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Improvements in the decodification of NAV message; Some advances in the implementation of a RINEX printer (remains deactivated)

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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 2012-01-03 05:38:45 +00:00
parent fc4d8cc7bf
commit ca5463e2d8
6 changed files with 1407 additions and 615 deletions
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2
jamroot.jam
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@ -7,7 +7,7 @@ lib gnuradio-core ;
project : requirements project : requirements
<define>OMNITHREAD_POSIX <define>OMNITHREAD_POSIX
<cxxflags>"-std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free" <cxxflags>"-std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free"
<linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -llapack -lblas -lprofiler -ltcmalloc" <linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -llapack -lblas -lprofiler -ltcmalloc"
<include>src/algorithms/acquisition/adapters <include>src/algorithms/acquisition/adapters
<include>src/algorithms/acquisition/gnuradio_blocks <include>src/algorithms/acquisition/gnuradio_blocks
<include>src/algorithms/channel/adapters <include>src/algorithms/channel/adapters

664
src/algorithms/PVT/libs/rinex_2_1_printer.cc
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@ -1,60 +1,269 @@
/*!
* \file rinex_2_1_printer.cc (temporal name)
* \brief Implementation 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/>.
*
* -------------------------------------------------------------------------
*/
#include "rinex_2_1_printer.h" #include "rinex_2_1_printer.h"
#include <map>
#include <ostream>
#include <fstream>
#include <stdlib.h> // for getenv()
#include "boost/date_time/time_zone_base.hpp"
#include "boost/date_time/gregorian/gregorian.hpp"
#include "boost/date_time/local_time/local_time.hpp"
#include "boost/date_time/posix_time/posix_time.hpp"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <gflags/gflags.h>
void rinex_printer::set_headers(std::string file_name)
using google::LogMessage;
rinex_printer::rinex_printer()
{ {
correccio_primera_obs=1; rinex_printer::navFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_GPS_NAV"));
rinex_printer::obsFile.open(rinex_printer::createFilename("RINEX_FILE_TYPE_OBS"));
fp_rin = fopen((file_name+".09o").c_str(),"wt"); rinex_printer::Rinex2NavHeader(rinex_printer::navFile);
fp_rin_end = ftell(fp_rin);
fp_rin2 = fopen((file_name+".09n").c_str(),"wt");
fp_rin_end2 = ftell(fp_rin2);
// write RINEX headers
Rinex2ObsHeader();
Rinex2NavHeader();
} }
rinex_printer::rinex_printer () rinex_printer::~rinex_printer()
{ {
// close RINEX files
rinex_printer::navFile.close();
rinex_printer::obsFile.close();
} }
rinex_printer::~rinex_printer ()
void rinex_printer::lengthCheck(std::string line)
{ {
fclose(fp_rin); if (line.length() != 80)
fclose(fp_rin2); {
LOG_AT_LEVEL(ERROR) << "Bad defined RINEX line: "
<< line.length() << " characters (must be 80)"<< std::endl
<< line << std::endl
<< "----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|"<< std::endl;
}
} }
void rinex_printer::Rinex2NavHeader()
std::string rinex_printer::createFilename(std::string type){
const std::string stationName = "GSDR"; // 4-character station name designator
boost::gregorian::date today = boost::gregorian::day_clock::local_day();
const int dayOfTheYear = today.day_of_year();
std::stringstream strm0;
if (dayOfTheYear<100) strm0 << "0"; // three digits for day of the year
if (dayOfTheYear<10) strm0 << "0"; // three digits for day of the year
strm0 << dayOfTheYear;
std::string dayOfTheYearTag=strm0.str();
std::map<std::string, std::string> fileType;
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_OBS","O")); // O - Observation file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GPS_NAV","N")); // N - GPS navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MET","M")); // M - Meteorological data file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GLO_NAV","G")); // G - GLONASS navigation file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GAL_NAV","L")); // L - Galileo navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_MIXED_NAV","P")); // P - Mixed GNSS navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_GEO_NAV","H")); // H - SBAS Payload navigation message file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SBAS","B")); // B - SBAS broadcast data file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_CLK","C")); // C - Clock file.
fileType.insert(std::pair<std::string, std::string>("RINEX_FILE_TYPE_SUMMARY","S")); // S - Summary file (used e.g., by IGS, not a standard!).
boost::posix_time::ptime pt=boost::posix_time::second_clock::local_time();
tm pt_tm=boost::posix_time::to_tm(pt);
int local_hour=pt_tm.tm_hour;
std::stringstream strm;
strm << local_hour;
std::map<std::string, std::string> Hmap;
Hmap.insert(std::pair<std::string, std::string>("0","a"));
Hmap.insert(std::pair<std::string, std::string>("1","b"));
Hmap.insert(std::pair<std::string, std::string>("2","c"));
Hmap.insert(std::pair<std::string, std::string>("3","d"));
Hmap.insert(std::pair<std::string, std::string>("4","e"));
Hmap.insert(std::pair<std::string, std::string>("5","f"));
Hmap.insert(std::pair<std::string, std::string>("6","g"));
Hmap.insert(std::pair<std::string, std::string>("7","h"));
Hmap.insert(std::pair<std::string, std::string>("8","i"));
Hmap.insert(std::pair<std::string, std::string>("9","j"));
Hmap.insert(std::pair<std::string, std::string>("10","k"));
Hmap.insert(std::pair<std::string, std::string>("11","l"));
Hmap.insert(std::pair<std::string, std::string>("12","m"));
Hmap.insert(std::pair<std::string, std::string>("13","n"));
Hmap.insert(std::pair<std::string, std::string>("14","o"));
Hmap.insert(std::pair<std::string, std::string>("15","p"));
Hmap.insert(std::pair<std::string, std::string>("16","q"));
Hmap.insert(std::pair<std::string, std::string>("17","r"));
Hmap.insert(std::pair<std::string, std::string>("8","s"));
Hmap.insert(std::pair<std::string, std::string>("19","t"));
Hmap.insert(std::pair<std::string, std::string>("20","u"));
Hmap.insert(std::pair<std::string, std::string>("21","v"));
Hmap.insert(std::pair<std::string, std::string>("22","w"));
Hmap.insert(std::pair<std::string, std::string>("23","x"));
std::string hourTag = Hmap[strm.str()];
int local_minute=pt_tm.tm_min;
std::stringstream strm2;
if (local_minute<10) strm2 << "0"; // at least two digits for minutes
strm2 << local_minute;
std::string minTag = strm2.str();
int local_year=pt_tm.tm_year-100; // 2012 is 112
std::stringstream strm3;
strm3 << local_year;
std::string yearTag = strm3.str();
std::string typeOfFile=fileType[type];
std::string filename(stationName +dayOfTheYearTag+ hourTag + minTag + "." + yearTag + typeOfFile);
return filename;
}
std::string rinex_printer::getLocalTime()
{
std::string line;
line +=std::string("GNSS-SDR");
line +=std::string(12,' ');
line += rinex_printer::leftJustify("CTTC", 20);//put a flag to let the user change this
boost::gregorian::date today = boost::gregorian::day_clock::local_day();
line +=boost::gregorian::to_iso_string(today);
line +=std::string(1,' ');
boost::local_time::time_zone_ptr zone(new boost::local_time::posix_time_zone("UTC"));
boost::local_time::local_date_time pt = boost::local_time::local_sec_clock::local_time(zone);
tm pt_tm=boost::local_time::to_tm(pt);
std::stringstream strm0;
int utc_hour=pt_tm.tm_hour;
if (utc_hour<10) strm0 << "0"; // two digits for hours
strm0 << utc_hour;
line += strm0.str();
std::stringstream strm1;
int utc_minute=pt_tm.tm_min;
if (utc_minute<10) strm1 << "0"; // two digits for minutes
strm1 << utc_minute;
line += strm1.str();
std::stringstream strm2;
int utc_seconds=pt_tm.tm_sec;
if (utc_seconds<10) strm2 << "0"; // two digits for seconds
strm2 << utc_seconds;
line += strm2.str();
line +=std::string(1,' ');
line +=std::string("UTC");
line +=std::string(1,' ');
return line;
}
void rinex_printer::Rinex2NavHeader(std::ofstream& out)
{ {
if(fp_rin2 != NULL) std::string line;
{
//calculate UTC_TIME
time_t tiempo;
char cad[80];
struct tm *tmPtr;
tiempo = time(NULL);
tmPtr = gmtime(&tiempo);
strftime( cad, 20, "%d-%b-%y %H:%M", tmPtr );
fseek(fp_rin2, fp_rin_end2, SEEK_SET); // -------- Line 1
//fprintf(fp_rin2,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n"); std::string version="3.01";
fprintf(fp_rin2," 2.10 NAVIGATION DATA RINEX VERSION / TYPE\n"); line = std::string(5,' ');
fprintf(fp_rin2,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad); line += version;
//fprintf(fp_rin2,"CTTC MARKER NAME\n"); line +=std::string(11,' ');
//fprintf(fp_rin2,"0000 MARKERNUMBER\n"); line +=std::string("N: GNSS NAV DATA");
fp_rin_end2 = ftell(fp_rin2); line +=std::string(4,' ');
correccio_primera_obs=1; //! \todo Add here other systems...
} line +=std::string("G: GPS");
line +=std::string(14,' ');
// ...
line +=std::string("RINEX VERSION / TYPE");
rinex_printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 2
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 3
line.clear();
line += rinex_printer::leftJustify("GPS NAVIGATION MESSAGE FILE GENERATED BY GNSS-SDR",60);
line += rinex_printer::leftJustify("COMMENT",20);
rinex_printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 4 ionospheric info
line.clear();
line +=std::string("GPSA");
line +=std::string(4,' ');
// IONOSPHERIC INFORMATION
// For leap second information, see See http://www.endruntechnologies.com/leap.htm
line.clear();
line +=std::string(4,' ');
line +=std::string("15"); // Page 18 of subframe 4 Delta_T_LSF
line +=std::string(54,' ');
line +=std::string("LEAP SECONDS");
line +=std::string(8,' ');
rinex_printer::lengthCheck(line);
out << line << std::endl;
// -------- 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::LogRinex2Nav(gps_navigation_message nav_msg){ void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
/*
if(fp_rin2 != NULL) if(fp_rin2 != NULL)
{ {
//double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec; //double decimalday,daydecimalhour,decimalhour,decimalmin,decimalsec;
@ -85,9 +294,9 @@ void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
fseek(fp_rin2, fp_rin_end2, SEEK_SET); fseek(fp_rin2, fp_rin_end2, SEEK_SET);
char correction[256],correction2[256]; char correction[256],correction2[256];
double A0,A1; double A0,A1;
/* 8.3819D-09 -7.4506D-09 -5.9605D-08 5.9605D-08 ION ALPHA // 8.3819D-09 -7.4506D-09 -5.9605D-08 5.9605D-08 ION ALPHA
8.8 064D+04 -3.2768D+04 -1.9661D+05 1.9661D+05 ION BETA //8.8 064D+04 -3.2768D+04 -1.9661D+05 1.9661D+05 ION BETA
5. 587935447693D-09 8.881784197001D-15 233472 1518 DELTA-UTC: A0,A1,T,W*/ // 5. 587935447693D-09 8.881784197001D-15 233472 1518 DELTA-UTC: A0,A1,T,W
A0=587.935447693E-09; A0=587.935447693E-09;
A1=8.881784197001E-15; A1=8.881784197001E-15;
sprintf(correction,"%19.12E",A0); sprintf(correction,"%19.12E",A0);
@ -149,52 +358,135 @@ void rinex_printer::LogRinex2Nav(gps_navigation_message nav_msg){
fprintf(fp_rin2," %s\n",linia7); fprintf(fp_rin2," %s\n",linia7);
fp_rin_end2 = ftell(fp_rin2); fp_rin_end2 = ftell(fp_rin2);
} }*/
} }
void rinex_printer::Rinex2ObsHeader() void rinex_printer::Rinex2ObsHeader(std::ofstream& out)
{ {
//Clock_S *pClock = &tNav.master_clock; /* Clock solution */ std::map<std::string, std::string> satelliteSystem;
if(fp_rin != NULL) satelliteSystem.insert(std::pair<std::string, std::string>("GPS","G"));
{ satelliteSystem.insert(std::pair<std::string, std::string>("GLONASS","R"));
//calculate UTC_TIME satelliteSystem.insert(std::pair<std::string, std::string>("Galileo","E"));
time_t tiempo; satelliteSystem.insert(std::pair<std::string, std::string>("SBAS payload","S"));
char cad[80]; satelliteSystem.insert(std::pair<std::string, std::string>("Mixed","M"));
struct tm *tmPtr; satelliteSystem.insert(std::pair<std::string, std::string>("Compass","C"));
tiempo = time(NULL);
tmPtr = gmtime(&tiempo);
strftime( cad, 24, "%d/%m/%Y %H:%M:%S", tmPtr );
fseek(fp_rin, fp_rin_end, SEEK_SET); std::string line;
//fprintf(fp_rin,"----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|\n\n");
fprintf(fp_rin," 2.10 Observation G (GPS) RINEX VERSION / TYPE\n");
fprintf(fp_rin,"GNSS-SDR-mercurio CTTC %s PGM / RUN BY / DATE\n",cad);
fprintf(fp_rin,"CTTC MARKER NAME\n");
//fprintf(fp_rin,"0000 MARKERNUMBER\n");
fprintf(fp_rin,"JAVIER ARRIBAS CTTC OBSERVER / AGENCY\n"); // -------- Line 1
fprintf(fp_rin,"GNSS-SDR-mercurio SDR 1.0 REC # / TYPE / VERS\n"); std::string version="3.01";
fprintf(fp_rin,"0000000000 CTTC00000.00 ANT # / TYPE\n"); line = std::string(5,' ');
fprintf(fp_rin," 4797642.2790 166436.1500 4185504.6370 APPROX POSITION XYZ\n"); line += version;
fprintf(fp_rin," 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N\n"); line +=std::string(11,' ');
fprintf(fp_rin," 1 0 WAVELENGTH FACT L1/2\n"); line += rinex_printer::leftJustify("OBSERVATION DATA",20);
fprintf(fp_rin," 2 C1 L1 # / TYPES OF OBSERV\n"); 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"); // -------- Line 2
//INTRODUIR HORA PRIMERA OBSERVACIO line.clear();
//ho escriure un cop hagi adquirit dades line += rinex_printer::leftJustify("G = GPS R = GLONASS E = GALILEO S = GEO M = MIXED",60);
//fprintf(fp_rin," 2001 3 24 13 10 36.0000000 TIME OF FIRST OBS\n"); line += rinex_printer::leftJustify("COMMENT",20);
//fprintf(fp_rin," END OF HEADER\n"); rinex_printer::lengthCheck(line);
fp_rin_end = ftell(fp_rin); out << line << std::endl;
temps_primera_obs=1;
}
// -------- 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) 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]; char sat_vis[36];
for(int i=0;i<36;i++) sat_vis[i]=' '; for(int i=0;i<36;i++) sat_vis[i]=' ';
char packet[80]; 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 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); fp_rin_end = ftell(fp_rin);
} }
} }*/
} }
int rinex_printer::signalstrength( double snr)
int rinex_printer::signalStrength(double snr)
{ {
int ss; int ss;
if(snr<=12.00) ss=1; if(snr<12.00) ss=1;
else if(snr>12.00 && snr<=18.00) ss=2; else if(snr>=12.00 && snr<18.00) ss=2;
else if(snr>18.00 && snr<=24.00) ss=3; else if(snr>=18.00 && snr<24.00) ss=3;
else if(snr>24.00 && snr<=30.00) ss=4; else if(snr>=24.00 && snr<30.00) ss=4;
else if(snr>30.00 && snr<=36.00) ss=5; else if(snr>=30.00 && snr<36.00) ss=5;
else if(snr>36.00 && snr<=42.00) ss=6; else if(snr>=36.00 && snr<42.00) ss=6;
else if(snr>42.00 && snr<=48.00) ss=7; else if(snr>=42.00 && snr<48.00) ss=7;
else if(snr>48.00 && snr<=54) ss=8; else if(snr>=48.00 && snr<54) ss=8;
else if(snr>=54.00) ss=9; else if(snr>=54.00) ss=9;
return (ss); 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; */

186
src/algorithms/PVT/libs/rinex_2_1_printer.h
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@ -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/>.
*
* -------------------------------------------------------------------------
*/ */
/** #ifndef GNSS_SDR_RINEX_PRINTER_H_
* Author: Javier Arribas, 2011. jarribas(at)cttc.es #define GNSS_SDR_RINEX_PRINTER_H_
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
*/
#ifndef RINEX_PRINTER_H_
#define RINEX_PRINTER_H_
#include <string> #include <string>
#include <iostream> #include <fstream>
#include <sstream>
#include <stdlib.h>
#include <stdio.h>
#include <sys/time.h>
#include <time.h>
#include <math.h>
#include <map>
#include <algorithm>
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
/*!
* \brief Class that handles the generation of Receiver
* INdependent EXchange format (RINEX) files
*/
class rinex_printer class rinex_printer
{ {
private: private:
int temps_primera_obs; //per saber si he escrit el temps de la primera observació. std::ofstream navFile ;
int correccio_primera_obs; //per saber si he escrit l correccio de temps de la primera observació. std::ofstream obsFile ;
int primeravegada;//per evitar problemes primera pseudodistancia
int PERMIS_RINEX; //PER DEIXAR ESCRIURE PER PRIMERA VEGADA AL RINEX /*!
* \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: 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 #endif

179
src/core/system_parameters/GPS_L1_CA.h
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@ -29,32 +29,30 @@
*/ */
#ifndef GPS_DEFINES_H #ifndef GNSS_SDR_GPS_L1_CA_H_
#define GPS_DEFINES_H #define GNSS_SDR_GPS_L1_CA_H_
#define NAVIGATION_SOLUTION_RATE_MS 1000 #define NAVIGATION_SOLUTION_RATE_MS 1000
// GPS CONSTANTS
// JAVI: ADD SYSTEM PREFIX
const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
// SEPARATE FILE GPS.H 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 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 // carrier and code frequencies
const float GPS_L1_FREQ_HZ = 1.57542e9; const float GPS_L1_FREQ_HZ = 1.57542e9;
const float GPS_L2_FREQ_HZ = 1.22760e9; const float GPS_L2_FREQ_HZ = 1.22760e9;
const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6; const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6;
const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0;
//-- Constants for satellite position calculation ------------------------- //-- Constants for satellite position calculation -------------------------
const double OMEGA_EARTH_DOT = 7.2921151467e-5; // Earth rotation rate, [rad/s] 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 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 F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1/2)]
// NAVIGATION MESSAGE DEMODULATION AND DECODING // 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_SUBFRAME_BITS 300
#define GPS_WORD_BITS 30 #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. * \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
* It should be taken into account to set the buffer size for the PRN start timestamp in the pseudorranges block.
* *
* [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) #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 */ * the start position inside the subframe and the length in number of bits */
typedef struct bits_slice{ typedef struct bits_slice{
int position; int position;
@ -90,9 +90,10 @@ typedef struct bits_slice{
} 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 typedef struct gnss_synchro
{ {
double preamble_delay_ms; double preamble_delay_ms;
@ -105,9 +106,11 @@ typedef struct gnss_synchro
bool flag_preamble; bool flag_preamble;
} gnss_synchro; } 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 typedef struct gnss_pseudorange
{ {
double pseudorange_m; double pseudorange_m;
@ -116,6 +119,10 @@ typedef struct gnss_pseudorange
bool valid; bool valid;
} gnss_pseudorange; } gnss_pseudorange;
/* Constants for scaling the ephemeris found in the data message /* 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 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 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 PI_TWO_PX ==> Pi*2^X
ONE_PI_TWO_PX = (1/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 PI_TWO_N19 (5.992112452678286e-006) //!< Pi*2^-19
#define TWO_P11 (2048) //!< 2^11 #define PI_TWO_N43 (3.571577341960839e-013) //!< Pi*2^-43
#define TWO_P12 (4096) //!< 2^12 #define PI_TWO_N31 (1.462918079267160e-009) //!< Pi*2^-31
#define TWO_P14 (16384) //!< 2^14 #define PI_TWO_N38 (1.142904749427469e-011) //!< Pi*2^-38
#define TWO_P16 (65536) //!< 2^16 #define PI_TWO_N23 (3.745070282923929e-007) //!< Pi*2^-23
#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 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 // 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) // SUBFRAME 1-5 (TLM and HOW)
const bits_slice SUBFRAME_ID[]= {{50,3}};
const bits_slice TOW[]= {{31,17}}; 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 // SUBFRAME 1
const bits_slice GPS_WEEK[]= {{61,10}}; 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_ACCURACY[]= {{73,4}};
const bits_slice SV_HEALTH[]= {{77,6}}; const bits_slice SV_HEALTH[]= {{77,6}};
const bits_slice L2_P_DATA_FLAG[] = {{91,1}};
const bits_slice T_GD[]= {{197,8}}; const bits_slice T_GD[]= {{197,8}};
const double T_GD_LSB=TWO_N31; const double T_GD_LSB=TWO_N31;
@ -238,7 +251,45 @@ const bits_slice SV_PAGE[]= {{63,6}};
// SUBFRAME 4 // 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 // SUBFRAME 5
//! \todo read all pages of subframe 5
#endif /* GNSS_SDR_GPS_L1_CA_H_ */
#endif /* GPS_DEFINES_H */

843
src/core/system_parameters/gps_navigation_message.cc
View File

@ -1,6 +1,8 @@
/*! /*!
* \file gps_navigation_message.cc * \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 * \author Javier Arribas, 2011. jarribas(at)cttc.es
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
@ -32,254 +34,294 @@
void gps_navigation_message::reset() void gps_navigation_message::reset()
{ {
d_TOW=0; d_TOW=0;
//broadcast orbit 1 //broadcast orbit 1
d_IODE_SF2=0; d_IODE_SF2=0;
d_IODE_SF3=0; d_IODE_SF3=0;
d_Crs=0; d_Crs=0;
d_Delta_n=0; d_Delta_n=0;
d_M_0=0; d_M_0=0;
//broadcast orbit 2 //broadcast orbit 2
d_Cuc=0; d_Cuc=0;
d_e_eccentricity=0; d_e_eccentricity=0;
d_Cus=0; d_Cus=0;
d_sqrt_A=0; d_sqrt_A=0;
//broadcast orbit 3 //broadcast orbit 3
d_Toe=0; d_Toe=0;
d_Toc=0; d_Toc=0;
d_Cic=0; d_Cic=0;
d_OMEGA0=0; d_OMEGA0=0;
d_Cis=0; d_Cis=0;
//broadcast orbit 4 //broadcast orbit 4
d_i_0=0; d_i_0=0;
d_Crc=0; d_Crc=0;
d_OMEGA=0; d_OMEGA=0;
d_OMEGA_DOT=0; d_OMEGA_DOT=0;
//broadcast orbit 5 //broadcast orbit 5
d_IDOT=0; d_IDOT=0;
d_codes_on_L2=0; d_codes_on_L2=0;
d_GPS_week=0; d_GPS_week=0;
d_L2_P_data_flag=0; b_L2_P_data_flag=false;
//broadcast orbit 6 //broadcast orbit 6
d_SV_accuracy=0; d_SV_accuracy=0;
d_SV_health=0; d_SV_health=0;
d_TGD=0; d_TGD=0;
d_IODC=-1; d_IODC=-1;
//broadcast orbit 7 //broadcast orbit 7
d_fit_interval=0; d_fit_interval=0;
d_spare1=0; d_spare1=0;
d_spare2=0; d_spare2=0;
d_A_f0=0; d_A_f0=0;
d_A_f1=0; d_A_f1=0;
d_A_f2=0; d_A_f2=0;
//clock terms //clock terms
d_master_clock=0; d_master_clock=0;
d_dtr=0; d_dtr=0;
d_satClkCorr=0; d_satClkCorr=0;
// satellite positions // satellite positions
d_satpos_X=0; d_satpos_X=0;
d_satpos_Y=0; d_satpos_Y=0;
d_satpos_Z=0; d_satpos_Z=0;
// info // info
d_channel_ID=0; d_channel_ID=0;
d_satellite_PRN=0; d_satellite_PRN=0;
// time synchro // time synchro
d_subframe1_timestamp_ms=0; 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() 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 gps_navigation_message::read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices)
{ {
unsigned long int value; unsigned long int value;
value=0; value=0;
for (int i=0;i<num_of_slices;i++) 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)
{ {
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 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 // read the MSB and perform the sign extension
if (bits[GPS_SUBFRAME_BITS-slices[0].position]==1) 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)
{ {
value+=1; // insert the bit value^=0xFFFFFFFF;
}else{
value&=0;
} }
} for (int i=0;i<num_of_slices;i++)
} {
return value; 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) double gps_navigation_message::check_t(double time)
{ {
/* double corrTime;
CHECK_T accounting for beginning or end of week crossover. double half_week = 302400; // seconds
corrTime = time;
corrTime = check_t(time); if (time > half_week)
Inputs: {
time - time in seconds corrTime = time - 2*half_week;
}else if (time < -half_week)
Outputs: {
corrTime - corrected time (seconds) corrTime = time + 2*half_week;
}
Kai Borre 04-01-96 return corrTime;
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;
} }
void gps_navigation_message::master_clock(double transmitTime) void gps_navigation_message::master_clock(double transmitTime)
{ {
double dt; double dt;
double satClkCorr; double satClkCorr;
// Find initial satellite clock correction -------------------------------- // Find initial satellite clock correction --------------------------------
// --- Find time difference --------------------------------------------- // --- Find time difference ---------------------------------------------
dt = check_t(transmitTime - d_Toc); dt = check_t(transmitTime - d_Toc);
//--- Calculate clock correction --------------------------------------- //--- Calculate clock correction ---------------------------------------
satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 - d_TGD; 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() void gps_navigation_message::satpos()
{ {
double tk; double tk;
double a; double a;
double n; double n;
double n0; double n0;
double M; double M;
double E; double E;
double E_old; double E_old;
double dE; double dE;
double nu; double nu;
double phi; double phi;
double u; double u;
double r; double r;
double i; double i;
double Omega; double Omega;
// Find satellite's position ---------------------------------------------- // Find satellite's position ----------------------------------------------
// Restore semi-major axis // Restore semi-major axis
a = d_sqrt_A*d_sqrt_A; a = d_sqrt_A*d_sqrt_A;
// Time correction // Time correction
tk = check_t(d_master_clock - d_Toe); tk = check_t(d_master_clock - d_Toe);
// Initial mean motion // Initial mean motion
n0 = sqrt(GM / (a*a*a)); n0 = sqrt(GM / (a*a*a));
// Mean motion // Mean motion
n = n0 + d_Delta_n; n = n0 + d_Delta_n;
// Mean anomaly // Mean anomaly
M = d_M_0 + n * tk; M = d_M_0 + n * tk;
// Reduce mean anomaly to between 0 and 360 deg // 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 // Initial guess of eccentric anomaly
E = M; E = M;
// --- Iteratively compute eccentric anomaly ---------------------------- // --- Iteratively compute eccentric anomaly ----------------------------
//std::cout<<"d_e_eccentricity="<<d_e_eccentricity<<"\r\n"; for (int ii = 1;ii<20;ii++)
for (int ii = 1;ii<20;ii++) {
{ E_old = E;
E_old = E; E = M + d_e_eccentricity * sin(E);
E = M + d_e_eccentricity * sin(E); dE = fmod(E - E_old,2*GPS_PI);
dE = fmod(E - E_old,2*GPS_PI); if (fabs(dE) < 1e-12)
//std::cout<<"dE="<<dE<<std::endl; {
if (fabs(dE) < 1e-12) //Necessary precision is reached, exit from the loop
{ break;
//Necessary precision is reached, exit from the loop }
//std::cout<<"Loop break at ii="<<ii<<"\r\n"; }
break;
}
}
// Compute relativistic correction term // Compute relativistic correction term
d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E); d_dtr = F * d_e_eccentricity * d_sqrt_A * sin(E);
// Calculate the true anomaly // Calculate the true anomaly
double tmp_Y=sqrt(1.0 - d_e_eccentricity*d_e_eccentricity) * sin(E); double tmp_Y=sqrt(1.0 - d_e_eccentricity*d_e_eccentricity) * sin(E);
double tmp_X=cos(E)-d_e_eccentricity; double tmp_X=cos(E)-d_e_eccentricity;
nu = atan2(tmp_Y, tmp_X); nu = atan2(tmp_Y, tmp_X);
// Compute angle phi // Compute angle phi
phi = nu + d_OMEGA; phi = nu + d_OMEGA;
// Reduce phi to between 0 and 360 deg // Reduce phi to between 0 and 2*pi rad
phi = fmod((phi),(2*GPS_PI)); phi = fmod((phi),(2*GPS_PI));
// Correct argument of latitude // Correct argument of latitude
u = phi + d_Cuc * cos(2*phi) + d_Cus * sin(2*phi); u = phi + d_Cuc * cos(2*phi) + d_Cus * sin(2*phi);
// Correct radius // Correct radius
r = a * (1 - d_e_eccentricity*cos(E)) + d_Crc * cos(2*phi) + d_Crs * sin(2*phi); r = a * (1 - d_e_eccentricity*cos(E)) + d_Crc * cos(2*phi) + d_Crs * sin(2*phi);
// Correct inclination // Correct inclination
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2*phi) +d_Cis * sin(2*phi); 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 // 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; Omega = d_OMEGA0 + (d_OMEGA_DOT - OMEGA_EARTH_DOT)*tk - OMEGA_EARTH_DOT * d_Toe;
// Reduce to between 0 and 360 deg // Reduce to between 0 and 2*pi rad
Omega = fmod((Omega + 2*GPS_PI),(2*GPS_PI)); Omega = fmod((Omega + 2*GPS_PI),(2*GPS_PI));
// debug // debug
/* /*
if (this->d_channel_ID==0){ if (this->d_channel_ID==0){
std::cout<<"tk"<<tk<<std::endl; std::cout<<"tk"<<tk<<std::endl;
std::cout<<"E="<<E<<std::endl; std::cout<<"E="<<E<<std::endl;
std::cout<<"d_dtr="<<d_dtr<<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<<"i="<<i<<"\r\n";
std::cout<<"tmp_Y="<<tmp_Y<<"\r\n"; std::cout<<"tmp_Y="<<tmp_Y<<"\r\n";
std::cout<<"tmp_X="<<tmp_X<<"\r\n"; std::cout<<"tmp_X="<<tmp_X<<"\r\n";
} }
*/ */
// --- Compute satellite coordinates ------------------------------------ // --- Compute satellite coordinates ------------------------------------
d_satpos_X = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega); 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_Y = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
d_satpos_Z = sin(u)*r * sin(i); d_satpos_Z = sin(u)*r * sin(i);
} }
void gps_navigation_message::relativistic_clock_correction(double transmitTime) void gps_navigation_message::relativistic_clock_correction(double transmitTime)
{ {
double dt; double dt;
// Find final satellite clock correction -------------------------------- // Find final satellite clock correction --------------------------------
// --- Find time difference --------------------------------------------- // --- Find time difference ---------------------------------------------
dt = check_t(transmitTime - d_Toc); dt = check_t(transmitTime - d_Toc);
//Include relativistic correction in clock correction -------------------- //Include relativistic correction in clock correction --------------------
d_satClkCorr = (d_A_f2 * dt + d_A_f1) * dt + d_A_f0 -d_TGD + d_dtr; 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 gps_navigation_message::subframe_decoder(char *subframe)
{ {
int subframe_ID=0; int subframe_ID=0;
int SV_data_ID=0; int SV_data_ID=0;
int SV_page=0; int SV_page=0;
//double tmp_TOW; //double tmp_TOW;
unsigned int gps_word; 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];
}
}
// *** DEBUG // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
//std::cout<<"bitset subframe="<<subframe_bits<<std::endl; std::bitset<GPS_SUBFRAME_BITS> subframe_bits;
/* std::bitset<GPS_WORD_BITS+2> word_bits;
for (int i=0; i<10;i++) 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); memcpy(&gps_word,&d_subframe[i*4],sizeof(char)*4);
print_gps_word_bytes(gps_word); print_gps_word_bytes(gps_word);
} }
*/ */
subframe_ID=(int)read_navigation_unsigned(subframe_bits,SUBFRAME_ID,num_of_slices(SUBFRAME_ID)); subframe_ID=(int)read_navigation_unsigned(subframe_bits,SUBFRAME_ID,num_of_slices(SUBFRAME_ID));
//std::cout<<"subframe ID="<<subframe_ID<<std::endl; //std::cout<<"subframe ID="<<subframe_ID<<std::endl;
// Decode all 5 sub-frames // Decode all 5 sub-frames
switch (subframe_ID){ switch (subframe_ID){
//--- Decode the sub-frame id ------------------------------------------ //--- Decode the sub-frame id ------------------------------------------
// For more details on sub-frame contents please refer to GPS IS. // ICD (IS-GPS-200E Appendix II). http://www.losangeles.af.mil/shared/media/document/AFD-100813-045.pdf
//--- Decode sub-frame based on the sub-frames id ---------------------- case 1:
// The task is to select the necessary bits and convert them to decimal //--- It is subframe 1 -------------------------------------
// numbers. For more details on sub-frame contents please refer to GPS
// ICD (IS-GPS-200D).
case 1:
//--- It is subframe 1 -------------------------------------
// Compute the time of week (TOW) of the first sub-frames in the array ==== // 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 // 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 // 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). // (the variable subframe at this point contains bits of the last subframe).
//TOW = bin2dec(subframe(31:47)) * 6 - 30; //TOW = bin2dec(subframe(31:47)) * 6 - 30;
d_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW)); 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)) ! 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 b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
d_GPS_week =(double)read_navigation_unsigned(subframe_bits,GPS_WEEK,num_of_slices(GPS_WEEK)); b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
d_SV_accuracy=(double)read_navigation_unsigned(subframe_bits,SV_ACCURACY,num_of_slices(SV_ACCURACY)); b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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;
/* debug print */ // 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));
std::cout<<"d_TOW="<<d_TOW<<std::endl; 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)
std::cout<<"GPS week="<<d_GPS_week<<std::endl; d_SV_health = (double)read_navigation_unsigned(subframe_bits,SV_HEALTH,num_of_slices(SV_HEALTH));
std::cout<<"SV_accuracy="<<d_SV_accuracy<<std::endl;
std::cout<<"SV_health="<<d_SV_health<<std::endl; b_L2_P_data_flag = read_navigation_bool(subframe_bits,L2_P_DATA_FLAG); //
std::cout<<"TGD="<<d_TGD<<std::endl; d_codes_on_L2 = (double)read_navigation_unsigned(subframe_bits,CA_OR_P_ON_L2,num_of_slices(CA_OR_P_ON_L2));
std::cout<<"IODC="<<d_IODC<<std::endl; d_TGD = (double)read_navigation_signed(subframe_bits,T_GD,num_of_slices(T_GD));
std::cout<<"d_Toc="<<d_Toc<<std::endl; d_TGD = d_TGD*T_GD_LSB;
std::cout<<"A_F0="<<d_A_f0<<std::endl; d_IODC = (double)read_navigation_unsigned(subframe_bits,IODC,num_of_slices(IODC));
std::cout<<"A_F1="<<d_A_f1<<std::endl; d_Toc = (double)read_navigation_unsigned(subframe_bits,T_OC,num_of_slices(T_OC));
std::cout<<"A_F2="<<d_A_f2<<std::endl; 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.weekNumber = bin2dec(subframe(61:70)) + 1024;
eph.accuracy = bin2dec(subframe(73:76)); eph.accuracy = bin2dec(subframe(73:76));
eph.health = bin2dec(subframe(77:82)); 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_f2 = twosComp2dec(subframe(241:248)) * 2^(-55);
eph.a_f1 = twosComp2dec(subframe(249:264)) * 2^(-43); eph.a_f1 = twosComp2dec(subframe(249:264)) * 2^(-43);
eph.a_f0 = twosComp2dec(subframe(271:292)) * 2^(-31); eph.a_f0 = twosComp2dec(subframe(271:292)) * 2^(-31);
*/ */
break; break;
case 2: case 2:
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW)); //tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl; //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;
/* debug print */ b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
/* b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
std::cout<<"d_IODE_SF2="<<d_IODE_SF2<<std::endl; b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
std::cout<<"d_Crs="<<d_Crs<<std::endl; // --- It is subframe 2 -------------------------------------
std::cout<<"d_Delta_n="<<d_Delta_n<<std::endl; // It contains first part of ephemeris parameters
std::cout<<"d_M_0="<<d_M_0<<std::endl; d_IODE_SF2 = (double)read_navigation_unsigned(subframe_bits,IODE_SF2,num_of_slices(IODE_SF2));
std::cout<<"d_Cuc="<<d_Cuc<<std::endl; d_Crs = (double)read_navigation_signed(subframe_bits,C_RS,num_of_slices(C_RS));
std::cout<<"d_e_eccentricity="<<d_e_eccentricity<<std::endl; d_Crs =d_Crs * C_RS_LSB;
std::cout<<"d_Cus="<<d_Cus<<std::endl; d_Delta_n = (double)read_navigation_signed(subframe_bits,DELTA_N,num_of_slices(DELTA_N));
std::cout<<"d_sqrt_A="<<d_sqrt_A<<std::endl; d_Delta_n = d_Delta_n * DELTA_N_LSB;
std::cout<<"d_Toe="<<d_Toe<<std::endl; 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;
break; 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.IODE_sf2 = bin2dec(subframe(61:68));
eph.C_rs = twosComp2dec(subframe(69: 84)) * 2^(-5); eph.C_rs = twosComp2dec(subframe(69: 84)) * 2^(-5);
eph.deltan = twosComp2dec(subframe(91:106)) * 2^(-43) * gpsPi; 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.C_us = twosComp2dec(subframe(211:226)) * 2^(-29);
eph.sqrtA = bin2dec([subframe(227:234) subframe(241:264)])* 2^(-19); eph.sqrtA = bin2dec([subframe(227:234) subframe(241:264)])* 2^(-19);
eph.t_oe = bin2dec(subframe(271:286)) * 2^4; eph.t_oe = bin2dec(subframe(271:286)) * 2^4;
*/ */
case 3: case 3:
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW)); //tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl; //std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
// --- It is subframe 3 ------------------------------------- b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
// It contains second part of ephemeris parameters b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
d_Cic=(double)read_navigation_signed(subframe_bits,C_IC,num_of_slices(C_IC)); b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
d_Cic=d_Cic*C_IC_LSB; // --- It is subframe 3 -------------------------------------
d_OMEGA0=(double)read_navigation_signed(subframe_bits,OMEGA_0,num_of_slices(OMEGA_0)); // It contains second part of ephemeris parameters
d_OMEGA0=d_OMEGA0*OMEGA_0_LSB; d_Cic = (double)read_navigation_signed(subframe_bits,C_IC,num_of_slices(C_IC));
d_Cis=(double)read_navigation_signed(subframe_bits,C_IS,num_of_slices(C_IS)); d_Cic = d_Cic * C_IC_LSB;
d_Cis=d_Cis*C_IS_LSB; d_OMEGA0 = (double)read_navigation_signed(subframe_bits,OMEGA_0,num_of_slices(OMEGA_0));
d_i_0=(double)read_navigation_signed(subframe_bits,I_0,num_of_slices(I_0)); d_OMEGA0 = d_OMEGA0 * OMEGA_0_LSB;
d_i_0=d_i_0*I_0_LSB; d_Cis = (double)read_navigation_signed(subframe_bits,C_IS,num_of_slices(C_IS));
d_Crc=(double)read_navigation_signed(subframe_bits,C_RC,num_of_slices(C_RC)); d_Cis = d_Cis * C_IS_LSB;
d_Crc=d_Crc*C_RC_LSB; d_i_0 = (double)read_navigation_signed(subframe_bits,I_0,num_of_slices(I_0));
d_OMEGA=(double)read_navigation_signed(subframe_bits,OMEGA,num_of_slices(OMEGA)); d_i_0 = d_i_0 * I_0_LSB;
d_OMEGA=d_OMEGA*OMEGA_LSB; d_Crc = (double)read_navigation_signed(subframe_bits,C_RC,num_of_slices(C_RC));
d_OMEGA_DOT=(double)read_navigation_signed(subframe_bits,OMEGA_DOT,num_of_slices(OMEGA_DOT)); d_Crc = d_Crc * C_RC_LSB;
d_OMEGA_DOT=d_OMEGA_DOT*OMEGA_DOT_LSB; d_OMEGA = (double)read_navigation_signed(subframe_bits,OMEGA,num_of_slices(OMEGA));
d_IODE_SF3=(double)read_navigation_unsigned(subframe_bits,IODE_SF3,num_of_slices(IODE_SF3)); d_OMEGA = d_OMEGA * OMEGA_LSB;
d_IDOT=(double)read_navigation_signed(subframe_bits,I_DOT,num_of_slices(I_DOT)); d_OMEGA_DOT = (double)read_navigation_signed(subframe_bits,OMEGA_DOT,num_of_slices(OMEGA_DOT));
d_IDOT=d_IDOT*I_DOT_LSB; 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 */ break;
/* /*
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;
/*
eph.C_ic = twosComp2dec(subframe(61:76)) * 2^(-29); eph.C_ic = twosComp2dec(subframe(61:76)) * 2^(-29);
eph.omega_0 = twosComp2dec([subframe(77:84) subframe(91:114)])* 2^(-31) * gpsPi; eph.omega_0 = twosComp2dec([subframe(77:84) subframe(91:114)])* 2^(-31) * gpsPi;
eph.C_is = twosComp2dec(subframe(121:136)) * 2^(-29); 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.omegaDot = twosComp2dec(subframe(241:264)) * 2^(-43) * gpsPi;
eph.IODE_sf3 = bin2dec(subframe(271:278)); eph.IODE_sf3 = bin2dec(subframe(271:278));
eph.iDot = twosComp2dec(subframe(279:292)) * 2^(-43) * gpsPi; eph.iDot = twosComp2dec(subframe(279:292)) * 2^(-43) * gpsPi;
*/ */
case 4: case 4:
//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW)); //tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl; //std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
// --- It is subframe 4 ------------------------------------- b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
// Almanac, ionospheric model, UTC parameters. b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
// SV health (PRN: 25-32) b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
SV_data_ID=(int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID)); // --- It is subframe 4 -------------------------------------
SV_page=(int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE)); // 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 */ if (SV_page == 4)
/* {
std::cout<<"SF4 SV_data_ID="<<SV_data_ID<<std::endl; // Page 18 - Ionospheric and UTC data
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));
/* debug print */ d_alpha0 = (double)read_navigation_signed(subframe_bits, ALPHA_0,num_of_slices(ALPHA_0));
/* d_alpha0 = d_alpha0 * ALPHA_0_LSB;
std::cout<<"SF5 SV_data_ID="<<SV_data_ID<<std::endl; d_alpha1 = (double)read_navigation_signed(subframe_bits, ALPHA_1,num_of_slices(ALPHA_1));
std::cout<<"SF5 SV_page="<<SV_page<<std::endl; d_alpha1 = d_alpha1 * ALPHA_1_LSB;
*/ d_alpha2 = (double)read_navigation_signed(subframe_bits, ALPHA_2,num_of_slices(ALPHA_2));
break; d_alpha2 = d_alpha2 * ALPHA_2_LSB;
default: d_alpha3 = (double)read_navigation_signed(subframe_bits, ALPHA_3,num_of_slices(ALPHA_3));
break; d_alpha3 = d_alpha3 * ALPHA_3_LSB;
} // switch subframeID ... 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 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 // check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
// and check if the data has been filled (!=0) // 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) if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!=-1)
{ {
flag_data_valid=true; flag_data_valid=true;
} }
return flag_data_valid; return flag_data_valid;
} }

148
src/core/system_parameters/gps_navigation_message.h
View File

@ -1,6 +1,6 @@
/*! /*!
* \file gps_navigation_message.h * \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 * \author Javier Arribas, 2011. jarribas(at)cttc.es
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
@ -29,8 +29,8 @@
*/ */
#ifndef GPS_NAVIGATION_MESSAGE_H #ifndef GNSS_SDR_GPS_NAVIGATION_MESSAGE_H
#define GPS_NAVIGATION_MESSAGE_H #define GNSS_SDR_GPS_NAVIGATION_MESSAGE_H
#include <iostream> #include <iostream>
#include <map> #include <map>
@ -40,72 +40,105 @@
#include <bitset> #include <bitset>
#include "boost/assign.hpp" #include "boost/assign.hpp"
#include <math.h> #include <math.h>
using namespace boost::assign;
#include "GPS_L1_CA.h" #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 class gps_navigation_message
{ {
private: private:
unsigned long int read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices); 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); 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); double check_t(double time);
public: public:
//broadcast orbit 1 //broadcast orbit 1
double d_TOW; double d_TOW;
double d_IODE_SF2; double d_IODE_SF2;
double d_IODE_SF3; double d_IODE_SF3;
double d_Crs; double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
double d_Delta_n; double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
double d_M_0; double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
//broadcast orbit 2 //broadcast orbit 2
double d_Cuc; double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_eccentricity; double d_e_eccentricity; //!< Eccentricity [dimensionless]
double d_Cus; double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
double d_sqrt_A; double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
//broadcast orbit 3 //broadcast orbit 3
double d_Toe; double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
double d_Toc; double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
double d_Cic; double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
double d_OMEGA0; double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double d_Cis; double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
//broadcast orbit 4 //broadcast orbit 4
double d_i_0; double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
double d_Crc; double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
double d_OMEGA; double d_OMEGA; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT; double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
//broadcast orbit 5 //broadcast orbit 5
double d_IDOT; double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
double d_codes_on_L2; double d_codes_on_L2; //!<
double d_GPS_week; double d_GPS_week; //!< GPS week number, aka WN [week]
double d_L2_P_data_flag; 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 //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_SV_health;
double d_TGD; 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; double d_IODC; //!< Issue of Data, Clock
//broadcast orbit 7 //broadcast orbit 7
double d_fit_interval; double d_fit_interval;
double d_spare1; double d_spare1;
double d_spare2; double d_spare2;
double d_A_f0; double d_A_f0; //!< Coefficient 0 of code phase offset model [s]
double d_A_f1; double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
double d_A_f2; 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 // clock terms
double d_master_clock; //GPS transmission time double d_master_clock; // GPS transmission time
double d_satClkCorr; // GPS clock error double d_satClkCorr; // GPS clock error
double d_dtr; // relativistic clock correction term double d_dtr; // relativistic clock correction term
// satellite positions // satellite positions
double d_satpos_X; 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; 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; 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 // satellite identification info
@ -115,10 +148,49 @@ public:
// time synchro // time synchro
double d_subframe1_timestamp_ms; //[ms] 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 // public functions
void reset(); void reset();
/*!
* \brief Decodes the GPS NAV message
*/
int subframe_decoder(char *subframe); 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); void master_clock(double transmitTime);
/*!
* \brief Computes the position of the satellite
*
* Implementation of Table 20-IV (IS-GPS-200E)
*/
void satpos(); void satpos();
void relativistic_clock_correction(double transmitTime); void relativistic_clock_correction(double transmitTime);
bool satellite_validation(); bool satellite_validation();