_signed(subframe_bits, D2_IDOT))*D1_IDOT_LSB; + break; + case 10: + d_SOW = static_cast(read_navigation_unsigned(subframe_bits, D2_SOW)); + d_OMEGA_lsb_bits = (read_navigation_unsigned(subframe_bits, D2_OMEGA_LSB)); + d_IDOT = static_cast(read_navigation_signed(subframe_bits, D2_IDOT)) * D1_IDOT_LSB; - // Set system flags for message reception - flag_sf1_p10 = true; - flag_new_SOW_available = true; + // Set system flags for message reception + flag_sf1_p10 = true; + flag_new_SOW_available = true; - break; - default: - break; - } + break; + default: + break; + } - break; + break; - case 2: //--- It is subframe 2 ------------------- + case 2: //--- It is subframe 2 ------------------- - break; + break; - case 3: // --- It is subframe 3 ------------------------------------- + case 3: // --- It is subframe 3 ------------------------------------- - break; + break; - case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32) + case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32) - break; + break; - case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time. + case 5: //--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time. - break; + break; - default: - break; - } // switch subframeID ... + default: + break; + } // switch subframeID ... return subframe_ID; } @@ -927,12 +924,12 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte { double t_utc; double t_utc_daytime; - double Delta_t_UTC = d_DeltaT_LS + d_A0UTC + d_A1UTC * (beidoutime_corrected); + double Delta_t_UTC = d_DeltaT_LS + d_A0UTC + d_A1UTC * (beidoutime_corrected); // Determine if the effectivity time of the leap second event is in the past - int weeksToLeapSecondEvent = i_WN_LSF - i_BEIDOU_week; + int weeksToLeapSecondEvent = i_WN_LSF - i_BEIDOU_week; - if ((weeksToLeapSecondEvent) >= 0) // is not in the past + 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 = i_DN * 24 * 60 * 60; @@ -940,19 +937,19 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte { t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400); } - else //we are in the same week than the leap second event + else //we are in the same week than the leap second event { - if ((beidoutime_corrected - secondOfLeapSecondEvent) < (2/3) * 24 * 60 * 60) + if ((beidoutime_corrected - secondOfLeapSecondEvent) < (2 / 3) * 24 * 60 * 60) { t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400); } else { - if ((beidoutime_corrected - secondOfLeapSecondEvent) < (5/4) * 24 * 60 * 60) + if ((beidoutime_corrected - secondOfLeapSecondEvent) < (5 / 4) * 24 * 60 * 60) { int W = fmod(beidoutime_corrected - Delta_t_UTC - 43200, 86400) + 43200; t_utc_daytime = fmod(W, 86400 + d_DeltaT_LSF - d_DeltaT_LS); - } + } else { t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400); @@ -960,7 +957,7 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte } } } - else // the effectivity time is in the past + else // the effectivity time is in the past { t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400); } @@ -974,97 +971,95 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris() { Beidou_Dnav_Ephemeris eph; - if(i_satellite_PRN > 0 and i_satellite_PRN < 6) - { - std::bitset subframe_bits; + if (i_satellite_PRN > 0 and i_satellite_PRN < 6) + { + std::bitset subframe_bits; - // Order as given by eph_t in rtklib - eph.i_satellite_PRN = i_satellite_PRN; - eph.d_AODC = d_AODC; - eph.d_AODE = d_AODE; - eph.i_SV_accuracy = i_SV_accuracy; - eph.i_SV_health = i_SV_health; - eph.i_BEIDOU_week = i_BEIDOU_week; - eph.i_sig_type = 1; - eph.i_nav_type = 2; + // Order as given by eph_t in rtklib + eph.i_satellite_PRN = i_satellite_PRN; + eph.d_AODC = d_AODC; + eph.d_AODE = d_AODE; + eph.i_SV_accuracy = i_SV_accuracy; + eph.i_SV_health = i_SV_health; + eph.i_BEIDOU_week = i_BEIDOU_week; + eph.i_sig_type = 1; + eph.i_nav_type = 2; - eph.d_TOW = d_SOW; - eph.d_Toe = d_Toe; - eph.d_Toc = d_Toc; + eph.d_TOW = d_SOW; + eph.d_Toe = d_Toe; + eph.d_Toc = d_Toc; - eph.d_sqrt_A = d_sqrt_A; - eph.d_eccentricity = (d_eccentricity_msb + d_eccentricity_lsb)*D1_E_LSB; - subframe_bits = std::bitset(d_i_0_msb_bits + d_i_0_lsb_bits); - eph.d_i_0 = static_cast(read_navigation_signed(subframe_bits, D2_I0))*D1_I0_LSB; - eph.d_OMEGA0 = d_OMEGA0; - subframe_bits = std::bitset(d_OMEGA_msb_bits + d_OMEGA_lsb_bits); - eph.d_OMEGA = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA))*D1_OMEGA_LSB; - eph.d_M_0 = d_M_0; - eph.d_Delta_n = d_Delta_n; + eph.d_sqrt_A = d_sqrt_A; + eph.d_eccentricity = (d_eccentricity_msb + d_eccentricity_lsb) * D1_E_LSB; + subframe_bits = std::bitset(d_i_0_msb_bits + d_i_0_lsb_bits); + eph.d_i_0 = static_cast(read_navigation_signed(subframe_bits, D2_I0)) * D1_I0_LSB; + eph.d_OMEGA0 = d_OMEGA0; + subframe_bits = std::bitset(d_OMEGA_msb_bits + d_OMEGA_lsb_bits); + eph.d_OMEGA = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA)) * D1_OMEGA_LSB; + eph.d_M_0 = d_M_0; + eph.d_Delta_n = d_Delta_n; - subframe_bits = std::bitset(d_OMEGA_DOT_msb_bits + d_OMEGA_DOT_lsb_bits); - eph.d_OMEGA_DOT = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA_DOT))*D1_OMEGA_DOT_LSB; - eph.d_IDOT = d_IDOT; + subframe_bits = std::bitset(d_OMEGA_DOT_msb_bits + d_OMEGA_DOT_lsb_bits); + eph.d_OMEGA_DOT = static_cast(read_navigation_signed(subframe_bits, D2_OMEGA_DOT)) * D1_OMEGA_DOT_LSB; + eph.d_IDOT = d_IDOT; - eph.d_Crc = d_Crc; - eph.d_Crs = d_Crs; - subframe_bits = std::bitset(d_Cuc_msb_bits + d_Cuc_lsb_bits); - eph.d_Cuc = static_cast(read_navigation_signed(subframe_bits, D2_CUC))*D1_CUC_LSB; - eph.d_Cus = d_Cus; - subframe_bits = std::bitset(d_Cic_msb_bits + d_Cic_lsb_bits); - eph.d_Cic = static_cast(read_navigation_signed(subframe_bits, D2_CIC))*D1_CIC_LSB; - eph.d_Cis = d_Cis; + eph.d_Crc = d_Crc; + eph.d_Crs = d_Crs; + subframe_bits = std::bitset(d_Cuc_msb_bits + d_Cuc_lsb_bits); + eph.d_Cuc = static_cast(read_navigation_signed(subframe_bits, D2_CUC)) * D1_CUC_LSB; + eph.d_Cus = d_Cus; + subframe_bits = std::bitset(d_Cic_msb_bits + d_Cic_lsb_bits); + eph.d_Cic = static_cast(read_navigation_signed(subframe_bits, D2_CIC)) * D1_CIC_LSB; + eph.d_Cis = d_Cis; - eph.d_A_f0 = d_A_f0; - subframe_bits = std::bitset(d_A_f1_msb_bits + d_A_f1_lsb_bits); - eph.d_A_f1 = static_cast(read_navigation_signed(subframe_bits, D2_A1))*D1_A1_LSB; - eph.d_A_f2 = d_A_f2; + eph.d_A_f0 = d_A_f0; + subframe_bits = std::bitset(d_A_f1_msb_bits + d_A_f1_lsb_bits); + eph.d_A_f1 = static_cast(read_navigation_signed(subframe_bits, D2_A1)) * D1_A1_LSB; + eph.d_A_f2 = d_A_f2; - - - eph.d_TGD1 = d_TGD1; - eph.d_TGD2 = d_TGD2; - } + eph.d_TGD1 = d_TGD1; + eph.d_TGD2 = d_TGD2; + } else - { - eph.i_satellite_PRN = i_satellite_PRN; - eph.d_AODC = d_AODC; - eph.d_AODE = d_AODE; - eph.i_SV_accuracy = i_SV_accuracy; - eph.i_SV_health = i_SV_health; - eph.i_BEIDOU_week = i_BEIDOU_week; - eph.i_sig_type = 1; - eph.i_nav_type = 1; // MEO/IGSO + { + eph.i_satellite_PRN = i_satellite_PRN; + eph.d_AODC = d_AODC; + eph.d_AODE = d_AODE; + eph.i_SV_accuracy = i_SV_accuracy; + eph.i_SV_health = i_SV_health; + eph.i_BEIDOU_week = i_BEIDOU_week; + eph.i_sig_type = 1; + eph.i_nav_type = 1; // MEO/IGSO - eph.d_TOW = d_SOW; - eph.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB) ; - eph.d_Toc = d_Toc; + eph.d_TOW = d_SOW; + eph.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB); + eph.d_Toc = d_Toc; - eph.d_sqrt_A = d_sqrt_A; - eph.d_eccentricity = d_eccentricity; - eph.d_i_0 = d_i_0; - eph.d_OMEGA0 = d_OMEGA0; - eph.d_OMEGA = d_OMEGA; - eph.d_M_0 = d_M_0; - eph.d_Delta_n = d_Delta_n; - eph.d_OMEGA_DOT = d_OMEGA_DOT; - eph.d_IDOT = d_IDOT; + eph.d_sqrt_A = d_sqrt_A; + eph.d_eccentricity = d_eccentricity; + eph.d_i_0 = d_i_0; + eph.d_OMEGA0 = d_OMEGA0; + eph.d_OMEGA = d_OMEGA; + eph.d_M_0 = d_M_0; + eph.d_Delta_n = d_Delta_n; + eph.d_OMEGA_DOT = d_OMEGA_DOT; + eph.d_IDOT = d_IDOT; - eph.d_Crc = d_Crc; - eph.d_Crs = d_Crs; - eph.d_Cuc = d_Cuc; - eph.d_Cus = d_Cus; - eph.d_Cic = d_Cic; - eph.d_Cis = d_Cis; + eph.d_Crc = d_Crc; + eph.d_Crs = d_Crs; + eph.d_Cuc = d_Cuc; + eph.d_Cus = d_Cus; + eph.d_Cic = d_Cic; + eph.d_Cis = d_Cis; - eph.d_A_f0 = d_A_f0; - eph.d_A_f1 = d_A_f1; - eph.d_A_f2 = d_A_f2; + eph.d_A_f0 = d_A_f0; + eph.d_A_f1 = d_A_f1; + eph.d_A_f2 = d_A_f2; - eph.d_TGD1 = d_TGD1; - eph.d_TGD2 = d_TGD2; - } + eph.d_TGD1 = d_TGD1; + eph.d_TGD2 = d_TGD2; + } return eph; } @@ -1112,54 +1107,62 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model() bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class { - if(i_satellite_PRN > 0 and i_satellite_PRN < 6) - { - if ((flag_sf1_p1 == true) and (flag_sf1_p2 == true) and (flag_sf1_p3 == true) and - (flag_sf1_p4 == true) and (flag_sf1_p5 == true) and (flag_sf1_p6 == true) and - (flag_sf1_p7 == true) and (flag_sf1_p8 == true) and (flag_sf1_p9 == true) and - (flag_sf1_p10 == true)) - { - // if all ephemeris pages have the same IOD, then they belong to the same block - if (d_previous_aode != d_AODE) - { - // Clear flags for all received pages - flag_sf1_p1 = false; flag_sf1_p2 = false; flag_sf1_p3 = false; - flag_sf1_p4 = false; flag_sf1_p5 = false; flag_sf1_p6 = false; - flag_sf1_p7 = false; flag_sf1_p8 = false; flag_sf1_p9 = false; - flag_sf1_p10 = false; + if (i_satellite_PRN > 0 and i_satellite_PRN < 6) + { + if ((flag_sf1_p1 == true) and (flag_sf1_p2 == true) and (flag_sf1_p3 == true) and + (flag_sf1_p4 == true) and (flag_sf1_p5 == true) and (flag_sf1_p6 == true) and + (flag_sf1_p7 == true) and (flag_sf1_p8 == true) and (flag_sf1_p9 == true) and + (flag_sf1_p10 == true)) + { + // if all ephemeris pages have the same IOD, then they belong to the same block + if (d_previous_aode != d_AODE) + { + // Clear flags for all received pages + flag_sf1_p1 = false; + flag_sf1_p2 = false; + flag_sf1_p3 = false; + flag_sf1_p4 = false; + flag_sf1_p5 = false; + flag_sf1_p6 = false; + flag_sf1_p7 = false; + flag_sf1_p8 = false; + flag_sf1_p9 = false; + flag_sf1_p10 = false; - flag_eph_valid = true; - // Update the time of ephemeris information - d_previous_aode = d_AODE; + flag_eph_valid = true; + // Update the time of ephemeris information + d_previous_aode = d_AODE; - return true; - } - } - } - else - { - if ((flag_d1_sf1 == true) and (flag_d1_sf2 == true) and (flag_d1_sf3 == true)) - { - // if all ephemeris pages have the same IOD, then they belong to the same block - if (d_previous_aode != d_AODE) - { - // Clear flags for all received subframes - flag_d1_sf1 = false; flag_d1_sf2 = false; flag_d1_sf3 = false; + return true; + } + } + } + else + { + if ((flag_d1_sf1 == true) and (flag_d1_sf2 == true) and (flag_d1_sf3 == true)) + { + // if all ephemeris pages have the same IOD, then they belong to the same block + if (d_previous_aode != d_AODE) + { + // Clear flags for all received subframes + flag_d1_sf1 = false; + flag_d1_sf2 = false; + flag_d1_sf3 = false; - flag_eph_valid = true; - // Update the time of ephemeris information - d_previous_aode = d_AODE; + flag_eph_valid = true; + // Update the time of ephemeris information + d_previous_aode = d_AODE; - return true; - } - } - } + return true; + } + } + } return false; } bool Beidou_Dnav_Navigation_Message::have_new_iono() { - // the condition on flag_utc_model is added to have a time stamp for iono + // the condition on flag_utc_model is added to have a time stamp for iono if (flag_iono_valid == true) { return true; @@ -1172,9 +1175,9 @@ bool Beidou_Dnav_Navigation_Message::have_new_utc_model() { if (flag_d1_sf5_p9 == true and flag_d1_sf5_p10 == true) { - flag_d1_sf5_p9 = false; - flag_d1_sf5_p10 = false; - flag_utc_model_valid = true; + flag_d1_sf5_p9 = false; + flag_d1_sf5_p10 = false; + flag_utc_model_valid = true; return true; } @@ -1206,7 +1209,7 @@ bool Beidou_Dnav_Navigation_Message::satellite_validation() // and check if the data have been filled (!=0) if (d_SOW_SF1 != 0 and d_SOW_SF2 != 0 and d_SOW_SF3 != 0) { - if (d_AODC!= -1) + if (d_AODC != -1) { flag_data_valid = true; flag_eph_valid = true; diff --git a/src/core/system_parameters/beidou_dnav_navigation_message.h b/src/core/system_parameters/beidou_dnav_navigation_message.h index c0ae1bc12..1525c7b4b 100644 --- a/src/core/system_parameters/beidou_dnav_navigation_message.h +++ b/src/core/system_parameters/beidou_dnav_navigation_message.h @@ -34,17 +34,16 @@ #define GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H_ +#include "Beidou_B1I.h" +#include "beidou_dnav_almanac.h" +#include "beidou_dnav_ephemeris.h" +#include "beidou_dnav_iono.h" +#include "beidou_dnav_utc_model.h" #include #include #include #include #include -#include "beidou_dnav_almanac.h" -#include "beidou_dnav_ephemeris.h" -#include "beidou_dnav_iono.h" -#include "beidou_dnav_utc_model.h" -#include "Beidou_B1I.h" - /*! @@ -55,9 +54,9 @@ class Beidou_Dnav_Navigation_Message { private: - unsigned long int read_navigation_unsigned(std::bitset bits, const std::vector> parameter); - signed long int read_navigation_signed(std::bitset bits, const std::vector> parameter); - bool read_navigation_bool(std::bitset bits, const std::vector> parameter); + unsigned long int read_navigation_unsigned(std::bitset bits, const std::vector>& parameter); + signed long int read_navigation_signed(std::bitset bits, const std::vector>& parameter); + bool read_navigation_bool(std::bitset bits, const std::vector>& parameter); void print_beidou_word_bytes(unsigned int BEIDOU_word); /* * Accounts for the beginning or end of week crossover @@ -82,97 +81,97 @@ public: bool flag_crc_test; double d_previous_aode; - bool flag_d1_sf5_p7; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator - bool flag_d1_sf5_p8; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator - bool flag_d1_sf5_p9; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator - bool flag_d1_sf5_p10; //!< D1 NAV Message, Subframe 5, Page 10 decoded indicator + bool flag_d1_sf5_p7; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator + bool flag_d1_sf5_p8; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator + bool flag_d1_sf5_p9; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator + bool flag_d1_sf5_p10; //!< D1 NAV Message, Subframe 5, Page 10 decoded indicator - bool flag_sf1_p1; //!< D2 NAV Message, Subframe 1, Page 1 decoded indicator - bool flag_sf1_p2; //!< D2 NAV Message, Subframe 1, Page 2 decoded indicator - bool flag_sf1_p3; //!< D2 NAV Message, Subframe 1, Page 3 decoded indicator - bool flag_sf1_p4; //!< D2 NAV Message, Subframe 1, Page 4 decoded indicator - bool flag_sf1_p5; //!< D2 NAV Message, Subframe 1, Page 5 decoded indicator - bool flag_sf1_p6; //!< D2 NAV Message, Subframe 1, Page 6 decoded indicator - bool flag_sf1_p7; //!< D2 NAV Message, Subframe 1, Page 7 decoded indicator - bool flag_sf1_p8; //!< D2 NAV Message, Subframe 1, Page 8 decoded indicator - bool flag_sf1_p9; //!< D2 NAV Message, Subframe 1, Page 9 decoded indicator - bool flag_sf1_p10; //!< D2 NAV Message, Subframe 1, Page 10 decoded indicator + bool flag_sf1_p1; //!< D2 NAV Message, Subframe 1, Page 1 decoded indicator + bool flag_sf1_p2; //!< D2 NAV Message, Subframe 1, Page 2 decoded indicator + bool flag_sf1_p3; //!< D2 NAV Message, Subframe 1, Page 3 decoded indicator + bool flag_sf1_p4; //!< D2 NAV Message, Subframe 1, Page 4 decoded indicator + bool flag_sf1_p5; //!< D2 NAV Message, Subframe 1, Page 5 decoded indicator + bool flag_sf1_p6; //!< D2 NAV Message, Subframe 1, Page 6 decoded indicator + bool flag_sf1_p7; //!< D2 NAV Message, Subframe 1, Page 7 decoded indicator + bool flag_sf1_p8; //!< D2 NAV Message, Subframe 1, Page 8 decoded indicator + bool flag_sf1_p9; //!< D2 NAV Message, Subframe 1, Page 9 decoded indicator + bool flag_sf1_p10; //!< D2 NAV Message, Subframe 1, Page 10 decoded indicator //broadcast orbit 1 - double d_SOW; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s] - double d_SOW_SF1; //!< Time of BeiDou Week from HOW word of Subframe 1 [s] - double d_SOW_SF2; //!< Time of BeiDou Week from HOW word of Subframe 2 [s] - double d_SOW_SF3; //!< Time of BeiDou Week from HOW word of Subframe 3 [s] - double d_SOW_SF4; //!< Time of BeiDou Week from HOW word of Subframe 4 [s] - double d_SOW_SF5; //!< Time of BeiDou Week from HOW word of Subframe 5 [s] + double d_SOW; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s] + double d_SOW_SF1; //!< Time of BeiDou Week from HOW word of Subframe 1 [s] + double d_SOW_SF2; //!< Time of BeiDou Week from HOW word of Subframe 2 [s] + double d_SOW_SF3; //!< Time of BeiDou Week from HOW word of Subframe 3 [s] + double d_SOW_SF4; //!< Time of BeiDou Week from HOW word of Subframe 4 [s] + double d_SOW_SF5; //!< Time of BeiDou Week from HOW word of Subframe 5 [s] double d_AODE; - 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_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] //broadcast orbit 2 - double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] - double d_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_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] + double d_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)] //broadcast orbit 3 - double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2, D1 Message - double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3, D1 Message - double d_Toe; //!< Ephemeris data reference time of week in subframe 1, D2 Message - 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_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2, D1 Message + double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3, D1 Message + double d_Toe; //!< Ephemeris data reference time of week in subframe 1, D2 Message + 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] //broadcast orbit 4 - 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_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] //broadcast orbit 5 - double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s] - int i_BEIDOU_week; //!< BeiDou week number, aka WN [week] + double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s] + int i_BEIDOU_week; //!< BeiDou week number, aka WN [week] //broadcast orbit 6 - int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV + int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV int i_SV_health; - double d_TGD1; //!< Estimated Group Delay Differential in B1 [s] - double d_TGD2; //!< Estimated Group Delay Differential in B2 [s] - double d_AODC; //!< Age of Data, Clock + double d_TGD1; //!< Estimated Group Delay Differential in B1 [s] + double d_TGD2; //!< Estimated Group Delay Differential in B2 [s] + double d_AODC; //!< Age of Data, Clock //broadcast orbit 7 -// 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] + // 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. + 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; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s] - double d_A_f1; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s] - double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2] + double d_A_f0; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s] + double d_A_f1; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s] + double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2] // D2 NAV Message Decoding - unsigned long int d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB - unsigned long int d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB - unsigned long int d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] - unsigned long int d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] - unsigned long int d_eccentricity_msb; //!< Eccentricity [dimensionless] - unsigned long int d_eccentricity_lsb; //!< Eccentricity [dimensionless] - unsigned long int d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] - unsigned long int d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] - unsigned long int d_eccentricity_msb_bits; //!< Eccentricity [dimensionless] + unsigned long int d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB + unsigned long int d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB + unsigned long int d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] + unsigned long int d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] + unsigned long int d_eccentricity_msb; //!< Eccentricity [dimensionless] + unsigned long int d_eccentricity_lsb; //!< Eccentricity [dimensionless] + unsigned long int d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] + unsigned long int d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad] + unsigned long int d_eccentricity_msb_bits; //!< Eccentricity [dimensionless] unsigned long int d_eccentricity_lsb_bits; - unsigned long int d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles] - unsigned long int d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles] - unsigned long int d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles] - unsigned long int d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles] - unsigned long int d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s] - unsigned long int d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s] + unsigned long int d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles] + unsigned long int d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles] + unsigned long int d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles] + unsigned long int d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles] + unsigned long int d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s] + unsigned long int d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s] - // Almanac - double d_Toa; //!< Almanac reference time [s] - int i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced - std::map almanacHealth; //!< Map that stores the health information stored in the almanac + // Almanac + double d_Toa; //!< Almanac reference time [s] + int i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced + std::map almanacHealth; //!< Map that stores the health information stored in the almanac - std::map satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus + std::map satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus // Flags @@ -187,40 +186,40 @@ public: * accompanying alert, is less than 1E-8 per hour. */ 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_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 //double d_master_clock; // GPS transmission time - double d_satClkCorr; // GPS clock error - double d_dtr; // relativistic clock correction term + double d_satClkCorr; // GPS clock error + double d_dtr; // relativistic clock correction term double d_satClkDrift; // 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). + 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 identification info int i_channel_ID; unsigned int i_satellite_PRN; // time synchro - double d_subframe_timestamp_ms; //[ms] + double d_subframe_timestamp_ms; //[ms] // 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] + 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] // UTC parameters - double d_A1UTC; //!< 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_A0UTC; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s] + double d_A1UTC; //!< 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_A0UTC; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s] 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] @@ -242,13 +241,13 @@ public: double d_OMEGA_DOT_ALMANAC; double d_OMEGA_ALMANAC; double d_M0_ALMANAC; - int almanac_WN; + int almanac_WN; double d_toa2; // 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] + 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] // public functions @@ -273,12 +272,12 @@ public: /*! * \brief Decodes the BDS D1 NAV message */ - int d1_subframe_decoder(std::string const &subframe); + int d1_subframe_decoder(std::string const& subframe); /*! * \brief Decodes the BDS D2 NAV message */ - int d2_subframe_decoder(std::string const &subframe); + int d2_subframe_decoder(std::string const& subframe); /*! * \brief Computes the position of the satellite diff --git a/src/core/system_parameters/beidou_dnav_utc_model.cc b/src/core/system_parameters/beidou_dnav_utc_model.cc index 6ba96238d..e56d2c1b8 100644 --- a/src/core/system_parameters/beidou_dnav_utc_model.cc +++ b/src/core/system_parameters/beidou_dnav_utc_model.cc @@ -49,4 +49,3 @@ Beidou_Dnav_Utc_Model::Beidou_Dnav_Utc_Model() d_A0_GLO = 0; d_A1_GLO = 0; } - diff --git a/src/core/system_parameters/beidou_dnav_utc_model.h b/src/core/system_parameters/beidou_dnav_utc_model.h index 11f456beb..cb2073f1a 100644 --- a/src/core/system_parameters/beidou_dnav_utc_model.h +++ b/src/core/system_parameters/beidou_dnav_utc_model.h @@ -48,24 +48,24 @@ public: bool valid; // BeiDou UTC parameters - double d_A0_UTC; //!< BDT clock bias relative to UTC [s] - double d_A1_UTC; //!< BDT clock rate relative to UTC [s/s] + double d_A0_UTC; //!< BDT clock bias relative to UTC [s] + double d_A1_UTC; //!< BDT clock rate relative to UTC [s/s] double d_DeltaT_LS; //!< Delta time due to leap seconds before the new leap second effective int i_WN_LSF; //!< Week number of the new leap second int i_DN; //!< Day number of week of the new leap second double d_DeltaT_LSF; //!< Delta time due to leap seconds after the new leap second effective [s] // BeiDou to GPS time corrections - double d_A0_GPS; //!< BDT clock bias relative to GPS time [s] - double d_A1_GPS; //!< BDT clock rate relative to GPS time [s/s] + double d_A0_GPS; //!< BDT clock bias relative to GPS time [s] + double d_A1_GPS; //!< BDT clock rate relative to GPS time [s/s] // BeiDou to Galileo time corrections - double d_A0_GAL; //!< BDT clock bias relative to GAL time [s] - double d_A1_GAL; //!< BDT clock rate relative to GAL time [s/s] + double d_A0_GAL; //!< BDT clock bias relative to GAL time [s] + double d_A1_GAL; //!< BDT clock rate relative to GAL time [s/s] // BeiDou to GLONASS time corrections - double d_A0_GLO; //!< BDT clock bias relative to GLO time [s] - double d_A1_GLO; //!< BDT clock rate relative to GLO time [s/s] + double d_A0_GLO; //!< BDT clock bias relative to GLO time [s] + double d_A1_GLO; //!< BDT clock rate relative to GLO time [s/s] Beidou_Dnav_Utc_Model(); @@ -93,7 +93,6 @@ public: archive& make_nvp("d_A0_GPS", d_A0_GLO); archive& make_nvp("d_A0_GPS", d_A1_GLO); } - }; #endif diff --git a/src/core/system_parameters/gnss_satellite.cc b/src/core/system_parameters/gnss_satellite.cc index 8cb560819..6ff824868 100644 --- a/src/core/system_parameters/gnss_satellite.cc +++ b/src/core/system_parameters/gnss_satellite.cc @@ -616,55 +616,55 @@ std::string Gnss_Satellite::what_block(const std::string& system_, uint32_t PRN_ block_ = std::string("Unknown(Simulated)"); } } - if (system_.compare("Beidou") == 0) + if (system_ == "Beidou") { // Check https://en.wikipedia.org/wiki/List_of_BeiDou_satellites - switch ( PRN_ ) - { - case 19: - block_ = std::string("BEIDOU-3 M1"); //! -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "Beidou_B1I.h" +#include "acquisition_dump_reader.h" +#include "beidou_b1i_pcps_acquisition.h" #include "gnss_block_factory.h" #include "gnss_block_interface.h" -#include "in_memory_configuration.h" #include "gnss_sdr_valve.h" #include "gnss_synchro.h" #include "gnuplot_i.h" +#include "in_memory_configuration.h" #include "test_flags.h" -#include "acquisition_dump_reader.h" -#include "beidou_b1i_pcps_acquisition.h" -#include "../../../../core/system_parameters/Beidou_B1I.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include // ######## GNURADIO BLOCK MESSAGE RECEVER ######### diff --git a/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc b/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc index 344d1c1bc..dd1020249 100644 --- a/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc @@ -31,7 +31,6 @@ #include "file_signal_source.h" #include "in_memory_configuration.h" -#include #include #include #include diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc index ffaeffc76..fc7b028fe 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc @@ -70,7 +70,7 @@ #define FIVE_SECONDS 5000000 // five seconds in microseconds void send_tracking_gps_input_samples(FILE *rx_signal_file, - int num_remaining_samples, const gr::top_block_sptr& top_block) + int num_remaining_samples, const gr::top_block_sptr &top_block) { int num_samples_transferred = 0; // number of samples that have been transferred to the DMA so far static int flowgraph_stopped = 0; // flag to indicate if the flowgraph is stopped already diff --git a/src/utils/matlab/dll_pll_veml_plot_sample.m b/src/utils/matlab/dll_pll_veml_plot_sample.m index 084ad56b6..011044a9f 100644 --- a/src/utils/matlab/dll_pll_veml_plot_sample.m +++ b/src/utils/matlab/dll_pll_veml_plot_sample.m @@ -34,15 +34,15 @@ if ~exist('dll_pll_veml_read_tracking_dump.m', 'file') addpath('./libs') end -samplingFreq = 25000000; %[Hz] -coherent_integration_time_ms = 1; %[ms] -channels = 10; % Number of channels +samplingFreq = 5000000; %[Hz] +coherent_integration_time_ms = 20; %[ms] +channels = 5; % Number of channels first_channel = 0; % Number of the first channel -path = '/home/dmiralles/Documents/gnss-sdr/';%#'; %% CHANGE THIS PATH +path = '/dump_dir/'; %% CHANGE THIS PATH for N=1:1:channels - tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch_ BY YOUR dump_filename + tracking_log_path = [path 'track_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch_ BY YOUR dump_filename GNSS_tracking(N) = dll_pll_veml_read_tracking_dump(tracking_log_path); end diff --git a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m index f78151a36..e2f1f544b 100644 --- a/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m +++ b/src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m @@ -38,7 +38,7 @@ samplingFreq = 6625000; %[Hz] channels = 5; first_channel = 0; -path = '/home/sergi/gnss/gnss-sdr/install/'; %% CHANGE THIS PATH +path = '/archive/'; %% CHANGE THIS PATH for N=1:1:channels tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename @@ -65,7 +65,7 @@ for N=1:1:channels trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E)); trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E)); trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.'; - + % Use original MATLAB tracking plot function settings.numberOfChannels = channels; settings.msToProcess = length(GNSS_tracking(N).E); diff --git a/src/utils/matlab/hybrid_observables_plot_sample.m b/src/utils/matlab/hybrid_observables_plot_sample.m index 2a8a784e5..9105c5bbd 100644 --- a/src/utils/matlab/hybrid_observables_plot_sample.m +++ b/src/utils/matlab/hybrid_observables_plot_sample.m @@ -29,10 +29,10 @@ clearvars; close all; addpath('./libs'); -samplingFreq = 25000000; %[Hz] -channels=10; -path='/home/dmiralles/Documents/gnss-sdr/'; -observables_log_path=[path 'observables.dat']; +samplingFreq = 6625000; %[Hz] +channels=5; +path='/archive/'; +observables_log_path=[path 'glo_observables.dat']; GNSS_observables= 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