mirror of https://github.com/gnss-sdr/gnss-sdr
Improvements in the decodification of NAV message; Some advances in the implementation of a RINEX printer (remains deactivated)
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@105 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
fc4d8cc7bf
commit
ca5463e2d8
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@ -7,7 +7,7 @@ lib gnuradio-core ;
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project : requirements
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<define>OMNITHREAD_POSIX
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<cxxflags>"-std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free"
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<linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -llapack -lblas -lprofiler -ltcmalloc"
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<linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -llapack -lblas -lprofiler -ltcmalloc"
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<include>src/algorithms/acquisition/adapters
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<include>src/algorithms/acquisition/gnuradio_blocks
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<include>src/algorithms/channel/adapters
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@ -1,60 +1,269 @@
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/*!
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* \file rinex_2_1_printer.cc (temporal name)
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* \brief Implementation of a RINEX 3.01 printer
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* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
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* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "rinex_2_1_printer.h"
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#include <map>
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#include <ostream>
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#include <fstream>
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#include <stdlib.h> // for getenv()
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#include "boost/date_time/time_zone_base.hpp"
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#include "boost/date_time/gregorian/gregorian.hpp"
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#include "boost/date_time/local_time/local_time.hpp"
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#include "boost/date_time/posix_time/posix_time.hpp"
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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#include <gflags/gflags.h>
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void rinex_printer::set_headers(std::string file_name)
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using google::LogMessage;
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rinex_printer::rinex_printer()
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{
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correccio_primera_obs=1;
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fp_rin = fopen((file_name+".09o").c_str(),"wt");
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fp_rin_end = ftell(fp_rin);
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fp_rin2 = fopen((file_name+".09n").c_str(),"wt");
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fp_rin_end2 = ftell(fp_rin2);
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// write RINEX headers
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Rinex2ObsHeader();
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Rinex2NavHeader();
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rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"));
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rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"));
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rinex_printer::Rinex2NavHeader(rinex_printer::navFile);
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}
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rinex_printer::rinex_printer ()
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rinex_printer::~rinex_printer()
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{
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// close RINEX files
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rinex_printer::navFile.close();
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rinex_printer::obsFile.close();
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}
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rinex_printer::~rinex_printer ()
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void rinex_printer::lengthCheck(std::string line)
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{
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fclose(fp_rin);
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fclose(fp_rin2);
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if (line.length() != 80)
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{
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LOG_AT_LEVEL(ERROR) << "Bad defined RINEX line: "
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<< line.length() << " characters (must be 80)"<< std::endl
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<< line << std::endl
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<< "----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|"<< std::endl;
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}
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}
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void rinex_printer::Rinex2NavHeader()
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std::string rinex_printer::createFilename(std::string type){
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const std::string stationName = "GSDR"; // 4-character station name designator
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boost::gregorian::date today = boost::gregorian::day_clock::local_day();
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const int dayOfTheYear = today.day_of_year();
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std::stringstream strm0;
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if (dayOfTheYear<100) strm0 << "0"; // three digits for day of the year
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if (dayOfTheYear<10) strm0 << "0"; // three digits for day of the year
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strm0 << dayOfTheYear;
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std::string dayOfTheYearTag=strm0.str();
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std::map<std::string, std::string> fileType;
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_OBS","O")); // O - Observation file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GPS_NAV","N")); // N - GPS navigation message file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MET","M")); // M - Meteorological data file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GLO_NAV","G")); // G - GLONASS navigation file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GAL_NAV","L")); // L - Galileo navigation message file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MIXED_NAV","P")); // P - Mixed GNSS navigation message file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GEO_NAV","H")); // H - SBAS Payload navigation message file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SBAS","B")); // B - SBAS broadcast data file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_CLK","C")); // C - Clock file.
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fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SUMMARY","S")); // S - Summary file (used e.g., by IGS, not a standard!).
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boost::posix_time::ptime pt=boost::posix_time::second_clock::local_time();
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tm pt_tm=boost::posix_time::to_tm(pt);
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int local_hour=pt_tm.tm_hour;
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std::stringstream strm;
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strm << local_hour;
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std::map<std::string, std::string> Hmap;
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Hmap.insert(std::pair<std::string, std::string>("0","a"));
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Hmap.insert(std::pair<std::string, std::string>("1","b"));
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Hmap.insert(std::pair<std::string, std::string>("2","c"));
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Hmap.insert(std::pair<std::string, std::string>("3","d"));
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Hmap.insert(std::pair<std::string, std::string>("4","e"));
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Hmap.insert(std::pair<std::string, std::string>("5","f"));
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Hmap.insert(std::pair<std::string, std::string>("6","g"));
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Hmap.insert(std::pair<std::string, std::string>("7","h"));
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Hmap.insert(std::pair<std::string, std::string>("8","i"));
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Hmap.insert(std::pair<std::string, std::string>("9","j"));
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Hmap.insert(std::pair<std::string, std::string>("10","k"));
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Hmap.insert(std::pair<std::string, std::string>("11","l"));
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Hmap.insert(std::pair<std::string, std::string>("12","m"));
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Hmap.insert(std::pair<std::string, std::string>("13","n"));
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Hmap.insert(std::pair<std::string, std::string>("14","o"));
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Hmap.insert(std::pair<std::string, std::string>("15","p"));
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Hmap.insert(std::pair<std::string, std::string>("16","q"));
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Hmap.insert(std::pair<std::string, std::string>("17","r"));
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Hmap.insert(std::pair<std::string, std::string>("8","s"));
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Hmap.insert(std::pair<std::string, std::string>("19","t"));
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Hmap.insert(std::pair<std::string, std::string>("20","u"));
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Hmap.insert(std::pair<std::string, std::string>("21","v"));
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Hmap.insert(std::pair<std::string, std::string>("22","w"));
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Hmap.insert(std::pair<std::string, std::string>("23","x"));
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std::string hourTag = Hmap[strm.str()];
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int local_minute=pt_tm.tm_min;
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std::stringstream strm2;
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if (local_minute<10) strm2 << "0"; // at least two digits for minutes
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strm2 << local_minute;
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std::string minTag = strm2.str();
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int local_year=pt_tm.tm_year-100; // 2012 is 112
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std::stringstream strm3;
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strm3 << local_year;
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std::string yearTag = strm3.str();
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std::string typeOfFile=fileType[type];
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std::string filename(stationName +dayOfTheYearTag+ hourTag + minTag + "." + yearTag + typeOfFile);
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return filename;
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}
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std::string rinex_printer::getLocalTime()
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{
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std::string line;
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line +=std::string("GNSS-SDR");
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line +=std::string(12,' ');
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line += rinex_printer::leftJustify("CTTC", 20);//put a flag to let the user change this
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boost::gregorian::date today = boost::gregorian::day_clock::local_day();
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line +=boost::gregorian::to_iso_string(today);
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line +=std::string(1,' ');
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boost::local_time::time_zone_ptr zone(new boost::local_time::posix_time_zone("UTC"));
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boost::local_time::local_date_time pt = boost::local_time::local_sec_clock::local_time(zone);
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tm pt_tm=boost::local_time::to_tm(pt);
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std::stringstream strm0;
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int utc_hour=pt_tm.tm_hour;
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if (utc_hour<10) strm0 << "0"; // two digits for hours
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strm0 << utc_hour;
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line += strm0.str();
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std::stringstream strm1;
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int utc_minute=pt_tm.tm_min;
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if (utc_minute<10) strm1 << "0"; // two digits for minutes
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strm1 << utc_minute;
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line += strm1.str();
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std::stringstream strm2;
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int utc_seconds=pt_tm.tm_sec;
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if (utc_seconds<10) strm2 << "0"; // two digits for seconds
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strm2 << utc_seconds;
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line += strm2.str();
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line +=std::string(1,' ');
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line +=std::string("UTC");
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line +=std::string(1,' ');
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return line;
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}
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void rinex_printer::Rinex2NavHeader(std::ofstream& out)
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{
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if(fp_rin2 != NULL)
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{
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//calculate UTC_TIME
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time_t tiempo;
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char cad[80];
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struct tm *tmPtr;
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tiempo = time(NULL);
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tmPtr = gmtime(&tiempo);
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strftime( cad, 20, "%d-%b-%y %H:%M", tmPtr );
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std::string line;
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fseek(fp_rin2, fp_rin_end2, SEEK_SET);
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//fprintf(fp_rin2,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n");
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fprintf(fp_rin2," 2.10 NAVIGATION DATA RINEX VERSION / TYPE\n");
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fprintf(fp_rin2,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad);
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//fprintf(fp_rin2,"CTTC MARKER NAME\n");
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//fprintf(fp_rin2,"0000 MARKERNUMBER\n");
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fp_rin_end2 = ftell(fp_rin2);
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correccio_primera_obs=1;
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}
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// -------- Line 1
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std::string version="3.01";
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line = std::string(5,' ');
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line += version;
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line +=std::string(11,' ');
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line +=std::string("N: GNSS NAV DATA");
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line +=std::string(4,' ');
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//! \todo Add here other systems...
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line +=std::string("G: GPS");
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line +=std::string(14,' ');
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// ...
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line +=std::string("RINEX VERSION / TYPE");
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rinex_printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line 2
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line.clear();
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line +=rinex_printer::getLocalTime();
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line +=std::string("PGM / RUN BY / DATE");
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line +=std::string(1,' ');
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rinex_printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line 3
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line.clear();
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line += rinex_printer::leftJustify("GPS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR",60);
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line += rinex_printer::leftJustify("COMMENT",20);
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rinex_printer::lengthCheck(line);
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out << line << std::endl;
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// -------- Line 4 ionospheric info
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line.clear();
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line +=std::string("GPSA");
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line +=std::string(4,' ');
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// IONOSPHERIC INFORMATION
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// For leap second information, see See http://www.endruntechnologies.com/leap.htm
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line.clear();
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line +=std::string(4,' ');
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line +=std::string("15"); // Page 18 of subframe 4 Delta_T_LSF
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line +=std::string(54,' ');
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line +=std::string("LEAP SECONDS");
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line +=std::string(8,' ');
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rinex_printer::lengthCheck(line);
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out << line << std::endl;
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// -------- End of Header
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line.clear();
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line +=std::string(60,' ');
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line += rinex_printer::leftJustify("END OF HEADER",20);
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rinex_printer::lengthCheck(line);
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out << line << std::endl;
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}
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void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
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/*
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if(fp_rin2 != NULL)
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{
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//double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec;
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@ -85,9 +294,9 @@ void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
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fseek(fp_rin2, fp_rin_end2, SEEK_SET);
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char correction[256],correction2[256];
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double A0,A1;
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/* 8.3819D-09 -7.4506D-09 -5.9605D-08 5.9605D-08 ION ALPHA
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8.8 064D+04 -3.2768D+04 -1.9661D+05 1.9661D+05 ION BETA
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5. 587935447693D-09 8.881784197001D-15 233472 1518 DELTA-UTC: A0,A1,T,W*/
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// 8.3819D-09 -7.4506D-09 -5.9605D-08 5.9605D-08 ION ALPHA
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//8.8 064D+04 -3.2768D+04 -1.9661D+05 1.9661D+05 ION BETA
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// 5. 587935447693D-09 8.881784197001D-15 233472 1518 DELTA-UTC: A0,A1,T,W
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A0=587.935447693E-09;
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A1=8.881784197001E-15;
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sprintf(correction,"%19.12E",A0);
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@ -149,52 +358,135 @@ void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
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fprintf(fp_rin2," %s\n",linia7);
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fp_rin_end2 = ftell(fp_rin2);
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}
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}*/
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}
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void rinex_printer::Rinex2ObsHeader()
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void rinex_printer::Rinex2ObsHeader(std::ofstream& out)
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{
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//Clock_S *pClock = &tNav.master_clock; /* Clock solution */
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if(fp_rin != NULL)
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{
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//calculate UTC_TIME
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time_t tiempo;
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char cad[80];
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struct tm *tmPtr;
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tiempo = time(NULL);
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tmPtr = gmtime(&tiempo);
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strftime( cad, 24, "%d/%m/%Y %H:%M:%S", tmPtr );
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std::map<std::string, std::string> satelliteSystem;
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satelliteSystem.insert(std::pair<std::string, std::string>("GPS","G"));
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satelliteSystem.insert(std::pair<std::string, std::string>("GLONASS","R"));
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satelliteSystem.insert(std::pair<std::string, std::string>("Galileo","E"));
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satelliteSystem.insert(std::pair<std::string, std::string>("SBAS payload","S"));
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satelliteSystem.insert(std::pair<std::string, std::string>("Mixed","M"));
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satelliteSystem.insert(std::pair<std::string, std::string>("Compass","C"));
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fseek(fp_rin, fp_rin_end, SEEK_SET);
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//fprintf(fp_rin,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n");
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fprintf(fp_rin," 2.10 Observation G (GPS) RINEX VERSION / TYPE\n");
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fprintf(fp_rin,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad);
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fprintf(fp_rin,"CTTC MARKER NAME\n");
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//fprintf(fp_rin,"0000 MARKERNUMBER\n");
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std::string line;
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fprintf(fp_rin,"JAVIER ARRIBAS CTTC OBSERVER / AGENCY\n");
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fprintf(fp_rin,"GNSS-SDR-mercurio SDR 1.0 REC # / TYPE / VERS\n");
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fprintf(fp_rin,"0000000000 CTTC00000.00 ANT # / TYPE\n");
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fprintf(fp_rin," 4797642.2790 166436.1500 4185504.6370 APPROX POSITION XYZ\n");
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fprintf(fp_rin," 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N\n");
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fprintf(fp_rin," 1 0 WAVELENGTH FACT L1/2\n");
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fprintf(fp_rin," 2 C1 L1 # / TYPES OF OBSERV\n");
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// -------- Line 1
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||||
std::string version="3.01";
|
||||
line = std::string(5,' ');
|
||||
line += version;
|
||||
line +=std::string(11,' ');
|
||||
line += rinex_printer::leftJustify("OBSERVATION DATA",20);
|
||||
line +=satelliteSystem["GPS"];
|
||||
line +=std::string(19,' ');
|
||||
line +=std::string("RINEX VERSION / TYPE");
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
fprintf(fp_rin," 0.1000 INTERVAL\n");
|
||||
//INTRODUIR HORA PRIMERA OBSERVACIO
|
||||
//ho escriure un cop hagi adquirit dades
|
||||
//fprintf(fp_rin," 2001 3 24 13 10 36.0000000 TIME OF FIRST OBS\n");
|
||||
//fprintf(fp_rin," END OF HEADER\n");
|
||||
fp_rin_end = ftell(fp_rin);
|
||||
temps_primera_obs=1;
|
||||
}
|
||||
// -------- Line 2
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED",60);
|
||||
line += rinex_printer::leftJustify("COMMENT",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- Line 3
|
||||
line.clear();
|
||||
line += rinex_printer::getLocalTime();
|
||||
line +=std::string("PGM / RUN BY / DATE");
|
||||
line +=std::string(1,' ');
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- Line 4
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("GPS OBSERVATION DATA FILE GENERATED BY GNSS-SDR",60);
|
||||
line += rinex_printer::leftJustify("COMMENT",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
// -------- Line 5
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("DEFAULT MARKER NAME",60); // put a flag or a property,
|
||||
line += rinex_printer::leftJustify("MARKER NAME",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("GROUND_CRAFT",20); // put a flag or a property
|
||||
line +=std::string(40,' ');
|
||||
line += rinex_printer::leftJustify("MARKER TYPE",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
|
||||
// -------- Line 6
|
||||
line.clear();
|
||||
std::string username=getenv("USER");
|
||||
line += leftJustify(username,20);
|
||||
line += rinex_printer::leftJustify("CTTC",40); // add flag and property
|
||||
line += rinex_printer::leftJustify("OBSERVER / AGENCY",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
|
||||
|
||||
// -------- Line 6 REC / TYPE VERS
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("GNSS-SDR",20); // add flag and property
|
||||
line += rinex_printer::leftJustify("Software Receiver",20); // add flag and property
|
||||
line += rinex_printer::leftJustify(google::VersionString(),20); // add flag and property
|
||||
line += rinex_printer::leftJustify("REC # / TYPE / VERS",20);
|
||||
lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- ANTENNA TYPE
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("Antenna number",20); // add flag and property
|
||||
line += rinex_printer::leftJustify("Antenna type",20); // add flag and property
|
||||
line +=std::string(20,' ');
|
||||
line += rinex_printer::leftJustify("ANT # / TYPE",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- APPROX POSITION (optional for moving platforms)
|
||||
|
||||
|
||||
// -------- ANTENNA: DELTA H/E/N
|
||||
|
||||
|
||||
// -------- SYS / OBS TYPES
|
||||
|
||||
// -------- Signal Strength units
|
||||
line.clear();
|
||||
line += rinex_printer::leftJustify("DBHZ",20);
|
||||
line +=std::string(40,' ');
|
||||
line += rinex_printer::leftJustify("SIGNAL STRENGTH UNIT",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
|
||||
// -------- TIME OF FIRST OBS
|
||||
|
||||
|
||||
// -------- SYS /PHASE SHIFTS
|
||||
|
||||
|
||||
// -------- end of header
|
||||
line.clear();
|
||||
line +=std::string(60,' ');
|
||||
line += rinex_printer::leftJustify("END OF HEADER",20);
|
||||
rinex_printer::lengthCheck(line);
|
||||
out << line << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void rinex_printer::LogRinex2Obs(gps_navigation_message nav_msg,double pseudoranges_clock, std::map<int,float> pseudoranges)
|
||||
{
|
||||
int ss;
|
||||
/* int ss;
|
||||
char sat_vis[36];
|
||||
for(int i=0;i<36;i++) sat_vis[i]=' ';
|
||||
char packet[80];
|
||||
|
|
@ -294,21 +586,221 @@ void rinex_printer::LogRinex2Obs(gps_navigation_message nav_msg,double pseudoran
|
|||
fprintf(fp_rin,"%14.3f %14.3f %d\n",pseudoranges_iter->second,0.0,ss); //TODO: include the carrier phase
|
||||
fp_rin_end = ftell(fp_rin);
|
||||
}
|
||||
}
|
||||
}*/
|
||||
|
||||
}
|
||||
|
||||
int rinex_printer::signalstrength( double snr)
|
||||
|
||||
|
||||
|
||||
|
||||
int rinex_printer::signalStrength(double snr)
|
||||
{
|
||||
int ss;
|
||||
if(snr<=12.00) ss=1;
|
||||
else if(snr>12.00 && snr<=18.00) ss=2;
|
||||
else if(snr>18.00 && snr<=24.00) ss=3;
|
||||
else if(snr>24.00 && snr<=30.00) ss=4;
|
||||
else if(snr>30.00 && snr<=36.00) ss=5;
|
||||
else if(snr>36.00 && snr<=42.00) ss=6;
|
||||
else if(snr>42.00 && snr<=48.00) ss=7;
|
||||
else if(snr>48.00 && snr<=54) ss=8;
|
||||
else if(snr>=54.00) ss=9;
|
||||
return (ss);
|
||||
int ss;
|
||||
if(snr<12.00) ss=1;
|
||||
else if(snr>=12.00 && snr<18.00) ss=2;
|
||||
else if(snr>=18.00 && snr<24.00) ss=3;
|
||||
else if(snr>=24.00 && snr<30.00) ss=4;
|
||||
else if(snr>=30.00 && snr<36.00) ss=5;
|
||||
else if(snr>=36.00 && snr<42.00) ss=6;
|
||||
else if(snr>=42.00 && snr<48.00) ss=7;
|
||||
else if(snr>=48.00 && snr<54) ss=8;
|
||||
else if(snr>=54.00) ss=9;
|
||||
return (ss);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
|
||||
|
||||
|
||||
|
||||
enum RINEX_enumObservationType
|
||||
{
|
||||
RINEX_OBS_TYPE_PSEUDORANGE = 'C', //!< 'C' Pseudorange observation
|
||||
RINEX_OBS_TYPE_CARRIER_PHASE = 'L', //!< 'L' Carrier Phase observation
|
||||
RINEX_OBS_TYPE_DOPPLER = 'D', //!< 'L' Doppler observation
|
||||
RINEX_OBS_TYPE_SIGNAL_STRENGTH = 'S' //!< 'S' Signal strength observation
|
||||
} ;
|
||||
|
||||
enum RINEX_enumBand
|
||||
{
|
||||
RINEX_BAND_1 = 1,
|
||||
RINEX_BAND_2 = 2,
|
||||
RINEX_BAND_3 = 3,
|
||||
RINEX_BAND_4 = 4,
|
||||
RINEX_BAND_5 = 5,
|
||||
RINEX_BAND_6 = 6,
|
||||
RINEX_BAND_7 = 7,
|
||||
RINEX_BAND_8 = 8
|
||||
};
|
||||
|
||||
|
||||
enum RINEX_enumChannel
|
||||
{
|
||||
RINEX_GPS_L1_CA = "1C", //!< "1C" GPS L1 C/A
|
||||
RINEX_GPS_L1_P = "1P", //!< "1P" GPS L1 P
|
||||
RINEX_GPS_L1_Z_TRACKING = "1W", //!< "1W" GPS L1 Z-tracking and similar (AS on)
|
||||
RINEX_GPS_L1_Y = "1Y", //!< "1Y" GPS L1 Y
|
||||
RINEX_GPS_L1_M = "1M", //!< "1M" GPS L1 M
|
||||
RINEX_GPS_L1_CODELESS = "1N", //!< "1N" GPS L1 codeless
|
||||
RINEX_GPS_L2_CA = "2C", //!< "2C" GPS L2 C/A
|
||||
RINEX_GPS_L2_SEMI_CODELESS = "2D", //!< "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
|
||||
RINEX_GPS_L2_L2CM = "2S", //!< "2S" GPS L2 L2C (M)
|
||||
RINEX_GPS_L2_L2CL = "2L", //!< "2L" GPS L2 L2C (L)
|
||||
RINEX_GPS_L2_L2CML = "2X", //!< "2X" GPS L2 L2C (M+L)
|
||||
RINEX_GPS_L2_P = "2P", //!< "2P" GPS L2 P
|
||||
RINEX_GPS_L2_Z_TRACKING = "2W", //!< "2W" GPS L2 Z-tracking and similar (AS on)
|
||||
RINEX_GPS_L2_Y = "2Y", //!< "2Y" GPS L2 Y
|
||||
RINEX_GPS_L2_M = "2M", //!< "2M" GPS GPS L2 M
|
||||
RINEX_GPS_L2_codeless = "2N", //!< "2N" GPS L2 codeless
|
||||
RINEX_GPS_L5_I = "5I", //!< "5I" GPS L5 I
|
||||
RINEX_GPS_L5_Q = "5Q", //!< "5Q" GPS L5 Q
|
||||
RINEX_GPS_L5_IQ = "5X", //!< "5X" GPS L5 I+Q
|
||||
RINEX_GLONASS_G1_CA = "1C", //!< "1C" GLONASS G1 C/A
|
||||
RINEX_GLONASS_G1_P= "1P", //!< "1P" GLONASS G1 P
|
||||
RINEX_GLONASS_G2_CA= "2C", //!< "2C" GLONASS G2 C/A (Glonass M)
|
||||
RINEX_GLONASS_G2_P= "2P", //!< "2P" GLONASS G2 P
|
||||
RINEX_GALILEO_E1_A= "1A", //!< "1A" GALILEO E1 A (PRS)
|
||||
RINEX_GALILEO_E1_B= "1B", //!< "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
|
||||
RINEX_GALILEO_E1_C= "1C", //!< "1C" GALILEO E1 C (no data)
|
||||
RINEX_GALILEO_E1_BC= "1X", //!< "1X" GALILEO E1 B+C
|
||||
RINEX_GALILEO_E1_ABC= "1Z", //!< "1Z" GALILEO E1 A+B+C
|
||||
RINEX_GALILEO_E5a_I= "5I", //!< "5I" GALILEO E5a I (F/NAV OS)
|
||||
RINEX_GALILEO_E5a_Q= "5Q", //!< "5Q" GALILEO E5a Q (no data)
|
||||
RINEX_GALILEO_E5aIQ= "5X", //!< "5X" GALILEO E5a I+Q
|
||||
RINEX_GALILEO_E5b_I= "7I", //!< "7I" GALILEO E5b I
|
||||
RINEX_GALILEO_E5b_Q= "7Q", //!< "7Q" GALILEO E5b Q
|
||||
RINEX_GALILEO_E5b_IQ= "7X", //!< "7X" GALILEO E5b I+Q
|
||||
RINEX_GALILEO_E5_I= "8I", //!< "8I" GALILEO E5 I
|
||||
RINEX_GALILEO_E5_Q= "8Q", //!< "8Q" GALILEO E5 Q
|
||||
RINEX_GALILEO_E5_IQ= "8X", //!< "8X" GALILEO E5 I+Q
|
||||
RINEX_GALILEO_E56_A= "6A", //!< "6A" GALILEO E6 A
|
||||
RINEX_GALILEO_E56_B = "6B", //!< "6B" GALILEO E6 B
|
||||
RINEX_GALILEO_E56_B = "6C", //!< "6C" GALILEO E6 C
|
||||
RINEX_GALILEO_E56_BC = "6X", //!< "6X" GALILEO E6 B+C
|
||||
RINEX_GALILEO_E56_ABC = "6Z", //!< "6Z" GALILEO E6 A+B+C
|
||||
RINEX_SBAS_L1_CA = "1C", //!< "1C" SBAS L1 C/A
|
||||
RINEX_SBAS_L5_I = "5I", //!< "5I" SBAS L5 I
|
||||
RINEX_SBAS_L5_Q = "5Q", //!< "5Q" SBAS L5 Q
|
||||
RINEX_SBAS_L5_IQ = "5X" //!< "5X" SBAS L5 I+Q
|
||||
} ;
|
||||
|
||||
enum RINEX_enumMarkerType {
|
||||
GEODETIC, //!< GEODETIC Earth-fixed, high-precision monumentation
|
||||
NON_GEODETIC, //!< NON_GEODETIC Earth-fixed, low-precision monumentation
|
||||
SPACEBORNE, //!< SPACEBORNE Orbiting space vehicle
|
||||
AIRBORNE , //!< AIRBORNE Aircraft, balloon, etc.
|
||||
WATER_CRAFT, //!< WATER_CRAFT Mobile water craft
|
||||
GROUND_CRAFT, //!< GROUND_CRAFT Mobile terrestrial vehicle
|
||||
FIXED_BUOY, //!< FIXED_BUOY "Fixed" on water surface
|
||||
FLOATING_BUOY, //!< FLOATING_BUOY Floating on water surface
|
||||
FLOATING_ICE, //!< FLOATING_ICE Floating ice sheet, etc.
|
||||
GLACIER, //!< GLACIER "Fixed" on a glacier
|
||||
BALLISTIC, //!< BALLISTIC Rockets, shells, etc
|
||||
ANIMAL, //!< ANIMAL Animal carrying a receiver
|
||||
HUMAN //!< HUMAN Human being
|
||||
};
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*
|
||||
|
||||
|
||||
/ ** @name Rinex3ObsHeaderValues
|
||||
* /
|
||||
//@{
|
||||
double version; ///< RINEX 3 version/type
|
||||
std::string fileType, ///< RINEX 3 file type
|
||||
satSys; ///< RINEX 3 satellite system
|
||||
std::string system; ///< RINEX satellite system (enum)
|
||||
std::string fileProgram, ///< program used to generate file
|
||||
fileAgency, ///< who ran program
|
||||
date; ///< when program was run
|
||||
std::vector<std::string> commentList; ///< comments in header (optional)
|
||||
std::string markerName, ///< MARKER NAME
|
||||
markerNumber, ///< MARKER NUMBER (optional)
|
||||
markerType; ///< MARKER TYPE
|
||||
std::string observer, ///< who collected the data
|
||||
agency; ///< observer's agency
|
||||
std::string recNo, ///< receiver number
|
||||
recType, ///< receiver type
|
||||
recVers; ///< receiver version
|
||||
std::string antNo, ///< antenna number
|
||||
antType; ///< antenna type
|
||||
std::vector<double> antennaPosition, ///< APPROX POSITION XYZ (optional if moving)
|
||||
antennaDeltaHEN, ///< ANTENNA: DELTA H/E/N
|
||||
antennaDeltaXYZ; ///< ANTENNA: DELTA X/Y/Z (optional)
|
||||
std::string antennaSatSys, ///< ANTENNA P.CTR BLOCK: SAT SYS (optional)
|
||||
antennaObsCode; ///< ANTENNA P.CTR BLOCK: OBS CODE (optional)
|
||||
std::vector<double> antennaPhaseCtr; ///< ANTENNA P.CTR BLOCK: PCTR POS (optional)
|
||||
std::vector<double> antennaBsightXYZ; ///< ANTENNA B.SIGHT XYZ (optional)
|
||||
double antennaZeroDirAzi; ///< ANTENNA ZERODIR AZI (optional)
|
||||
std::vector<double> antennaZeroDirXYZ; ///< ANTENNA ZERODIR XYZ (optional)
|
||||
std::vector<double> centerOfMass; ///< vehicle CENTER OF MASS: XYZ (optional)
|
||||
std::vector<std::string> obsTypeList; ///< number & types of observations
|
||||
map<std::string,std::vector<std::string> > mapObsTypes; ///< map for different sat. systems
|
||||
std::string sigStrengthUnit; ///< SIGNAL STRENGTH UNIT (optional)
|
||||
std::vector<double> interval; ///< INTERVAL (optional)
|
||||
boost::gregorian::date firstObs, ///< TIME OF FIRST OBS
|
||||
lastObs; ///< TIME OF LAST OBS (optional)
|
||||
int receiverOffset; ///< RCV CLOCK OFFS APPL (optional)
|
||||
std::vector<std::string> infoDCBS; ///< DCBS INFO (optional)
|
||||
std::vector<std::string> infoPCVS; ///< PCVS INFO (optional)
|
||||
int factor, factorPrev; ///< scale factor (temp holders)
|
||||
int leapSeconds; ///< LEAP SECONDS (optional)
|
||||
short numSVs; ///< # OF SATELLITES (optional)
|
||||
std::map<std::string,vector<int> > numObsForSat; ///< PRN / # OF OBS (optional)
|
||||
unsigned long valid; ///< bits set when header members present & valid
|
||||
std::string satSysTemp, ///< used to save the Sat Sys char while reading Scale Factor lines
|
||||
satSysPrev; ///< used to recall the previous sat. sys for continuation lines
|
||||
int numObs, ///< used to save number of obs on # / TYPES and Sys / SCALE FACTOR continuation lines
|
||||
numObsPrev; ///< used to recall the previous # obs for continuation lines
|
||||
std::string lastPRN; ///< used to save current PRN while reading PRN/OBS continuation lines
|
||||
//@}
|
||||
|
||||
/// Converts the daytime \a dt into a Rinex Obs time string for the header
|
||||
|
||||
std::string writeTime(const boost::gregorian::date& date) const;
|
||||
|
||||
|
||||
|
||||
/// Enum of Time System Correction types.
|
||||
enum
|
||||
{
|
||||
GAUT, /// GAL to UTC using A0, A1
|
||||
GPUT, /// GPS to UTC using A0, A1
|
||||
SBUT, /// SBAS to UTC using A0, A1
|
||||
GLUT, /// GLO to UTC using A0 = TauC , A1 = 0
|
||||
GPGA, /// GPS to GAL using A0 = A0G , A1 = A1G
|
||||
GLGP /// GLO to GPS using A0 = TauGPS, A1 = 0
|
||||
} TimeSysCorrEnum;
|
||||
std::string ionoCorrType;
|
||||
double ionoParam1[4], ionoParam2[4], ionoParamGal[3];
|
||||
long leapSeconds;
|
||||
std::string timeSysCorrType;
|
||||
TimeSysCorrEnum timeSysCorrEnum;
|
||||
double A0, A1;
|
||||
long timeSysRefTime, timeSysRefWeek;
|
||||
std::string timeSysCorrSBAS;
|
||||
long timeSysUTCid;
|
||||
struct TimeSysCorrInfo
|
||||
{
|
||||
std::string timeSysCorrType;
|
||||
double A0, A1;
|
||||
long timeSysRefTime, timeSysRefWeek;
|
||||
std::string timeSysCorrSBAS;
|
||||
long timeSysUTCid;
|
||||
};
|
||||
//@}
|
||||
|
||||
/// Map for Time System Correction info.
|
||||
typedef std::map<TimeSysCorrEnum, TimeSysCorrInfo> TimeSysCorrMap;
|
||||
|
||||
/// Instance of the map.
|
||||
TimeSysCorrMap tscMap; */
|
||||
|
||||
|
|
|
|||
|
|
@ -1,52 +1,168 @@
|
|||
/**
|
||||
* Copyright notice
|
||||
/*!
|
||||
* \file rinex_2_1_printer.h (temporal name)
|
||||
* \brief Interface of a RINEX 3.01 printer
|
||||
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
|
||||
* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/**
|
||||
* Author: Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
|
||||
*/
|
||||
|
||||
#ifndef RINEX_PRINTER_H_
|
||||
#define RINEX_PRINTER_H_
|
||||
#ifndef GNSS_SDR_RINEX_PRINTER_H_
|
||||
#define GNSS_SDR_RINEX_PRINTER_H_
|
||||
|
||||
#include <string>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <math.h>
|
||||
#include <map>
|
||||
#include <algorithm>
|
||||
|
||||
#include <fstream>
|
||||
#include "gps_navigation_message.h"
|
||||
|
||||
/*!
|
||||
* \brief Class that handles the generation of Receiver
|
||||
* INdependent EXchange format (RINEX) files
|
||||
*/
|
||||
class rinex_printer
|
||||
{
|
||||
private:
|
||||
int temps_primera_obs; //per saber si he escrit el temps de la primera observació.
|
||||
int correccio_primera_obs; //per saber si he escrit l correccio de temps de la primera observació.
|
||||
int primeravegada;//per evitar problemes primera pseudodistancia
|
||||
int PERMIS_RINEX; //PER DEIXAR ESCRIURE PER PRIMERA VEGADA AL RINEX
|
||||
std::ofstream navFile ;
|
||||
std::ofstream obsFile ;
|
||||
|
||||
/*!
|
||||
* \brief Creates RINEX file names according to the naming convention
|
||||
*
|
||||
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
|
||||
* Section 4, page 6
|
||||
*
|
||||
* \param[in] type of RINEX file. Can be:
|
||||
* "RINEX_FILE_TYPE_OBS" - Observation file.
|
||||
* "RINEX_FILE_TYPE_GPS_NAV" - GPS navigation message file.
|
||||
* "RINEX_FILE_TYPE_MET" - Meteorological data file.
|
||||
* "RINEX_FILE_TYPE_GLO_NAV" - GLONASS navigation file.
|
||||
* "RINEX_FILE_TYPE_GAL_NAV" - Galileo navigation message file.
|
||||
* "RINEX_FILE_TYPE_MIXED_NAV" - Mixed GNSS navigation message file.
|
||||
* "RINEX_FILE_TYPE_GEO_NAV" - SBAS Payload navigation message file.
|
||||
* "RINEX_FILE_TYPE_SBAS" - SBAS broadcast data file.
|
||||
* "RINEX_FILE_TYPE_CLK" - Clock file.
|
||||
*/
|
||||
std::string createFilename(std::string type);
|
||||
|
||||
/*!
|
||||
* \brief Generates the data for the PGM / RUN BY / DATE line
|
||||
*/
|
||||
std::string getLocalTime();
|
||||
|
||||
/*!
|
||||
* \brief Checks that the line is 80 characters length
|
||||
*/
|
||||
void lengthCheck(std::string line);
|
||||
|
||||
/*!
|
||||
* \brief If the string is bigger than length, truncate it from the right.
|
||||
* otherwise, add pad characters to its right.
|
||||
*
|
||||
* Left-justifies the input in a string of the specified
|
||||
* length. If the new length (\a length) is larger than the
|
||||
* current length, the string is extended by the pad
|
||||
* character (\a pad). The default pad character is a
|
||||
* blank.
|
||||
* \param[in] s string to be modified.
|
||||
* \param[in] length new desired length of string.
|
||||
* \param[in] pad character to pad string with (blank by default).
|
||||
* \return a reference to \a s. */
|
||||
inline std::string& leftJustify(std::string& s,
|
||||
const std::string::size_type length,
|
||||
const char pad = ' ');
|
||||
|
||||
/*!
|
||||
* \brief If the string is bigger than length, truncate it from the right.
|
||||
* otherwise, add pad characters to its right.
|
||||
*
|
||||
* Left-justifies the receiver in a string of the specified
|
||||
* length (const version). If the new length (\a length) is larger
|
||||
* than the current length, the string is extended by the pad
|
||||
* character (\a pad). The default pad character is a
|
||||
* blank.
|
||||
* \param[in] s string to be modified.
|
||||
* \param[in] length new desired length of string.
|
||||
* \param[in] pad character to pad string with (blank by default).
|
||||
* \return a reference to \a s. */
|
||||
inline std::string leftJustify(const std::string& s,
|
||||
const std::string::size_type length,
|
||||
const char pad = ' ')
|
||||
{ std::string t(s); return leftJustify(t, length, pad); }
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Generates the Navigation Data header
|
||||
*/
|
||||
void Rinex2NavHeader(std::ofstream& out);
|
||||
|
||||
/*!
|
||||
* \brief Generates the Observation data header
|
||||
*/
|
||||
void Rinex2ObsHeader(std::ofstream& out);
|
||||
|
||||
/*!
|
||||
* \brief Generation of RINEX signal strength indicators
|
||||
*/
|
||||
int signalStrength(double snr);
|
||||
|
||||
|
||||
FILE *fp_rin; //!< RINEX OBS FILE Output
|
||||
FILE *fp_rin2; //!< RINEX NAV FILE Output
|
||||
unsigned long int fp_rin_end; //!< Hold place of last RINEX OBS FILE pointer, minus the header
|
||||
unsigned long int fp_rin_end2; //!< Hold place of last RINEX NAV FILE pointer, minus the header
|
||||
|
||||
int signalstrength( double snr);
|
||||
void Rinex2ObsHeader();
|
||||
void Rinex2NavHeader();
|
||||
|
||||
public:
|
||||
/*!
|
||||
* \brief Default constructor. Creates GPS Navigation and Observables RINEX files and their headers
|
||||
*/
|
||||
rinex_printer();
|
||||
|
||||
/*!
|
||||
* \brief Default destructor. Closes GPS Navigation and Observables RINEX files
|
||||
*/
|
||||
~rinex_printer();
|
||||
void LogRinex2Nav(gps_navigation_message nav_msg);
|
||||
void LogRinex2Obs(gps_navigation_message nav_msg,double interframe_seconds, std::map<int,float> pseudoranges);
|
||||
|
||||
void set_headers(std::string file_name);
|
||||
void LogRinex2Nav(gps_navigation_message nav_msg);
|
||||
void LogRinex2Obs(gps_navigation_message nav_msg,double interframe_seconds, std::map<int,float> pseudoranges);
|
||||
rinex_printer();
|
||||
~rinex_printer();
|
||||
};
|
||||
|
||||
|
||||
|
||||
// Implementation of inline function
|
||||
|
||||
inline std::string& rinex_printer::leftJustify(std::string& s,
|
||||
const std::string::size_type length,
|
||||
const char pad)
|
||||
{
|
||||
|
||||
if(length < s.length())
|
||||
{
|
||||
s = s.substr(0, length);
|
||||
}
|
||||
else
|
||||
{
|
||||
s.append(length-s.length(), pad);
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -29,32 +29,30 @@
|
|||
*/
|
||||
|
||||
|
||||
#ifndef GPS_DEFINES_H
|
||||
#define GPS_DEFINES_H
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_H_
|
||||
#define GNSS_SDR_GPS_L1_CA_H_
|
||||
|
||||
#define NAVIGATION_SOLUTION_RATE_MS 1000
|
||||
|
||||
// GPS CONSTANTS
|
||||
// JAVI: ADD SYSTEM PREFIX
|
||||
|
||||
|
||||
// SEPARATE FILE GPS.H
|
||||
const float GPS_C_m_s= 299792458.0; // The speed of light, [m/s]
|
||||
const float GPS_C_m_ms= 299792.4580; // The speed of light, [m/ms]
|
||||
const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
|
||||
const float GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
|
||||
|
||||
const float GPS_STARTOFFSET_ms= 68.802; //[ms] Initial sign. travel time
|
||||
const double GPS_PI = 3.1415926535898; // Pi used in the GPS coordinate system
|
||||
const double GPS_PI = 3.1415926535898; //!< Pi used in the GPS coordinate system
|
||||
|
||||
|
||||
// carrier and code frequencies
|
||||
const float GPS_L1_FREQ_HZ = 1.57542e9;
|
||||
const float GPS_L2_FREQ_HZ = 1.22760e9;
|
||||
const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6;
|
||||
const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0;
|
||||
const float GPS_L1_FREQ_HZ = 1.57542e9;
|
||||
const float GPS_L2_FREQ_HZ = 1.22760e9;
|
||||
const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6;
|
||||
const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0;
|
||||
|
||||
|
||||
//-- Constants for satellite position calculation -------------------------
|
||||
const double OMEGA_EARTH_DOT = 7.2921151467e-5; // Earth rotation rate, [rad/s]
|
||||
const double GM = 3.986005e14; // Universal gravitational constant times the mass of the Earth, [m^3/s^2]
|
||||
const double F = -4.442807633e-10; // Constant, [sec/(meter)^(1/2)]
|
||||
const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
|
||||
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
|
||||
const double F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1/2)]
|
||||
|
||||
|
||||
// NAVIGATION MESSAGE DEMODULATION AND DECODING
|
||||
|
|
@ -67,17 +65,19 @@ const double F = -4.442807633e-10; // Constant, [sec/(meter)^(1/2)
|
|||
#define GPS_SUBFRAME_BITS 300
|
||||
#define GPS_WORD_BITS 30
|
||||
/*!
|
||||
* Maximum Time-Of-Arrival (TOA) difference between satellites for a receiveer operated on Earth surface is 20 ms, according to the GPS orbit model descrived in [1] Pag. 32.
|
||||
* It should be taken into account to set the buffer size for the PRN start timestamp in the pseudorranges block.
|
||||
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
|
||||
*
|
||||
* [1] J. Bao-Yen Tsui, Fundamentals of Global Positioning System Receivers. A Software Approach, John Wiley & Sons, Inc., Hoboken, NJ, 2n edition, 2005.
|
||||
* According to the GPS orbit model described in [1] Pag. 32.
|
||||
* It should be taken into account to set the buffer size for the PRN start timestamp in the pseudoranges block.
|
||||
* [1] J. Bao-Yen Tsui, Fundamentals of Global Positioning System Receivers. A Software Approach, John Wiley & Sons,
|
||||
* Inc., Hoboken, NJ, 2nd edition, 2005.
|
||||
*/
|
||||
#define MAX_TOA_DELAY_MS 20
|
||||
const double MAX_TOA_DELAY_MS=20;
|
||||
|
||||
#define num_of_slices(x) sizeof(x)/sizeof(bits_slice)
|
||||
|
||||
/*! @ingroup GPS_DEFINES
|
||||
* @brief Navigation message bits slice structure: A portion of bits is indicated by
|
||||
/*!
|
||||
* \brief Navigation message bits slice structure: A portion of bits is indicated by
|
||||
* the start position inside the subframe and the length in number of bits */
|
||||
typedef struct bits_slice{
|
||||
int position;
|
||||
|
|
@ -90,9 +90,10 @@ typedef struct bits_slice{
|
|||
} bits_slice;
|
||||
|
||||
|
||||
/*! @ingroup GPS_DEFINES
|
||||
* @brief Demodulator gnss_synchro structure, used to feed the pseudorange block */
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Demodulator gnss_synchro structure, used to feed the pseudorange block */
|
||||
typedef struct gnss_synchro
|
||||
{
|
||||
double preamble_delay_ms;
|
||||
|
|
@ -105,9 +106,11 @@ typedef struct gnss_synchro
|
|||
bool flag_preamble;
|
||||
} gnss_synchro;
|
||||
|
||||
/*! @ingroup GPS_DEFINES
|
||||
* @brief Observables structure, used to feed the PVT block */
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Observables structure, used to feed the PVT block */
|
||||
typedef struct gnss_pseudorange
|
||||
{
|
||||
double pseudorange_m;
|
||||
|
|
@ -116,6 +119,10 @@ typedef struct gnss_pseudorange
|
|||
bool valid;
|
||||
} gnss_pseudorange;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/* Constants for scaling the ephemeris found in the data message
|
||||
the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
|
||||
Additionally some of the PI*2^N terms are used in the tracking stuff
|
||||
|
|
@ -125,56 +132,62 @@ typedef struct gnss_pseudorange
|
|||
PI_TWO_PX ==> Pi*2^X
|
||||
ONE_PI_TWO_PX = (1/Pi)*2^X
|
||||
*/
|
||||
#define TWO_P4 (16) //!< 2^4
|
||||
#define TWO_P11 (2048) //!< 2^11
|
||||
#define TWO_P12 (4096) //!< 2^12
|
||||
#define TWO_P14 (16384) //!< 2^14
|
||||
#define TWO_P16 (65536) //!< 2^16
|
||||
#define TWO_P19 (524288) //!< 2^19
|
||||
#define TWO_P31 (2147483648.0) //!< 2^31
|
||||
#define TWO_P32 (4294967296.0) //!< 2^32 this is too big for an int so add the x.0
|
||||
#define TWO_P57 (1.441151880758559e+017) //!< 2^57
|
||||
|
||||
// SEPARATE FILE: CONSTANTS.H
|
||||
#define TWO_N5 (0.03125) //!< 2^-5
|
||||
#define TWO_N11 (4.882812500000000e-004) //!< 2^-11
|
||||
#define TWO_N19 (1.907348632812500e-006) //!< 2^-19
|
||||
#define TWO_N20 (9.536743164062500e-007) //!< 2^-20
|
||||
#define TWO_N21 (4.768371582031250e-007) //!< 2^-21
|
||||
#define TWO_N24 (5.960464477539063e-008) //!< 2^-24
|
||||
#define TWO_N25 (2.980232238769531e-008) //!< 2^-25
|
||||
#define TWO_N27 (7.450580596923828e-009) //!< 2^-27
|
||||
#define TWO_N29 (1.862645149230957e-009) //!< 2^-29
|
||||
#define TWO_N30 (9.313225746154785e-010) //!< 2^-30
|
||||
#define TWO_N31 (4.656612873077393e-010) //!< 2^-31
|
||||
#define TWO_N32 (2.328306436538696e-010) //!< 2^-32
|
||||
#define TWO_N33 (1.164153218269348e-010) //!< 2^-33
|
||||
#define TWO_N38 (3.637978807091713e-012) //!< 2^-38
|
||||
#define TWO_N43 (1.136868377216160e-013) //!< 2^-43
|
||||
#define TWO_N50 (8.881784197001252e-016) //!< 2^-50
|
||||
#define TWO_N55 (2.775557561562891e-017) //!< 2^-55
|
||||
#define TWO_P56 (7.205759403792794e+016) //!< 2^56
|
||||
#define TWO_P57 (1.441151880758559e+017) //!< 2^57
|
||||
|
||||
#define TWO_P4 (16) //!< 2^4
|
||||
#define TWO_P11 (2048) //!< 2^11
|
||||
#define TWO_P12 (4096) //!< 2^12
|
||||
#define TWO_P14 (16384) //!< 2^14
|
||||
#define TWO_P16 (65536) //!< 2^16
|
||||
#define TWO_P19 (524288) //!< 2^19
|
||||
#define TWO_P31 (2147483648.0) //!< 2^31
|
||||
#define TWO_P32 (4294967296.0) //!< 2^32 this is too big for an int so add the x.0
|
||||
#define TWO_P57 (1.441151880758559e+017) //!< 2^57
|
||||
#define PI_TWO_N19 (5.992112452678286e-006) //!< Pi*2^-19
|
||||
#define PI_TWO_N43 (3.571577341960839e-013) //!< Pi*2^-43
|
||||
#define PI_TWO_N31 (1.462918079267160e-009) //!< Pi*2^-31
|
||||
#define PI_TWO_N38 (1.142904749427469e-011) //!< Pi*2^-38
|
||||
#define PI_TWO_N23 (3.745070282923929e-007) //!< Pi*2^-23
|
||||
|
||||
#define TWO_N5 (0.03125) //!< 2^-5
|
||||
#define TWO_N11 (4.882812500000000e-004) //!< 2^-11
|
||||
#define TWO_N19 (1.907348632812500e-006) //!< 2^-19
|
||||
#define TWO_N20 (9.536743164062500e-007) //!< 2^-20
|
||||
#define TWO_N21 (4.768371582031250e-007) //!< 2^-21
|
||||
#define TWO_N24 (5.960464477539063e-008) //!< 2^-24
|
||||
#define TWO_N25 (2.980232238769531e-008) //!< 2^-25
|
||||
#define TWO_N27 (7.450580596923828e-009) //!< 2^-27
|
||||
#define TWO_N29 (1.862645149230957e-009) //!< 2^-29
|
||||
#define TWO_N30 (9.313225746154785e-010) //!< 2^-30
|
||||
#define TWO_N31 (4.656612873077393e-010) //!< 2^-31
|
||||
#define TWO_N32 (2.328306436538696e-010) //!< 2^-32
|
||||
#define TWO_N33 (1.164153218269348e-010) //!< 2^-33
|
||||
#define TWO_N38 (3.637978807091713e-012) //!< 2^-38
|
||||
#define TWO_N43 (1.136868377216160e-013) //!< 2^-43
|
||||
#define TWO_N50 (8.881784197001252e-016) //!< 2^-50
|
||||
#define TWO_N55 (2.775557561562891e-017) //!< 2^-55
|
||||
#define TWO_P56 (7.205759403792794e+016) //!< 2^56
|
||||
#define TWO_P57 (1.441151880758559e+017) //!< 2^57
|
||||
|
||||
#define PI_TWO_N19 (5.992112452678286e-006) //!< Pi*2^-19
|
||||
#define PI_TWO_N43 (3.571577341960839e-013) //!< Pi*2^-43
|
||||
#define PI_TWO_N31 (1.462918079267160e-009) //!< Pi*2^-31
|
||||
#define PI_TWO_N38 (1.142904749427469e-011) //!< Pi*2^-38
|
||||
#define PI_TWO_N23 (3.745070282923929e-007) //!< Pi*2^-23
|
||||
|
||||
// GPS NAVIGATION MESSAGE STRUCTURE
|
||||
// NAVIGATION MESSAGE FIELDS POSITIONS (from GPS SPS Signal specifications)
|
||||
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)
|
||||
|
||||
// SUBFRAME 1-5 (TLM and HOW)
|
||||
const bits_slice SUBFRAME_ID[]= {{50,3}};
|
||||
|
||||
const bits_slice TOW[]= {{31,17}};
|
||||
const bits_slice INTEGRITY_STATUS_FLAG[] = {{23,1}};
|
||||
const bits_slice ALERT_FLAG[] = {{48,1}};
|
||||
const bits_slice ANTI_SPOOFING_FLAG[] = {{49,1}};
|
||||
const bits_slice SUBFRAME_ID[]= {{50,3}};
|
||||
|
||||
|
||||
// SUBFRAME 1
|
||||
const bits_slice GPS_WEEK[]= {{61,10}};
|
||||
const bits_slice CA_OR_P_ON_L2[]= {{71,2}}; //*
|
||||
const bits_slice SV_ACCURACY[]= {{73,4}};
|
||||
const bits_slice SV_HEALTH[]= {{77,6}};
|
||||
const bits_slice L2_P_DATA_FLAG[] = {{91,1}};
|
||||
const bits_slice T_GD[]= {{197,8}};
|
||||
const double T_GD_LSB=TWO_N31;
|
||||
|
||||
|
|
@ -238,7 +251,45 @@ const bits_slice SV_PAGE[]= {{63,6}};
|
|||
|
||||
// SUBFRAME 4
|
||||
|
||||
//! \todo read all pages of subframe 4
|
||||
|
||||
// Page 18 - Ionospheric and UTC data
|
||||
const bits_slice ALPHA_0[]= {{69,8}};
|
||||
const double ALPHA_0_LSB=TWO_N30;
|
||||
const bits_slice ALPHA_1[]= {{77,8}};
|
||||
const double ALPHA_1_LSB=TWO_N27;
|
||||
const bits_slice ALPHA_2[]= {{91,8}};
|
||||
const double ALPHA_2_LSB=TWO_N24;
|
||||
const bits_slice ALPHA_3[]= {{99,8}};
|
||||
const double ALPHA_3_LSB=TWO_N24;
|
||||
const bits_slice BETA_0[]= {{107,8}};
|
||||
const double BETA_0_LSB=TWO_P11;
|
||||
const bits_slice BETA_1[]= {{121,8}};
|
||||
const double BETA_1_LSB=TWO_P14;
|
||||
const bits_slice BETA_2[]= {{129,8}};
|
||||
const double BETA_2_LSB=TWO_P16;
|
||||
const bits_slice BETA_3[]= {{137,8}};
|
||||
const double BETA_3_LSB=TWO_P16;
|
||||
const bits_slice A_1[]= {{151,24}};
|
||||
const double A_1_LSB=TWO_N50;
|
||||
const bits_slice A_0[]= {{181,24},{211,8}};
|
||||
const double A_0_LSB=TWO_N30;
|
||||
const bits_slice T_OT[]= {{219,8}};
|
||||
const double T_OT_LSB=TWO_P12;
|
||||
const bits_slice WN_T[]= {{227,8}};
|
||||
const double WN_T_LSB = 1;
|
||||
const bits_slice DELTAT_LS[]= {{241,8}};
|
||||
const double DELTAT_LS_LSB = 1;
|
||||
const bits_slice WN_LSF[]= {{249,8}};
|
||||
const double WN_LSF_LSB = 1;
|
||||
const bits_slice DN[]= {{257,8}};
|
||||
const double DN_LSB = 1;
|
||||
const bits_slice DELTAT_LSF[]= {{271,8}};
|
||||
const double DELTAT_LSF_LSB = 1;
|
||||
|
||||
|
||||
|
||||
// SUBFRAME 5
|
||||
//! \todo read all pages of subframe 5
|
||||
|
||||
|
||||
#endif /* GPS_DEFINES_H */
|
||||
#endif /* GNSS_SDR_GPS_L1_CA_H_ */
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
/*!
|
||||
* \file gps_navigation_message.cc
|
||||
* \brief Navigation message structure for GPS L1 C/A signal
|
||||
* \brief Implementation of a GPS NAV Data message decoder
|
||||
*
|
||||
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
|
||||
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
|
|
@ -32,254 +34,294 @@
|
|||
|
||||
void gps_navigation_message::reset()
|
||||
{
|
||||
d_TOW=0;
|
||||
//broadcast orbit 1
|
||||
d_IODE_SF2=0;
|
||||
d_IODE_SF3=0;
|
||||
d_Crs=0;
|
||||
d_Delta_n=0;
|
||||
d_M_0=0;
|
||||
//broadcast orbit 2
|
||||
d_Cuc=0;
|
||||
d_e_eccentricity=0;
|
||||
d_Cus=0;
|
||||
d_sqrt_A=0;
|
||||
//broadcast orbit 3
|
||||
d_Toe=0;
|
||||
d_Toc=0;
|
||||
d_Cic=0;
|
||||
d_OMEGA0=0;
|
||||
d_Cis=0;
|
||||
//broadcast orbit 4
|
||||
d_i_0=0;
|
||||
d_Crc=0;
|
||||
d_OMEGA=0;
|
||||
d_OMEGA_DOT=0;
|
||||
//broadcast orbit 5
|
||||
d_IDOT=0;
|
||||
d_codes_on_L2=0;
|
||||
d_GPS_week=0;
|
||||
d_L2_P_data_flag=0;
|
||||
//broadcast orbit 6
|
||||
d_SV_accuracy=0;
|
||||
d_SV_health=0;
|
||||
d_TGD=0;
|
||||
d_IODC=-1;
|
||||
//broadcast orbit 7
|
||||
d_TOW=0;
|
||||
//broadcast orbit 1
|
||||
d_IODE_SF2=0;
|
||||
d_IODE_SF3=0;
|
||||
d_Crs=0;
|
||||
d_Delta_n=0;
|
||||
d_M_0=0;
|
||||
//broadcast orbit 2
|
||||
d_Cuc=0;
|
||||
d_e_eccentricity=0;
|
||||
d_Cus=0;
|
||||
d_sqrt_A=0;
|
||||
//broadcast orbit 3
|
||||
d_Toe=0;
|
||||
d_Toc=0;
|
||||
d_Cic=0;
|
||||
d_OMEGA0=0;
|
||||
d_Cis=0;
|
||||
//broadcast orbit 4
|
||||
d_i_0=0;
|
||||
d_Crc=0;
|
||||
d_OMEGA=0;
|
||||
d_OMEGA_DOT=0;
|
||||
//broadcast orbit 5
|
||||
d_IDOT=0;
|
||||
d_codes_on_L2=0;
|
||||
d_GPS_week=0;
|
||||
b_L2_P_data_flag=false;
|
||||
//broadcast orbit 6
|
||||
d_SV_accuracy=0;
|
||||
d_SV_health=0;
|
||||
d_TGD=0;
|
||||
d_IODC=-1;
|
||||
//broadcast orbit 7
|
||||
|
||||
d_fit_interval=0;
|
||||
d_spare1=0;
|
||||
d_spare2=0;
|
||||
d_fit_interval=0;
|
||||
d_spare1=0;
|
||||
d_spare2=0;
|
||||
|
||||
d_A_f0=0;
|
||||
d_A_f1=0;
|
||||
d_A_f2=0;
|
||||
d_A_f0=0;
|
||||
d_A_f1=0;
|
||||
d_A_f2=0;
|
||||
|
||||
//clock terms
|
||||
d_master_clock=0;
|
||||
d_dtr=0;
|
||||
d_satClkCorr=0;
|
||||
//clock terms
|
||||
d_master_clock=0;
|
||||
d_dtr=0;
|
||||
d_satClkCorr=0;
|
||||
|
||||
// satellite positions
|
||||
d_satpos_X=0;
|
||||
d_satpos_Y=0;
|
||||
d_satpos_Z=0;
|
||||
// satellite positions
|
||||
d_satpos_X=0;
|
||||
d_satpos_Y=0;
|
||||
d_satpos_Z=0;
|
||||
|
||||
// info
|
||||
d_channel_ID=0;
|
||||
d_satellite_PRN=0;
|
||||
// info
|
||||
d_channel_ID=0;
|
||||
d_satellite_PRN=0;
|
||||
|
||||
// time synchro
|
||||
d_subframe1_timestamp_ms=0;
|
||||
// time synchro
|
||||
d_subframe1_timestamp_ms=0;
|
||||
|
||||
// flags
|
||||
b_alert_flag = false;
|
||||
b_integrity_status_flag = false;
|
||||
b_antispoofing_flag = false;
|
||||
|
||||
|
||||
// Ionosphere and UTC
|
||||
d_alpha0=0;
|
||||
d_alpha1=0;
|
||||
d_alpha2=0;
|
||||
d_alpha3=0;
|
||||
d_beta0=0;
|
||||
d_beta1=0;
|
||||
d_beta2=0;
|
||||
d_beta3=0;
|
||||
d_A1=0;
|
||||
d_A0=0;
|
||||
d_t_OT=0;
|
||||
d_WN_T=0;
|
||||
d_DeltaT_LS=0;
|
||||
d_WN_LSF=0;
|
||||
d_DN=0;
|
||||
d_DeltaT_LSF=0;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
gps_navigation_message::gps_navigation_message()
|
||||
{
|
||||
reset();
|
||||
|
||||
reset();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool gps_navigation_message::read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices)
|
||||
{
|
||||
bool value;
|
||||
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[0].position]==1)
|
||||
{
|
||||
value=true;
|
||||
}
|
||||
else
|
||||
{
|
||||
value=false;
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
unsigned long int gps_navigation_message::read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices)
|
||||
{
|
||||
unsigned long int value;
|
||||
value=0;
|
||||
for (int i=0;i<num_of_slices;i++)
|
||||
{
|
||||
//std::cout<<"("<<slices[i].position<<","<<slices[i].length<<")"<<std::endl;
|
||||
for (int j=0;j<slices[i].length;j++)
|
||||
{
|
||||
value<<=1; //shift left
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[i].position-j]==1)
|
||||
unsigned long int value;
|
||||
value=0;
|
||||
for (int i=0;i<num_of_slices;i++)
|
||||
{
|
||||
value+=1; // insert the bit
|
||||
for (int j=0;j<slices[i].length;j++)
|
||||
{
|
||||
value<<=1; //shift left
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[i].position-j]==1)
|
||||
{
|
||||
value+=1; // insert the bit
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return value;
|
||||
return value;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
signed long int gps_navigation_message::read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices)
|
||||
{
|
||||
signed long int value=0;
|
||||
signed long int value=0;
|
||||
|
||||
// read the MSB ad perform the sign extension
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[0].position]==1)
|
||||
{
|
||||
value^=0xFFFFFFFF;
|
||||
}else{
|
||||
value&=0;
|
||||
}
|
||||
for (int i=0;i<num_of_slices;i++)
|
||||
{
|
||||
//std::cout<<"("<<slices[i].position<<","<<slices[i].length<<")"<<std::endl;
|
||||
for (int j=0;j<slices[i].length;j++)
|
||||
{
|
||||
value<<=1; //shift left
|
||||
value&=0xFFFFFFFE; //reset the corresponding bit
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[i].position-j]==1)
|
||||
// read the MSB and perform the sign extension
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[0].position]==1)
|
||||
{
|
||||
value+=1; // insert the bit
|
||||
value^=0xFFFFFFFF;
|
||||
}else{
|
||||
value&=0;
|
||||
}
|
||||
}
|
||||
}
|
||||
return value;
|
||||
for (int i=0;i<num_of_slices;i++)
|
||||
{
|
||||
for (int j=0;j<slices[i].length;j++)
|
||||
{
|
||||
value<<=1; //shift left
|
||||
value&=0xFFFFFFFE; //reset the corresponding bit
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[i].position-j]==1)
|
||||
{
|
||||
value+=1; // insert the bit
|
||||
}
|
||||
}
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
double gps_navigation_message::check_t(double time)
|
||||
{
|
||||
/*
|
||||
CHECK_T accounting for beginning or end of week crossover.
|
||||
|
||||
corrTime = check_t(time);
|
||||
Inputs:
|
||||
time - time in seconds
|
||||
|
||||
Outputs:
|
||||
corrTime - corrected time (seconds)
|
||||
|
||||
Kai Borre 04-01-96
|
||||
Copyright (c) by Kai Borre
|
||||
|
||||
CVS record:
|
||||
$Id: check_t.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
==========================================================================
|
||||
*/
|
||||
double corrTime;
|
||||
double half_week = 302400; // seconds
|
||||
corrTime = time;
|
||||
if (time > half_week)
|
||||
{
|
||||
corrTime = time - 2*half_week;
|
||||
}else if (time < -half_week)
|
||||
{
|
||||
corrTime = time + 2*half_week;
|
||||
}
|
||||
return corrTime;
|
||||
double corrTime;
|
||||
double half_week = 302400; // seconds
|
||||
corrTime = time;
|
||||
if (time > half_week)
|
||||
{
|
||||
corrTime = time - 2*half_week;
|
||||
}else if (time < -half_week)
|
||||
{
|
||||
corrTime = time + 2*half_week;
|
||||
}
|
||||
return corrTime;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void gps_navigation_message::master_clock(double transmitTime)
|
||||
{
|
||||
double dt;
|
||||
double satClkCorr;
|
||||
// Find initial satellite clock correction --------------------------------
|
||||
double dt;
|
||||
double satClkCorr;
|
||||
// Find initial satellite clock correction --------------------------------
|
||||
|
||||
// --- Find time difference ---------------------------------------------
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
// --- Find time difference ---------------------------------------------
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
|
||||
//--- Calculate clock correction ---------------------------------------
|
||||
satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 - d_TGD;
|
||||
//--- Calculate clock correction ---------------------------------------
|
||||
satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 - d_TGD;
|
||||
|
||||
d_master_clock = transmitTime - satClkCorr;
|
||||
d_master_clock = transmitTime - satClkCorr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void gps_navigation_message::satpos()
|
||||
{
|
||||
double tk;
|
||||
double a;
|
||||
double n;
|
||||
double n0;
|
||||
double M;
|
||||
double E;
|
||||
double E_old;
|
||||
double dE;
|
||||
double nu;
|
||||
double phi;
|
||||
double u;
|
||||
double r;
|
||||
double i;
|
||||
double Omega;
|
||||
double tk;
|
||||
double a;
|
||||
double n;
|
||||
double n0;
|
||||
double M;
|
||||
double E;
|
||||
double E_old;
|
||||
double dE;
|
||||
double nu;
|
||||
double phi;
|
||||
double u;
|
||||
double r;
|
||||
double i;
|
||||
double Omega;
|
||||
|
||||
// Find satellite's position ----------------------------------------------
|
||||
// Find satellite's position ----------------------------------------------
|
||||
|
||||
// Restore semi-major axis
|
||||
a = d_sqrt_A*d_sqrt_A;
|
||||
// Restore semi-major axis
|
||||
a = d_sqrt_A*d_sqrt_A;
|
||||
|
||||
// Time correction
|
||||
tk = check_t(d_master_clock - d_Toe);
|
||||
// Time correction
|
||||
tk = check_t(d_master_clock - d_Toe);
|
||||
|
||||
// Initial mean motion
|
||||
n0 = sqrt(GM / (a*a*a));
|
||||
// Mean motion
|
||||
n = n0 + d_Delta_n;
|
||||
// Initial mean motion
|
||||
n0 = sqrt(GM / (a*a*a));
|
||||
// Mean motion
|
||||
n = n0 + d_Delta_n;
|
||||
|
||||
// Mean anomaly
|
||||
M = d_M_0 + n * tk;
|
||||
// Reduce mean anomaly to between 0 and 360 deg
|
||||
// Mean anomaly
|
||||
M = d_M_0 + n * tk;
|
||||
// Reduce mean anomaly to between 0 and 360 deg
|
||||
|
||||
M = fmod((M + 2*GPS_PI),(2*GPS_PI));
|
||||
M = fmod((M + 2*GPS_PI),(2*GPS_PI));
|
||||
|
||||
// Initial guess of eccentric anomaly
|
||||
E = M;
|
||||
// Initial guess of eccentric anomaly
|
||||
E = M;
|
||||
|
||||
// --- Iteratively compute eccentric anomaly ----------------------------
|
||||
//std::cout<<"d_e_eccentricity="<<d_e_eccentricity<<"\r\n";
|
||||
for (int ii = 1;ii<20;ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + d_e_eccentricity * sin(E);
|
||||
dE = fmod(E - E_old,2*GPS_PI);
|
||||
//std::cout<<"dE="<<dE<<std::endl;
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
//Necessary precision is reached, exit from the loop
|
||||
//std::cout<<"Loop break at ii="<<ii<<"\r\n";
|
||||
break;
|
||||
}
|
||||
}
|
||||
// --- Iteratively compute eccentric anomaly ----------------------------
|
||||
for (int ii = 1;ii<20;ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + d_e_eccentricity * sin(E);
|
||||
dE = fmod(E - E_old,2*GPS_PI);
|
||||
if (fabs(dE) < 1e-12)
|
||||
{
|
||||
//Necessary precision is reached, exit from the loop
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Compute relativistic correction term
|
||||
d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
|
||||
// Compute relativistic correction term
|
||||
d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
|
||||
|
||||
// Calculate the true anomaly
|
||||
double tmp_Y=sqrt(1.0 - d_e_eccentricity*d_e_eccentricity) * sin(E);
|
||||
double tmp_X=cos(E)-d_e_eccentricity;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
// Calculate the true anomaly
|
||||
double tmp_Y=sqrt(1.0 - d_e_eccentricity*d_e_eccentricity) * sin(E);
|
||||
double tmp_X=cos(E)-d_e_eccentricity;
|
||||
nu = atan2(tmp_Y, tmp_X);
|
||||
|
||||
// Compute angle phi
|
||||
phi = nu + d_OMEGA;
|
||||
// Compute angle phi
|
||||
phi = nu + d_OMEGA;
|
||||
|
||||
// Reduce phi to between 0 and 360 deg
|
||||
phi = fmod((phi),(2*GPS_PI));
|
||||
// Reduce phi to between 0 and 2*pi rad
|
||||
phi = fmod((phi),(2*GPS_PI));
|
||||
|
||||
// Correct argument of latitude
|
||||
u = phi + d_Cuc * cos(2*phi) + d_Cus * sin(2*phi);
|
||||
// Correct argument of latitude
|
||||
u = phi + d_Cuc * cos(2*phi) + d_Cus * sin(2*phi);
|
||||
|
||||
// Correct radius
|
||||
r = a * (1 - d_e_eccentricity*cos(E)) + d_Crc * cos(2*phi) + d_Crs * sin(2*phi);
|
||||
// Correct radius
|
||||
r = a * (1 - d_e_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);
|
||||
// Correct inclination
|
||||
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2*phi) +d_Cis * sin(2*phi);
|
||||
|
||||
// Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = d_OMEGA0 + (d_OMEGA_DOT - OMEGA_EARTH_DOT)*tk - OMEGA_EARTH_DOT * d_Toe;
|
||||
// Reduce to between 0 and 360 deg
|
||||
Omega = fmod((Omega + 2*GPS_PI),(2*GPS_PI));
|
||||
// Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = d_OMEGA0 + (d_OMEGA_DOT - OMEGA_EARTH_DOT)*tk - OMEGA_EARTH_DOT * d_Toe;
|
||||
// Reduce to between 0 and 2*pi rad
|
||||
Omega = fmod((Omega + 2*GPS_PI),(2*GPS_PI));
|
||||
|
||||
// debug
|
||||
/*
|
||||
if (this->d_channel_ID==0){
|
||||
// debug
|
||||
/*
|
||||
if (this->d_channel_ID==0){
|
||||
std::cout<<"tk"<<tk<<std::endl;
|
||||
std::cout<<"E="<<E<<std::endl;
|
||||
std::cout<<"d_dtr="<<d_dtr<<std::endl;
|
||||
|
|
@ -289,108 +331,113 @@ void gps_navigation_message::satpos()
|
|||
std::cout<<"i="<<i<<"\r\n";
|
||||
std::cout<<"tmp_Y="<<tmp_Y<<"\r\n";
|
||||
std::cout<<"tmp_X="<<tmp_X<<"\r\n";
|
||||
}
|
||||
*/
|
||||
}
|
||||
*/
|
||||
|
||||
// --- Compute satellite coordinates ------------------------------------
|
||||
d_satpos_X = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
||||
d_satpos_Y = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
||||
d_satpos_Z = sin(u)*r * sin(i);
|
||||
// --- Compute satellite coordinates ------------------------------------
|
||||
d_satpos_X = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
||||
d_satpos_Y = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
||||
d_satpos_Z = sin(u)*r * sin(i);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void gps_navigation_message::relativistic_clock_correction(double transmitTime)
|
||||
{
|
||||
double dt;
|
||||
// Find final satellite clock correction --------------------------------
|
||||
double dt;
|
||||
// Find final satellite clock correction --------------------------------
|
||||
|
||||
// --- Find time difference ---------------------------------------------
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
// --- Find time difference ---------------------------------------------
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
|
||||
//Include relativistic correction in clock correction --------------------
|
||||
d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 -d_TGD + d_dtr;
|
||||
//Include relativistic correction in clock correction --------------------
|
||||
d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 -d_TGD + d_dtr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int gps_navigation_message::subframe_decoder(char *subframe)
|
||||
{
|
||||
int subframe_ID=0;
|
||||
int SV_data_ID=0;
|
||||
int SV_page=0;
|
||||
//double tmp_TOW;
|
||||
int subframe_ID=0;
|
||||
int SV_data_ID=0;
|
||||
int SV_page=0;
|
||||
//double tmp_TOW;
|
||||
|
||||
unsigned int gps_word;
|
||||
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
|
||||
std::bitset<GPS_SUBFRAME_BITS> subframe_bits;
|
||||
std::bitset<GPS_WORD_BITS+2> word_bits;
|
||||
for (int i=0;i<10;i++)
|
||||
{
|
||||
memcpy(&gps_word,&subframe[i*4],sizeof(char)*4);
|
||||
word_bits=std::bitset<(GPS_WORD_BITS+2)>(gps_word);
|
||||
for (int j=0;j<GPS_WORD_BITS;j++)
|
||||
{
|
||||
subframe_bits[GPS_WORD_BITS*(9-i)+j]=word_bits[j];
|
||||
}
|
||||
}
|
||||
unsigned int gps_word;
|
||||
|
||||
// *** DEBUG
|
||||
//std::cout<<"bitset subframe="<<subframe_bits<<std::endl;
|
||||
/*
|
||||
for (int i=0; i<10;i++)
|
||||
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
|
||||
std::bitset<GPS_SUBFRAME_BITS> subframe_bits;
|
||||
std::bitset<GPS_WORD_BITS+2> word_bits;
|
||||
for (int i=0;i<10;i++)
|
||||
{
|
||||
memcpy(&gps_word,&subframe[i*4],sizeof(char)*4);
|
||||
word_bits=std::bitset<(GPS_WORD_BITS+2)>(gps_word);
|
||||
for (int j=0;j<GPS_WORD_BITS;j++)
|
||||
{
|
||||
subframe_bits[GPS_WORD_BITS*(9-i)+j]=word_bits[j];
|
||||
}
|
||||
}
|
||||
|
||||
// *** DEBUG
|
||||
//std::cout<<"bitset subframe="<<subframe_bits<<std::endl;
|
||||
/*
|
||||
for (int i=0; i<10;i++)
|
||||
{
|
||||
memcpy(&gps_word,&d_subframe[i*4],sizeof(char)*4);
|
||||
print_gps_word_bytes(gps_word);
|
||||
}
|
||||
*/
|
||||
subframe_ID=(int)read_navigation_unsigned(subframe_bits,SUBFRAME_ID,num_of_slices(SUBFRAME_ID));
|
||||
//std::cout<<"subframe ID="<<subframe_ID<<std::endl;
|
||||
*/
|
||||
subframe_ID=(int)read_navigation_unsigned(subframe_bits,SUBFRAME_ID,num_of_slices(SUBFRAME_ID));
|
||||
//std::cout<<"subframe ID="<<subframe_ID<<std::endl;
|
||||
|
||||
// Decode all 5 sub-frames
|
||||
switch (subframe_ID){
|
||||
//--- Decode the sub-frame id ------------------------------------------
|
||||
// For more details on sub-frame contents please refer to GPS IS.
|
||||
//--- Decode sub-frame based on the sub-frames id ----------------------
|
||||
// The task is to select the necessary bits and convert them to decimal
|
||||
// numbers. For more details on sub-frame contents please refer to GPS
|
||||
// ICD (IS-GPS-200D).
|
||||
case 1:
|
||||
//--- It is subframe 1 -------------------------------------
|
||||
// Decode all 5 sub-frames
|
||||
switch (subframe_ID){
|
||||
//--- Decode the sub-frame id ------------------------------------------
|
||||
// ICD (IS-GPS-200E Appendix II). http://www.losangeles.af.mil/shared/media/document/AFD-100813-045.pdf
|
||||
case 1:
|
||||
//--- It is subframe 1 -------------------------------------
|
||||
|
||||
// Compute the time of week (TOW) of the first sub-frames in the array ====
|
||||
// Also correct the TOW. The transmitted TOW is actual TOW of the next
|
||||
// subframe and we need the TOW of the first subframe in this data block
|
||||
// (the variable subframe at this point contains bits of the last subframe).
|
||||
//TOW = bin2dec(subframe(31:47)) * 6 - 30;
|
||||
d_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
d_TOW=d_TOW*6-6; //we are in the first subframe (the transmitted TOW is the start time of the next subframe, thus we need to substract one subframe (6 seconds)) !
|
||||
// Compute the time of week (TOW) of the first sub-frames in the array ====
|
||||
// Also correct the TOW. The transmitted TOW is actual TOW of the next
|
||||
// subframe and we need the TOW of the first subframe in this data block
|
||||
// (the variable subframe at this point contains bits of the last subframe).
|
||||
//TOW = bin2dec(subframe(31:47)) * 6 - 30;
|
||||
d_TOW = (double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
d_TOW = d_TOW*6-6; //we are in the first subframe (the transmitted TOW is the start time of the next subframe, thus we need to substract one subframe (6 seconds)) !
|
||||
|
||||
// It contains WN, SV clock corrections, health and accuracy
|
||||
d_GPS_week =(double)read_navigation_unsigned(subframe_bits,GPS_WEEK,num_of_slices(GPS_WEEK));
|
||||
d_SV_accuracy=(double)read_navigation_unsigned(subframe_bits,SV_ACCURACY,num_of_slices(SV_ACCURACY));
|
||||
d_SV_health=(double)read_navigation_unsigned(subframe_bits,SV_HEALTH,num_of_slices(SV_HEALTH));
|
||||
d_TGD=(double)read_navigation_signed(subframe_bits,T_GD,num_of_slices(T_GD));
|
||||
d_TGD=d_TGD*T_GD_LSB;
|
||||
d_IODC=(double)read_navigation_unsigned(subframe_bits,IODC,num_of_slices(IODC));
|
||||
d_Toc=(double)read_navigation_unsigned(subframe_bits,T_OC,num_of_slices(T_OC));
|
||||
d_Toc=d_Toc*T_OC_LSB;
|
||||
d_A_f0=(double)read_navigation_signed(subframe_bits,A_F0,num_of_slices(A_F0));
|
||||
d_A_f0=d_A_f0*A_F0_LSB;
|
||||
d_A_f1=(double)read_navigation_signed(subframe_bits,A_F1,num_of_slices(A_F1));
|
||||
d_A_f1=d_A_f1*A_F1_LSB;
|
||||
d_A_f2=(double)read_navigation_signed(subframe_bits,A_F2,num_of_slices(A_F2));
|
||||
d_A_f2=d_A_f2*A_F2_LSB;
|
||||
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
|
||||
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
|
||||
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
|
||||
|
||||
/* debug print */
|
||||
/*
|
||||
std::cout<<"d_TOW="<<d_TOW<<std::endl;
|
||||
std::cout<<"GPS week="<<d_GPS_week<<std::endl;
|
||||
std::cout<<"SV_accuracy="<<d_SV_accuracy<<std::endl;
|
||||
std::cout<<"SV_health="<<d_SV_health<<std::endl;
|
||||
std::cout<<"TGD="<<d_TGD<<std::endl;
|
||||
std::cout<<"IODC="<<d_IODC<<std::endl;
|
||||
std::cout<<"d_Toc="<<d_Toc<<std::endl;
|
||||
std::cout<<"A_F0="<<d_A_f0<<std::endl;
|
||||
std::cout<<"A_F1="<<d_A_f1<<std::endl;
|
||||
std::cout<<"A_F2="<<d_A_f2<<std::endl;
|
||||
*/
|
||||
/*
|
||||
// It contains WN, SV clock corrections, health and accuracy
|
||||
d_GPS_week = (double)read_navigation_unsigned(subframe_bits,GPS_WEEK,num_of_slices(GPS_WEEK));
|
||||
d_SV_accuracy = (double)read_navigation_unsigned(subframe_bits,SV_ACCURACY,num_of_slices(SV_ACCURACY)); //should be an int (20.3.3.3.1.3)
|
||||
d_SV_health = (double)read_navigation_unsigned(subframe_bits,SV_HEALTH,num_of_slices(SV_HEALTH));
|
||||
|
||||
b_L2_P_data_flag = read_navigation_bool(subframe_bits,L2_P_DATA_FLAG); //
|
||||
d_codes_on_L2 = (double)read_navigation_unsigned(subframe_bits,CA_OR_P_ON_L2,num_of_slices(CA_OR_P_ON_L2));
|
||||
d_TGD = (double)read_navigation_signed(subframe_bits,T_GD,num_of_slices(T_GD));
|
||||
d_TGD = d_TGD*T_GD_LSB;
|
||||
d_IODC = (double)read_navigation_unsigned(subframe_bits,IODC,num_of_slices(IODC));
|
||||
d_Toc = (double)read_navigation_unsigned(subframe_bits,T_OC,num_of_slices(T_OC));
|
||||
d_Toc = d_Toc*T_OC_LSB;
|
||||
d_A_f0 = (double)read_navigation_signed(subframe_bits,A_F0,num_of_slices(A_F0));
|
||||
d_A_f0 = d_A_f0*A_F0_LSB;
|
||||
d_A_f1 = (double)read_navigation_signed(subframe_bits,A_F1,num_of_slices(A_F1));
|
||||
d_A_f1 = d_A_f1*A_F1_LSB;
|
||||
d_A_f2 = (double)read_navigation_signed(subframe_bits,A_F2,num_of_slices(A_F2));
|
||||
d_A_f2 = d_A_f2*A_F2_LSB;
|
||||
|
||||
|
||||
/*
|
||||
eph.weekNumber = bin2dec(subframe(61:70)) + 1024;
|
||||
eph.accuracy = bin2dec(subframe(73:76));
|
||||
eph.health = bin2dec(subframe(77:82));
|
||||
|
|
@ -400,46 +447,38 @@ int gps_navigation_message::subframe_decoder(char *subframe)
|
|||
eph.a_f2 = twosComp2dec(subframe(241:248)) * 2^(-55);
|
||||
eph.a_f1 = twosComp2dec(subframe(249:264)) * 2^(-43);
|
||||
eph.a_f0 = twosComp2dec(subframe(271:292)) * 2^(-31);
|
||||
*/
|
||||
break;
|
||||
*/
|
||||
break;
|
||||
|
||||
case 2:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
// --- It is subframe 2 -------------------------------------
|
||||
// It contains first part of ephemeris parameters
|
||||
d_IODE_SF2=(double)read_navigation_unsigned(subframe_bits,IODE_SF2,num_of_slices(IODE_SF2));
|
||||
d_Crs=(double)read_navigation_signed(subframe_bits,C_RS,num_of_slices(C_RS));
|
||||
d_Crs=d_Crs*C_RS_LSB;
|
||||
d_Delta_n=(double)read_navigation_signed(subframe_bits,DELTA_N,num_of_slices(DELTA_N));
|
||||
d_Delta_n=d_Delta_n*DELTA_N_LSB;
|
||||
d_M_0=(double)read_navigation_signed(subframe_bits,M_0,num_of_slices(M_0));
|
||||
d_M_0=d_M_0*M_0_LSB;
|
||||
d_Cuc=(double)read_navigation_signed(subframe_bits,C_UC,num_of_slices(C_UC));
|
||||
d_Cuc=d_Cuc*C_UC_LSB;
|
||||
d_e_eccentricity=(double)read_navigation_unsigned(subframe_bits,E,num_of_slices(E));
|
||||
d_e_eccentricity=d_e_eccentricity*E_LSB;
|
||||
d_Cus=(double)read_navigation_signed(subframe_bits,C_US,num_of_slices(C_US));
|
||||
d_Cus=d_Cus*C_US_LSB;
|
||||
d_sqrt_A=(double)read_navigation_unsigned(subframe_bits,SQRT_A,num_of_slices(SQRT_A));
|
||||
d_sqrt_A=d_sqrt_A*SQRT_A_LSB;
|
||||
d_Toe=(double)read_navigation_unsigned(subframe_bits,T_OE,num_of_slices(T_OE));
|
||||
d_Toe=d_Toe*T_OE_LSB;
|
||||
case 2:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
|
||||
/* debug print */
|
||||
/*
|
||||
std::cout<<"d_IODE_SF2="<<d_IODE_SF2<<std::endl;
|
||||
std::cout<<"d_Crs="<<d_Crs<<std::endl;
|
||||
std::cout<<"d_Delta_n="<<d_Delta_n<<std::endl;
|
||||
std::cout<<"d_M_0="<<d_M_0<<std::endl;
|
||||
std::cout<<"d_Cuc="<<d_Cuc<<std::endl;
|
||||
std::cout<<"d_e_eccentricity="<<d_e_eccentricity<<std::endl;
|
||||
std::cout<<"d_Cus="<<d_Cus<<std::endl;
|
||||
std::cout<<"d_sqrt_A="<<d_sqrt_A<<std::endl;
|
||||
std::cout<<"d_Toe="<<d_Toe<<std::endl;
|
||||
*/
|
||||
break;
|
||||
/*
|
||||
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
|
||||
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
|
||||
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
|
||||
// --- It is subframe 2 -------------------------------------
|
||||
// It contains first part of ephemeris parameters
|
||||
d_IODE_SF2 = (double)read_navigation_unsigned(subframe_bits,IODE_SF2,num_of_slices(IODE_SF2));
|
||||
d_Crs = (double)read_navigation_signed(subframe_bits,C_RS,num_of_slices(C_RS));
|
||||
d_Crs =d_Crs * C_RS_LSB;
|
||||
d_Delta_n = (double)read_navigation_signed(subframe_bits,DELTA_N,num_of_slices(DELTA_N));
|
||||
d_Delta_n = d_Delta_n * DELTA_N_LSB;
|
||||
d_M_0 = (double)read_navigation_signed(subframe_bits,M_0,num_of_slices(M_0));
|
||||
d_M_0 = d_M_0 * M_0_LSB;
|
||||
d_Cuc = (double)read_navigation_signed(subframe_bits,C_UC,num_of_slices(C_UC));
|
||||
d_Cuc = d_Cuc * C_UC_LSB;
|
||||
d_e_eccentricity = (double)read_navigation_unsigned(subframe_bits,E,num_of_slices(E));
|
||||
d_e_eccentricity = d_e_eccentricity * E_LSB;
|
||||
d_Cus = (double)read_navigation_signed(subframe_bits,C_US,num_of_slices(C_US));
|
||||
d_Cus = d_Cus * C_US_LSB;
|
||||
d_sqrt_A = (double)read_navigation_unsigned(subframe_bits,SQRT_A,num_of_slices(SQRT_A));
|
||||
d_sqrt_A = d_sqrt_A * SQRT_A_LSB;
|
||||
d_Toe = (double)read_navigation_unsigned(subframe_bits,T_OE,num_of_slices(T_OE));
|
||||
d_Toe = d_Toe * T_OE_LSB;
|
||||
|
||||
break;
|
||||
/*
|
||||
eph.IODE_sf2 = bin2dec(subframe(61:68));
|
||||
eph.C_rs = twosComp2dec(subframe(69: 84)) * 2^(-5);
|
||||
eph.deltan = twosComp2dec(subframe(91:106)) * 2^(-43) * gpsPi;
|
||||
|
|
@ -449,45 +488,35 @@ int gps_navigation_message::subframe_decoder(char *subframe)
|
|||
eph.C_us = twosComp2dec(subframe(211:226)) * 2^(-29);
|
||||
eph.sqrtA = bin2dec([subframe(227:234) subframe(241:264)])* 2^(-19);
|
||||
eph.t_oe = bin2dec(subframe(271:286)) * 2^4;
|
||||
*/
|
||||
case 3:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
// --- It is subframe 3 -------------------------------------
|
||||
// It contains second part of ephemeris parameters
|
||||
d_Cic=(double)read_navigation_signed(subframe_bits,C_IC,num_of_slices(C_IC));
|
||||
d_Cic=d_Cic*C_IC_LSB;
|
||||
d_OMEGA0=(double)read_navigation_signed(subframe_bits,OMEGA_0,num_of_slices(OMEGA_0));
|
||||
d_OMEGA0=d_OMEGA0*OMEGA_0_LSB;
|
||||
d_Cis=(double)read_navigation_signed(subframe_bits,C_IS,num_of_slices(C_IS));
|
||||
d_Cis=d_Cis*C_IS_LSB;
|
||||
d_i_0=(double)read_navigation_signed(subframe_bits,I_0,num_of_slices(I_0));
|
||||
d_i_0=d_i_0*I_0_LSB;
|
||||
d_Crc=(double)read_navigation_signed(subframe_bits,C_RC,num_of_slices(C_RC));
|
||||
d_Crc=d_Crc*C_RC_LSB;
|
||||
d_OMEGA=(double)read_navigation_signed(subframe_bits,OMEGA,num_of_slices(OMEGA));
|
||||
d_OMEGA=d_OMEGA*OMEGA_LSB;
|
||||
d_OMEGA_DOT=(double)read_navigation_signed(subframe_bits,OMEGA_DOT,num_of_slices(OMEGA_DOT));
|
||||
d_OMEGA_DOT=d_OMEGA_DOT*OMEGA_DOT_LSB;
|
||||
d_IODE_SF3=(double)read_navigation_unsigned(subframe_bits,IODE_SF3,num_of_slices(IODE_SF3));
|
||||
d_IDOT=(double)read_navigation_signed(subframe_bits,I_DOT,num_of_slices(I_DOT));
|
||||
d_IDOT=d_IDOT*I_DOT_LSB;
|
||||
*/
|
||||
case 3:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
|
||||
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
|
||||
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
|
||||
// --- It is subframe 3 -------------------------------------
|
||||
// It contains second part of ephemeris parameters
|
||||
d_Cic = (double)read_navigation_signed(subframe_bits,C_IC,num_of_slices(C_IC));
|
||||
d_Cic = d_Cic * C_IC_LSB;
|
||||
d_OMEGA0 = (double)read_navigation_signed(subframe_bits,OMEGA_0,num_of_slices(OMEGA_0));
|
||||
d_OMEGA0 = d_OMEGA0 * OMEGA_0_LSB;
|
||||
d_Cis = (double)read_navigation_signed(subframe_bits,C_IS,num_of_slices(C_IS));
|
||||
d_Cis = d_Cis * C_IS_LSB;
|
||||
d_i_0 = (double)read_navigation_signed(subframe_bits,I_0,num_of_slices(I_0));
|
||||
d_i_0 = d_i_0 * I_0_LSB;
|
||||
d_Crc = (double)read_navigation_signed(subframe_bits,C_RC,num_of_slices(C_RC));
|
||||
d_Crc = d_Crc * C_RC_LSB;
|
||||
d_OMEGA = (double)read_navigation_signed(subframe_bits,OMEGA,num_of_slices(OMEGA));
|
||||
d_OMEGA = d_OMEGA * OMEGA_LSB;
|
||||
d_OMEGA_DOT = (double)read_navigation_signed(subframe_bits,OMEGA_DOT,num_of_slices(OMEGA_DOT));
|
||||
d_OMEGA_DOT = d_OMEGA_DOT * OMEGA_DOT_LSB;
|
||||
d_IODE_SF3 = (double)read_navigation_unsigned(subframe_bits,IODE_SF3,num_of_slices(IODE_SF3));
|
||||
d_IDOT = (double)read_navigation_signed(subframe_bits,I_DOT,num_of_slices(I_DOT));
|
||||
d_IDOT = d_IDOT*I_DOT_LSB;
|
||||
|
||||
/* debug print */
|
||||
/*
|
||||
std::cout<<"d_Cic="<<d_Cic<<std::endl;
|
||||
std::cout<<"d_OMEGA0="<<d_OMEGA0<<std::endl;
|
||||
std::cout<<"d_Cis="<<d_Cis<<std::endl;
|
||||
std::cout<<"d_i_0="<<d_i_0<<std::endl;
|
||||
std::cout<<"d_Crc="<<d_Crc<<std::endl;
|
||||
std::cout<<"d_OMEGA="<<d_OMEGA<<std::endl;
|
||||
std::cout<<"d_OMEGA_DOT="<<d_OMEGA_DOT<<std::endl;
|
||||
std::cout<<"d_IODE_SF3="<<d_IODE_SF3<<std::endl;
|
||||
std::cout<<"d_IDOT="<<d_IDOT<<std::endl;
|
||||
*/
|
||||
|
||||
break;
|
||||
/*
|
||||
break;
|
||||
/*
|
||||
eph.C_ic = twosComp2dec(subframe(61:76)) * 2^(-29);
|
||||
eph.omega_0 = twosComp2dec([subframe(77:84) subframe(91:114)])* 2^(-31) * gpsPi;
|
||||
eph.C_is = twosComp2dec(subframe(121:136)) * 2^(-29);
|
||||
|
|
@ -497,54 +526,86 @@ int gps_navigation_message::subframe_decoder(char *subframe)
|
|||
eph.omegaDot = twosComp2dec(subframe(241:264)) * 2^(-43) * gpsPi;
|
||||
eph.IODE_sf3 = bin2dec(subframe(271:278));
|
||||
eph.iDot = twosComp2dec(subframe(279:292)) * 2^(-43) * gpsPi;
|
||||
*/
|
||||
case 4:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
// --- It is subframe 4 -------------------------------------
|
||||
// Almanac, ionospheric model, UTC parameters.
|
||||
// SV health (PRN: 25-32)
|
||||
SV_data_ID=(int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
|
||||
SV_page=(int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
|
||||
*/
|
||||
case 4:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
|
||||
b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
|
||||
b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
|
||||
// --- It is subframe 4 -------------------------------------
|
||||
// Almanac, ionospheric model, UTC parameters.
|
||||
// SV health (PRN: 25-32)
|
||||
SV_data_ID = (int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
|
||||
SV_page = (int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
|
||||
|
||||
/* debug print */
|
||||
/*
|
||||
std::cout<<"SF4 SV_data_ID="<<SV_data_ID<<std::endl;
|
||||
std::cout<<"SF4 SV_page="<<SV_page<<std::endl;
|
||||
*/
|
||||
break;
|
||||
case 5:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
//--- It is subframe 5 -------------------------------------
|
||||
// SV almanac and health (PRN: 1-24).
|
||||
// Almanac reference week number and time.
|
||||
SV_data_ID=(int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
|
||||
SV_page=(int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
|
||||
if (SV_page == 4)
|
||||
{
|
||||
// Page 18 - Ionospheric and UTC data
|
||||
|
||||
/* debug print */
|
||||
/*
|
||||
std::cout<<"SF5 SV_data_ID="<<SV_data_ID<<std::endl;
|
||||
std::cout<<"SF5 SV_page="<<SV_page<<std::endl;
|
||||
*/
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
} // switch subframeID ...
|
||||
d_alpha0 = (double)read_navigation_signed(subframe_bits, ALPHA_0,num_of_slices(ALPHA_0));
|
||||
d_alpha0 = d_alpha0 * ALPHA_0_LSB;
|
||||
d_alpha1 = (double)read_navigation_signed(subframe_bits, ALPHA_1,num_of_slices(ALPHA_1));
|
||||
d_alpha1 = d_alpha1 * ALPHA_1_LSB;
|
||||
d_alpha2 = (double)read_navigation_signed(subframe_bits, ALPHA_2,num_of_slices(ALPHA_2));
|
||||
d_alpha2 = d_alpha2 * ALPHA_2_LSB;
|
||||
d_alpha3 = (double)read_navigation_signed(subframe_bits, ALPHA_3,num_of_slices(ALPHA_3));
|
||||
d_alpha3 = d_alpha3 * ALPHA_3_LSB;
|
||||
d_beta0 = (double)read_navigation_signed(subframe_bits, BETA_0,num_of_slices(BETA_0));
|
||||
d_beta0 = d_beta0 * BETA_0_LSB;
|
||||
d_beta1 = (double)read_navigation_signed(subframe_bits, BETA_1,num_of_slices(BETA_1));
|
||||
d_beta1 = d_beta1 * BETA_1_LSB;
|
||||
d_beta2 = (double)read_navigation_signed(subframe_bits, BETA_2,num_of_slices(BETA_2));
|
||||
d_beta2 = d_beta2 * BETA_2_LSB;
|
||||
d_beta3 = (double)read_navigation_signed(subframe_bits, BETA_3,num_of_slices(BETA_3));
|
||||
d_beta3 = d_beta3 * BETA_3_LSB;
|
||||
d_A1 = (double)read_navigation_signed(subframe_bits, A_1,num_of_slices(A_1));
|
||||
d_A1 = d_A1 * A_1_LSB;
|
||||
d_A0 = (double)read_navigation_signed(subframe_bits, A_0,num_of_slices(A_0));
|
||||
d_A0 = d_A0 * A_0_LSB;
|
||||
d_t_OT = (double)read_navigation_unsigned(subframe_bits, T_OT,num_of_slices(T_OT));
|
||||
d_t_OT = d_t_OT * T_OT_LSB;
|
||||
d_WN_T = (double)read_navigation_unsigned(subframe_bits, WN_T,num_of_slices(WN_T));
|
||||
d_DeltaT_LS = (double)read_navigation_signed(subframe_bits, DELTAT_LS,num_of_slices(DELTAT_LS));
|
||||
d_WN_LSF = (double)read_navigation_unsigned(subframe_bits, WN_LSF,num_of_slices(WN_LSF));
|
||||
d_DN = (double)read_navigation_unsigned(subframe_bits, DN,num_of_slices(DN));; // Right-justified ?
|
||||
d_DeltaT_LSF = (double)read_navigation_signed(subframe_bits, DELTAT_LSF,num_of_slices(DELTAT_LSF));
|
||||
|
||||
return subframe_ID;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 5:
|
||||
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
|
||||
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
|
||||
//--- It is subframe 5 -------------------------------------
|
||||
// SV almanac and health (PRN: 1-24).
|
||||
// Almanac reference week number and time.
|
||||
SV_data_ID = (int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
|
||||
SV_page = (int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
|
||||
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
} // switch subframeID ...
|
||||
|
||||
return subframe_ID;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool gps_navigation_message::satellite_validation()
|
||||
{
|
||||
|
||||
bool flag_data_valid = false;
|
||||
bool flag_data_valid = false;
|
||||
|
||||
// first step: check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
|
||||
// and check if the data has been filled (!=0)
|
||||
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!=-1)
|
||||
{
|
||||
flag_data_valid=true;
|
||||
}
|
||||
return flag_data_valid;
|
||||
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
|
||||
// and check if the data have been filled (!=0)
|
||||
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!=-1)
|
||||
{
|
||||
flag_data_valid=true;
|
||||
}
|
||||
return flag_data_valid;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/*!
|
||||
* \file gps_navigation_message.h
|
||||
* \brief Navigation message structure for GPS L1 C/A signal
|
||||
* \brief Interface of a GPS NAV Data message decoder
|
||||
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
|
|
@ -29,8 +29,8 @@
|
|||
*/
|
||||
|
||||
|
||||
#ifndef GPS_NAVIGATION_MESSAGE_H
|
||||
#define GPS_NAVIGATION_MESSAGE_H
|
||||
#ifndef GNSS_SDR_GPS_NAVIGATION_MESSAGE_H
|
||||
#define GNSS_SDR_GPS_NAVIGATION_MESSAGE_H
|
||||
|
||||
#include <iostream>
|
||||
#include <map>
|
||||
|
|
@ -40,72 +40,105 @@
|
|||
#include <bitset>
|
||||
#include "boost/assign.hpp"
|
||||
#include <math.h>
|
||||
|
||||
using namespace boost::assign;
|
||||
|
||||
#include "GPS_L1_CA.h"
|
||||
|
||||
//using namespace boost::assign;
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class represents a GPS NAV Data as described in IS-GPS-200E
|
||||
*
|
||||
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
|
||||
*/
|
||||
class gps_navigation_message
|
||||
{
|
||||
|
||||
private:
|
||||
unsigned long int read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
|
||||
signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
|
||||
bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices);
|
||||
|
||||
/*!
|
||||
* Accounts for the beginning or end of week crossover
|
||||
*
|
||||
* See paragraph 20.3.3.3.3.1 (IS-GPS-200E)
|
||||
* \param[in] - time in seconds
|
||||
* \param[out] - corrected time, in seconds
|
||||
*/
|
||||
double check_t(double time);
|
||||
|
||||
public:
|
||||
//broadcast orbit 1
|
||||
double d_TOW;
|
||||
double d_IODE_SF2;
|
||||
double d_IODE_SF3;
|
||||
double d_Crs;
|
||||
double d_Delta_n;
|
||||
double d_M_0;
|
||||
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;
|
||||
double d_e_eccentricity;
|
||||
double d_Cus;
|
||||
double d_sqrt_A;
|
||||
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_e_eccentricity; //!< Eccentricity [dimensionless]
|
||||
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
||||
//broadcast orbit 3
|
||||
double d_Toe;
|
||||
double d_Toc;
|
||||
double d_Cic;
|
||||
double d_OMEGA0;
|
||||
double d_Cis;
|
||||
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]
|
||||
//broadcast orbit 4
|
||||
double d_i_0;
|
||||
double d_Crc;
|
||||
double d_OMEGA;
|
||||
double d_OMEGA_DOT;
|
||||
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;
|
||||
double d_codes_on_L2;
|
||||
double d_GPS_week;
|
||||
double d_L2_P_data_flag;
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
double d_codes_on_L2; //!<
|
||||
double d_GPS_week; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
//broadcast orbit 6
|
||||
double d_SV_accuracy;
|
||||
double d_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)
|
||||
double d_SV_health;
|
||||
double d_TGD;
|
||||
double d_IODC;
|
||||
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term for the benefit of "L1 only" or "L2 only" users [s]
|
||||
double d_IODC; //!< Issue of Data, Clock
|
||||
//broadcast orbit 7
|
||||
|
||||
double d_fit_interval;
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
|
||||
double d_A_f0;
|
||||
double d_A_f1;
|
||||
double d_A_f2;
|
||||
double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
|
||||
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
// Flags
|
||||
|
||||
/*! \brief If true, enhanced level of integrity assurance.
|
||||
*
|
||||
* If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
|
||||
* That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
|
||||
* value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
|
||||
* than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
|
||||
* integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
|
||||
* times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
|
||||
* 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_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_master_clock; // GPS transmission time
|
||||
double d_satClkCorr; // GPS clock error
|
||||
double d_dtr; // relativistic clock correction term
|
||||
|
||||
// satellite positions
|
||||
double d_satpos_X;
|
||||
double d_satpos_Y;
|
||||
double d_satpos_Z;
|
||||
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
|
||||
|
||||
|
|
@ -115,10 +148,49 @@ public:
|
|||
// time synchro
|
||||
double d_subframe1_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]
|
||||
|
||||
// UTC parameters
|
||||
|
||||
double d_A1; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
|
||||
double d_A0; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
|
||||
double d_t_OT; //!< Reference time for UTC data (reference 20.3.4.5 and 20.3.3.5.2.4 IS-GPS-200E) [s]
|
||||
double d_WN_T; //!< UTC reference week number [weeks]
|
||||
double d_DeltaT_LS; //!< delta time due to leap seconds [s]
|
||||
double d_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
double d_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
|
||||
// public functions
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Decodes the GPS NAV message
|
||||
*/
|
||||
int subframe_decoder(char *subframe);
|
||||
|
||||
/*!
|
||||
* \brief User Algorithm for SV Clock Correction
|
||||
*
|
||||
* Implementation of paragraph 20.3.3.3.3.1 (IS-GPS-200E)
|
||||
*/
|
||||
void master_clock(double transmitTime);
|
||||
|
||||
/*!
|
||||
* \brief Computes the position of the satellite
|
||||
*
|
||||
* Implementation of Table 20-IV (IS-GPS-200E)
|
||||
*/
|
||||
void satpos();
|
||||
void relativistic_clock_correction(double transmitTime);
|
||||
bool satellite_validation();
|
||||
|
|
|
|||
Loading…
Reference in New Issue