mirror of https://github.com/gnss-sdr/gnss-sdr
Implement reading of reduced CED data in Galileo E1B INAV message. Used if found
This commit is contained in:
Carles Fernandez
parent
f4c7b43505
commit
d4a9b6f316
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@ -10,20 +10,13 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
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## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
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### Improvements in Portability:
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### Improvements in Availability:
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- Avoid collision of the `cpu_features` library when installing the
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`volk_gnsssdr` library by its own, and VOLK has already installed its version.
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Added a new building option `ENABLE_OWN_CPUFEATURES`, defaulting to `ON` when
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building `gnss-sdr` but defaulting to `OFF` when building a stand-alone
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version of `volk_gnsssdr`. When this building option is set to `ON`, it forces
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the building of the local version of the cpu_features library, regardless of
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whether it is already installed or not.
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- Fix building when using the Xcode generator, Xcode >= 12 and CMake >= 3.19.
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- Fix building of FPGA blocks when linking against GNU Radio >= 3.9 and/or
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Boost >= 1.74.
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- Fix linking of the `<filesystem>` library when using GCC 8.x and GNU Radio >=
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3.8.
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- Added the reading of reduced clock and ephemeris data (CED) in the Galileo E1B
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INAV message introduced in Galileo ICD v2.0. If the reduced CED is available
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before the full ephemeris set, it is used for PVT computation until the full
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set has not yet been received. This can contribute to shorten the
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Time-To-First-Fix.
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### Improvements in Maintainability:
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@ -46,6 +39,21 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
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providing a common nomenclature for ephemeris' parameters. New generated XML
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files make use of the new parameters' name.
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### Improvements in Portability:
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- Avoid collision of the `cpu_features` library when installing the
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`volk_gnsssdr` library by its own, and VOLK has already installed its version.
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Added a new building option `ENABLE_OWN_CPUFEATURES`, defaulting to `ON` when
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building `gnss-sdr` but defaulting to `OFF` when building a stand-alone
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version of `volk_gnsssdr`. When this building option is set to `ON`, it forces
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the building of the local version of the cpu_features library, regardless of
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whether it is already installed or not.
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- Fix building when using the Xcode generator, Xcode >= 12 and CMake >= 3.19.
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- Fix building of FPGA blocks when linking against GNU Radio >= 3.9 and/or
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Boost >= 1.74.
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- Fix linking of the `<filesystem>` library when using GCC 8.x and GNU Radio >=
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3.8.
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### Improvements in Usability:
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- Avoid segmentation faults in the flow graph connection and/or starting due to
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@ -208,6 +208,9 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_state0.reserve(max_states);
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d_state1.reserve(max_states);
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d_inav_nav.init_PRN(d_satellite.get_PRN());
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d_first_eph_sent = false;
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// create appropriate transition matrices
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nsc_transit(d_out0.data(), d_state0.data(), 0, g_encoder.data(), d_KK, d_nn);
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nsc_transit(d_out1.data(), d_state1.data(), 1, g_encoder.data(), d_KK, d_nn);
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@ -354,7 +357,19 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
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}
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
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}
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else
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{
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// If we still do not have ephemeris, check if we have a reduced CED
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if ((d_band == '1') && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
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{
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const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_reduced_ced());
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std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << '\n';
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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}
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if (d_inav_nav.have_new_iono_and_GST() == true)
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{
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// get object for this SV (mandatory)
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@ -139,6 +139,7 @@ private:
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bool d_dump;
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bool d_dump_mat;
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bool d_remove_dat;
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bool d_first_eph_sent;
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};
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@ -17,6 +17,7 @@ set(SYSTEM_PARAMETERS_SOURCES
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galileo_cnav_message.cc
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galileo_fnav_message.cc
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galileo_inav_message.cc
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galileo_reduced_ced.cc
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beidou_dnav_navigation_message.cc
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beidou_dnav_ephemeris.cc
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sbas_ephemeris.cc
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@ -52,6 +53,7 @@ set(SYSTEM_PARAMETERS_HEADERS
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galileo_fnav_message.h
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galileo_has_data.h
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galileo_inav_message.h
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galileo_reduced_ced.h
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sbas_ephemeris.h
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gps_cnav_ephemeris.h
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gps_cnav_navigation_message.h
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@ -245,12 +245,44 @@ const std::vector<std::pair<int32_t, int32_t>> T_0_G_10_BIT({{115, 8}});
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constexpr int32_t T_0_G_10_LSB = 3600;
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const std::vector<std::pair<int32_t, int32_t>> WN_0_G_10_BIT({{123, 6}});
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/* Page 16 */
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constexpr double CED_DeltaAred_LSB = TWO_P8;
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const std::vector<std::pair<int32_t, int32_t>> CED_DeltaAred_BIT({{7, 5}});
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constexpr double CED_exred_LSB = TWO_N22;
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const std::vector<std::pair<int32_t, int32_t>> CED_exred_BIT({{12, 13}});
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constexpr double CED_eyred_LSB = TWO_N22;
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const std::vector<std::pair<int32_t, int32_t>> CED_eyred_BIT({{25, 13}});
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constexpr double CED_Deltai0red_LSB = TWO_N22;
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const std::vector<std::pair<int32_t, int32_t>> CED_Deltai0red_BIT({{38, 17}});
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constexpr double CED_Omega0red_LSB = TWO_N22;
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const std::vector<std::pair<int32_t, int32_t>> CED_Omega0red_BIT({{55, 23}});
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constexpr double CED_lambda0red_LSB = TWO_N22;
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const std::vector<std::pair<int32_t, int32_t>> CED_lambda0red_BIT({{78, 23}});
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constexpr double CED_af0red_LSB = TWO_N26;
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const std::vector<std::pair<int32_t, int32_t>> CED_af0red_BIT({{101, 22}});
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constexpr double CED_af1red_LSB = TWO_N35;
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const std::vector<std::pair<int32_t, int32_t>> CED_af1red_BIT({{123, 6}});
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/* Pages 17, 18, 19, 20 */
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const std::vector<std::pair<int32_t, int32_t>> RS_IODNAV_LSBS({{15, 2}});
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constexpr size_t INAV_RS_SUBVECTOR_LENGTH = 15;
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constexpr size_t INAV_RS_PARITY_VECTOR_LENGTH = 60;
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constexpr int32_t BITS_IN_OCTET = 8;
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constexpr int32_t FIRST_RS_BIT = 7;
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constexpr int32_t FIRST_RS_BIT_AFTER_IODNAV = 17;
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/* Page 0 */
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const std::vector<std::pair<int32_t, int32_t>> TIME_0_BIT({{7, 2}});
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const std::vector<std::pair<int32_t, int32_t>> WN_0_BIT({{97, 12}});
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const std::vector<std::pair<int32_t, int32_t>> TOW_0_BIT({{109, 20}});
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/* Secondary Synchronization Patters */
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constexpr char GALILEO_INAV_PLAIN_SSP1[9] = "00000100";
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constexpr char GALILEO_INAV_PLAIN_SSP2[9] = "00101011";
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constexpr char GALILEO_INAV_PLAIN_SSP3[9] = "00101111";
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constexpr char GALILEO_INAV_ENCODED_SSP1[17] = "1110100100100101";
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constexpr char GALILEO_INAV_ENCODED_SSP2[17] = "0110110001001110";
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constexpr char GALILEO_INAV_ENCODED_SSP3[17] = "1101000000111110";
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/** \} */
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/** \} */
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@ -58,6 +58,7 @@ constexpr double TWO_PI = 2.0 * GNSS_PI; //!< 2 * pi
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constexpr double TWO_P3 = 8.0; //!< 2^3
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constexpr double TWO_P4 = 16.0; //!< 2^4
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constexpr double TWO_P8 = 256.0; //!< 2^8
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constexpr double TWO_P11 = 2048.0; //!< 2^11
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constexpr double TWO_P12 = 4096.0; //!< 2^12
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constexpr double TWO_P14 = 16384.0; //!< 2^14
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@ -83,9 +84,11 @@ constexpr double TWO_N18 = 3.814697265625000e-006; //!< 2^-18
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constexpr double TWO_N19 = 1.907348632812500e-006; //!< 2^-19
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constexpr double TWO_N20 = 9.536743164062500e-007; //!< 2^-20
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constexpr double TWO_N21 = 4.768371582031250e-007; //!< 2^-21
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constexpr double TWO_N22 = 2.384185791015625e-007; //!< 2^-22
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constexpr double TWO_N23 = 1.192092895507810e-007; //!< 2^-23
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constexpr double TWO_N24 = 5.960464477539063e-008; //!< 2^-24
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constexpr double TWO_N25 = 2.980232238769531e-008; //!< 2^-25
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constexpr double TWO_N26 = 1.490116119384765e-009; //!< 2^-26
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constexpr double TWO_N27 = 7.450580596923828e-009; //!< 2^-27
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constexpr double TWO_N29 = 1.862645149230957e-009; //!< 2^-29
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constexpr double TWO_N30 = 9.313225746154785e-010; //!< 2^-30
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@ -17,6 +17,7 @@
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*/
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#include "galileo_inav_message.h"
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#include "galileo_reduced_ced.h"
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#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
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#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
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#include <glog/logging.h> // for DLOG
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@ -55,7 +56,7 @@ bool Galileo_Inav_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, u
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}
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uint64_t Galileo_Inav_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const
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uint64_t Galileo_Inav_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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uint64_t value = 0ULL;
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const int32_t num_of_slices = parameter.size();
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@ -74,7 +75,7 @@ uint64_t Galileo_Inav_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA
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}
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uint64_t Galileo_Inav_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const
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uint64_t Galileo_Inav_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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uint64_t value = 0ULL;
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const int32_t num_of_slices = parameter.size();
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@ -93,7 +94,7 @@ uint64_t Galileo_Inav_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_
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}
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int64_t Galileo_Inav_Message::read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const
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int64_t Galileo_Inav_Message::read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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int64_t value = 0LL;
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const int32_t num_of_slices = parameter.size();
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@ -124,7 +125,7 @@ int64_t Galileo_Inav_Message::read_navigation_signed(std::bitset<GALILEO_DATA_JK
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}
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bool Galileo_Inav_Message::read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const
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bool Galileo_Inav_Message::read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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bool value;
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if (static_cast<int>(static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[0].first])) == 1)
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@ -262,6 +263,18 @@ bool Galileo_Inav_Message::have_new_almanac() // Check if we have a new almanac
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}
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bool Galileo_Inav_Message::have_new_reduced_ced()
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{
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// Check if we have a new CED data set stored in the galileo navigation class
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if ((flag_CED == true) && (WN_5 > 0)) // We need the week number to compute GST
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{
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flag_CED = false;
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return true;
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}
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return false;
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}
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Galileo_Ephemeris Galileo_Inav_Message::get_ephemeris() const
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{
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Galileo_Ephemeris ephemeris;
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@ -416,6 +429,42 @@ Galileo_Almanac_Helper Galileo_Inav_Message::get_almanac() const
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}
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Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
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{
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Galileo_Reduced_CED ced{};
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ced.PRN = SV_ID_PRN_4;
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if (TOW_5 > TOW_6)
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{
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ced.TOTRedCED = WN_5 * 604800 + TOW_5 + 4; // According to ICD 2.0, Table 38
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}
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else
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{
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ced.TOTRedCED = WN_5 * 604800 + TOW_6 + 10; // According to ICD 2.0, Table 38
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}
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std::array<int32_t, 4> iod_navs = {IOD_nav_1, IOD_nav_2, IOD_nav_3, IOD_nav_4};
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int32_t max_IOD_nav = IOD_nav_1;
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for (int i = 1; i < 4; i++)
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{
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if (iod_navs[i] > max_IOD_nav)
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{
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max_IOD_nav = iod_navs[i];
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}
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}
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ced.IODnav = max_IOD_nav;
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ced.DeltaAred = ced_DeltaAred;
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ced.exred = ced_exred;
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ced.eyred = ced_eyred;
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ced.Deltai0red = ced_Deltai0red;
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ced.Omega0red = ced_Omega0red;
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ced.lambda0red = ced_lambda0red;
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ced.af0red = ced_af0red;
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ced.af1red = ced_af1red;
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Galileo_Ephemeris eph = ced.compute_eph();
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return eph;
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}
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int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
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{
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const std::string data_jk_string = data_jk;
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@ -750,6 +799,99 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
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DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
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break;
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case 16: // Word type 16: Reduced Clock and Ephemeris Data (CED) parameters
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DLOG(INFO) << "Word type 16 arrived";
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ced_DeltaAred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_DeltaAred_BIT));
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ced_DeltaAred = ced_DeltaAred * CED_DeltaAred_LSB;
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DLOG(INFO) << "DeltaAred = " << ced_DeltaAred;
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ced_exred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_exred_BIT));
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ced_exred = ced_exred * CED_exred_LSB;
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DLOG(INFO) << "exred = " << ced_exred;
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ced_eyred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_eyred_BIT));
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ced_eyred = ced_eyred * CED_eyred_LSB;
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DLOG(INFO) << "eyred = " << ced_eyred;
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ced_Deltai0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_Deltai0red_BIT));
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ced_Deltai0red = ced_Deltai0red * CED_Deltai0red_LSB;
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DLOG(INFO) << "Deltai0red = " << ced_Deltai0red;
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ced_Omega0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_Omega0red_BIT));
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ced_Omega0red = ced_Omega0red * CED_Omega0red_LSB;
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DLOG(INFO) << "Omega0red = " << ced_Omega0red;
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ced_lambda0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_lambda0red_BIT));
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ced_lambda0red = ced_lambda0red * CED_lambda0red_LSB;
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DLOG(INFO) << "lambda0red = " << ced_lambda0red;
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ced_af0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_af0red_BIT));
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ced_af0red = ced_af0red * CED_af0red_LSB;
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DLOG(INFO) << "af0red = " << ced_af0red;
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ced_af1red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_af1red_BIT));
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ced_af1red = ced_af1red * CED_af1red_LSB;
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DLOG(INFO) << "af1red = " << ced_af1red;
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flag_CED = true;
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break;
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case 17: // Word type 17: FEC2 Reed-Solomon for CED
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{
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std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
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gamma_rs0[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
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IODnav_LSB17 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
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DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
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int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
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for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
|
||||
{
|
||||
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
||||
gamma_rs0[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 18: // Word type 18: FEC2 Reed-Solomon for CED
|
||||
{
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
gamma_rs1[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
IODnav_LSB18 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
|
||||
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
||||
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
|
||||
{
|
||||
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
||||
gamma_rs1[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 19: // Word type 19: FEC2 Reed-Solomon for CED
|
||||
{
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
gamma_rs2[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
IODnav_LSB19 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
|
||||
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
||||
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
|
||||
{
|
||||
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
||||
gamma_rs2[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 20: // Word type 20: FEC2 Reed-Solomon for CED
|
||||
{
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
gamma_rs3[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
IODnav_LSB20 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
|
||||
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
||||
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
|
||||
{
|
||||
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
||||
gamma_rs3[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case 0: // Word type 0: I/NAV Spare Word
|
||||
Time_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TIME_0_BIT));
|
||||
DLOG(INFO) << "Time_0= " << Time_0;
|
||||
|
|
|
|||
|
|
@ -78,6 +78,11 @@ public:
|
|||
*/
|
||||
bool have_new_almanac();
|
||||
|
||||
/*
|
||||
* \brief Returns true if new Reduced CED parameters have arrived. The flag is set to false when the function is executed
|
||||
*/
|
||||
bool have_new_reduced_ced();
|
||||
|
||||
/*
|
||||
* \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
|
||||
*/
|
||||
|
|
@ -98,6 +103,11 @@ public:
|
|||
*/
|
||||
Galileo_Almanac_Helper get_almanac() const;
|
||||
|
||||
/*
|
||||
* \brief Returns a Galileo_Ephemeris object filled with the latest reduced CED received
|
||||
*/
|
||||
Galileo_Ephemeris get_reduced_ced() const;
|
||||
|
||||
inline bool get_flag_CRC_test() const
|
||||
{
|
||||
return flag_CRC_test;
|
||||
|
|
@ -173,12 +183,20 @@ public:
|
|||
return WN_0G_10;
|
||||
}
|
||||
|
||||
/*
|
||||
* \brief Initialize PRN field so we do not need to wait for page 4.
|
||||
*/
|
||||
inline void init_PRN(uint32_t prn)
|
||||
{
|
||||
SV_ID_PRN_4 = prn;
|
||||
}
|
||||
|
||||
private:
|
||||
bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, uint32_t checksum) const;
|
||||
bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const;
|
||||
uint64_t read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const;
|
||||
uint64_t read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const;
|
||||
int64_t read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter) const;
|
||||
bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
|
||||
uint64_t read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
|
||||
uint64_t read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
|
||||
int64_t read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
|
||||
|
||||
std::string page_Even{};
|
||||
|
||||
|
|
@ -321,6 +339,27 @@ private:
|
|||
int32_t WN_0{};
|
||||
int32_t TOW_0{};
|
||||
|
||||
// Word type 16: Reduced Clock and Ephemeris Data (CED) parameters
|
||||
double ced_DeltaAred{};
|
||||
double ced_exred{};
|
||||
double ced_eyred{};
|
||||
double ced_Deltai0red{};
|
||||
double ced_Omega0red{};
|
||||
double ced_lambda0red{};
|
||||
double ced_af0red{};
|
||||
double ced_af1red{};
|
||||
|
||||
// Word types 17, 18, 19, 20: Reed-Solomon parity vector
|
||||
std::vector<uint8_t> gamma_rs0{INAV_RS_SUBVECTOR_LENGTH, 0};
|
||||
std::vector<uint8_t> gamma_rs1{INAV_RS_SUBVECTOR_LENGTH, 0};
|
||||
std::vector<uint8_t> gamma_rs2{INAV_RS_SUBVECTOR_LENGTH, 0};
|
||||
std::vector<uint8_t> gamma_rs3{INAV_RS_SUBVECTOR_LENGTH, 0};
|
||||
std::vector<uint8_t> rs_parity_vector{INAV_RS_PARITY_VECTOR_LENGTH, 0};
|
||||
uint8_t IODnav_LSB17{};
|
||||
uint8_t IODnav_LSB18{};
|
||||
uint8_t IODnav_LSB19{};
|
||||
uint8_t IODnav_LSB20{};
|
||||
|
||||
double Galileo_satClkDrift{};
|
||||
|
||||
bool flag_CRC_test{};
|
||||
|
|
@ -346,6 +385,8 @@ private:
|
|||
bool flag_GGTO_2{};
|
||||
bool flag_GGTO_3{};
|
||||
bool flag_GGTO_4{};
|
||||
|
||||
bool flag_CED{};
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,56 @@
|
|||
/*!
|
||||
* \file galileo_reduced_ced.cc
|
||||
* \brief Galileo Reduced Clock and Ephemeris Data storage class
|
||||
* \author Carles Fernandez, 2021. cfernandez(at)cttc.cat
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_reduced_ced.h"
|
||||
#include "MATH_CONSTANTS.h"
|
||||
#include <cmath>
|
||||
|
||||
|
||||
Galileo_Ephemeris Galileo_Reduced_CED::compute_eph() const
|
||||
{
|
||||
Galileo_Ephemeris eph{};
|
||||
|
||||
const double A_nominal = 29600000; // meters (Table 1 Galileo ICD 2.0)
|
||||
const double Ared = DeltaAred + A_nominal;
|
||||
eph.sqrtA = std::sqrt(Ared); // Square root of the semi-major axis [meters^1/2]
|
||||
const double i_nominal = 56.0; // degrees (Table 1 Galileo ICD 2.0)
|
||||
const double i0red = Deltai0red + i_nominal / 180.0;
|
||||
eph.i_0 = i0red; // Inclination angle at reference time [semi-circles]
|
||||
eph.ecc = std::sqrt(exred * exred + eyred * eyred); // Eccentricity
|
||||
const double omega_semicircles = std::atan2(eyred, exred) / GNSS_PI;
|
||||
eph.omega = omega_semicircles; // Argument of perigee [semi-circles]
|
||||
eph.M_0 = lambda0red - omega_semicircles; // Mean anomaly at reference time [semi-circles]
|
||||
eph.OMEGA_0 = Omega0red; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
|
||||
|
||||
eph.flag_all_ephemeris = true;
|
||||
eph.IOD_ephemeris = IODnav;
|
||||
eph.IOD_nav = IODnav;
|
||||
eph.PRN = PRN;
|
||||
|
||||
int32_t t0r = (30 * (TOTRedCED / 30) + 1) % 604800;
|
||||
eph.toe = t0r; // Ephemeris reference time [s]
|
||||
|
||||
// Clock correction parameters
|
||||
eph.toc = t0r; // Clock correction data reference Time of Week [sec]
|
||||
eph.af0 = af0red; // SV clock bias correction coefficient [s]
|
||||
eph.af1 = af1red; // SV clock drift correction coefficient [s/s]
|
||||
|
||||
// GST
|
||||
eph.WN = TOTRedCED / 604800; // Week number
|
||||
eph.tow = TOTRedCED % 604800; // Time of Week
|
||||
|
||||
return eph;
|
||||
}
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
/*!
|
||||
* \file galileo_reduced_ced.h
|
||||
* \brief Galileo Reduced Clock and Ephemeris Data storage class
|
||||
* \author Carles Fernandez, 2021. cfernandez(at)cttc.cat
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_REDUCED_CED_H
|
||||
#define GNSS_SDR_GALILEO_REDUCED_CED_H
|
||||
|
||||
#include "galileo_ephemeris.h"
|
||||
#include <cstdint>
|
||||
|
||||
/** \addtogroup Core
|
||||
* \{ */
|
||||
/** \addtogroup System_Parameters
|
||||
* \{ */
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class manages the Galileo Reduced Clock and Ephemeris Data
|
||||
*/
|
||||
class Galileo_Reduced_CED
|
||||
{
|
||||
public:
|
||||
/*!
|
||||
* Default constructor
|
||||
*/
|
||||
Galileo_Reduced_CED() = default;
|
||||
|
||||
/*!
|
||||
* Convert to Galileo_Ephemeris
|
||||
*/
|
||||
Galileo_Ephemeris compute_eph() const;
|
||||
|
||||
uint32_t PRN{}; //!< Satellite ID
|
||||
int32_t TOTRedCED{}; //!< Start time of transmission of the Reduced CED word in GST
|
||||
int32_t IODnav{}; //!< Issue of Data
|
||||
double DeltaAred{}; //!< Difference between the Reduced CED semi-major axis and the nominal semi-major axis [meters]
|
||||
double exred{}; //!< Reduced CED eccentricity vector component x
|
||||
double eyred{}; //!< Reduced CED eccentricity vector component y
|
||||
double Deltai0red{}; //!< Difference between the Reduced CED inclination angle at reference time and the nominal inclination [semi-circles]
|
||||
double Omega0red{}; //!< Reduced CED longitude of ascending node at weekly epoch [semi-circles]
|
||||
double lambda0red{}; //!< Reduced CED mean argument of latitude [semi-circles]
|
||||
double af0red{}; //!< Reduced CED satellite clock bias correction coefficient [seconds]
|
||||
double af1red{}; //!< Reduced CED satellite clock drift correction coefficient [seconds/seconds]
|
||||
};
|
||||
|
||||
|
||||
/** \} */
|
||||
/** \} */
|
||||
#endif // GNSS_SDR_GALILEO_REDUCED_CED_H
|
||||
Loading…
Reference in New Issue