mirror of https://github.com/gnss-sdr/gnss-sdr
Added more decodification of the NAV data message
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@110 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
b49fb745c5
commit
d61d86900b
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@ -1,12 +1,12 @@
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/*!
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* \file gps_l1_ca_observables.cc
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* \brief Implementation of an adapter of a GPS L1 C/A observables block
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* to a SignalConditionerInterface
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* to a ObservablesInterface
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -1,12 +1,12 @@
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/*!
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* \file gps_l1_ca_observables.h
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* \brief Interface of an adapter of a GPS L1 C/A observables block
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* to a SignalConditionerInterface
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* to a ObservablesInterface
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -223,6 +223,9 @@ const bits_slice SQRT_A[]= {{227,8},{241,24}};
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const double SQRT_A_LSB=TWO_N19;
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const bits_slice T_OE[]= {{271,16}};
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const double T_OE_LSB=TWO_P4;
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const bits_slice FIT_INTERVAL_FLAG[]= {{271,1}};
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const bits_slice AODO[] = {{272,5}};
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const int AODO_LSB = 900;
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// SUBFRAME 3
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@ -289,9 +292,55 @@ const double DN_LSB = 1;
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const bits_slice DELTAT_LSF[]= {{271,8}};
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const double DELTAT_LSF_LSB = 1;
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// Page 25 - Antispoofing, SV config and SV health (PRN 25 -32)
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const bits_slice HEALTH_SV25[]={{229,6}};
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const bits_slice HEALTH_SV26[]={{241,6}};
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const bits_slice HEALTH_SV27[]={{247,6}};
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const bits_slice HEALTH_SV28[]={{253,6}};
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const bits_slice HEALTH_SV29[]={{259,6}};
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const bits_slice HEALTH_SV30[]={{271,6}};
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const bits_slice HEALTH_SV31[]={{277,6}};
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const bits_slice HEALTH_SV32[]={{283,6}};
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// SUBFRAME 5
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//! \todo read all pages of subframe 5
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// page 25 - Health (PRN 1 - 24)
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const bits_slice T_OA[]={{69,8}};
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const double T_OA_LSB = TWO_P12;
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const bits_slice WN_A[]={{77,8}};
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const bits_slice HEALTH_SV1[]={{91,6}};
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const bits_slice HEALTH_SV2[]={{97,6}};
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const bits_slice HEALTH_SV3[]={{103,6}};
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const bits_slice HEALTH_SV4[]={{109,6}};
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const bits_slice HEALTH_SV5[]={{121,6}};
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const bits_slice HEALTH_SV6[]={{127,6}};
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const bits_slice HEALTH_SV7[]={{133,6}};
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const bits_slice HEALTH_SV8[]={{139,6}};
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const bits_slice HEALTH_SV9[]={{151,6}};
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const bits_slice HEALTH_SV10[]={{157,6}};
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const bits_slice HEALTH_SV11[]={{163,6}};
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const bits_slice HEALTH_SV12[]={{169,6}};
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const bits_slice HEALTH_SV13[]={{181,6}};
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const bits_slice HEALTH_SV14[]={{187,6}};
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const bits_slice HEALTH_SV15[]={{193,6}};
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const bits_slice HEALTH_SV16[]={{199,6}};
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const bits_slice HEALTH_SV17[]={{211,6}};
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const bits_slice HEALTH_SV18[]={{217,6}};
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const bits_slice HEALTH_SV19[]={{223,6}};
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const bits_slice HEALTH_SV20[]={{229,6}};
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const bits_slice HEALTH_SV21[]={{241,6}};
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const bits_slice HEALTH_SV22[]={{247,6}};
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const bits_slice HEALTH_SV23[]={{253,6}};
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const bits_slice HEALTH_SV24[]={{259,6}};
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#endif /* GNSS_SDR_GPS_L1_CA_H_ */
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@ -32,48 +32,41 @@
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#include "gps_navigation_message.h"
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#define num_of_slices(x) sizeof(x)/sizeof(bits_slice)
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void gps_navigation_message::reset()
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{
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d_TOW=0;
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//broadcast orbit 1
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d_IODE_SF2=0;
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d_IODE_SF3=0;
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d_Crs=0;
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d_Delta_n=0;
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d_M_0=0;
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//broadcast orbit 2
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d_Cuc=0;
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d_e_eccentricity=0;
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d_Cus=0;
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d_sqrt_A=0;
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//broadcast orbit 3
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d_Toe=0;
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d_Toc=0;
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d_Cic=0;
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d_OMEGA0=0;
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d_Cis=0;
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//broadcast orbit 4
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d_i_0=0;
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d_Crc=0;
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d_OMEGA=0;
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d_OMEGA_DOT=0;
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//broadcast orbit 5
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d_IDOT=0;
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d_codes_on_L2=0;
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d_GPS_week=0;
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i_code_on_L2=0;
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i_GPS_week=0;
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b_L2_P_data_flag=false;
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//broadcast orbit 6
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d_SV_accuracy=0;
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d_SV_health=0;
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i_SV_accuracy=0;
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i_SV_health=0;
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d_TGD=0;
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d_IODC=-1;
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//broadcast orbit 7
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i_AODO=0;
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d_fit_interval=0;
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b_fit_interval_flag=false;
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d_spare1=0;
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d_spare2=0;
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@ -116,12 +109,20 @@ void gps_navigation_message::reset()
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d_A1=0;
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d_A0=0;
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d_t_OT=0;
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d_WN_T=0;
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i_WN_T=0;
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d_DeltaT_LS=0;
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d_WN_LSF=0;
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d_DN=0;
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i_WN_LSF=0;
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i_DN=0;
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d_DeltaT_LSF=0;
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//Almanac
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d_Toa = 0;
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i_WN_A = 0;
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for (int i=1; i < 32; i++ )
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{
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almanacHealth[i]=0;
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}
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}
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@ -430,12 +431,12 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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// It contains WN, SV clock corrections, health and accuracy
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d_GPS_week = (double)read_navigation_unsigned(subframe_bits,GPS_WEEK,num_of_slices(GPS_WEEK));
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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)
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d_SV_health = (double)read_navigation_unsigned(subframe_bits,SV_HEALTH,num_of_slices(SV_HEALTH));
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i_GPS_week = (int)read_navigation_unsigned(subframe_bits,GPS_WEEK,num_of_slices(GPS_WEEK));
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i_SV_accuracy = (int)read_navigation_unsigned(subframe_bits,SV_ACCURACY,num_of_slices(SV_ACCURACY)); // (20.3.3.3.1.3)
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i_SV_health = (int)read_navigation_unsigned(subframe_bits,SV_HEALTH,num_of_slices(SV_HEALTH));
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b_L2_P_data_flag = read_navigation_bool(subframe_bits,L2_P_DATA_FLAG); //
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d_codes_on_L2 = (double)read_navigation_unsigned(subframe_bits,CA_OR_P_ON_L2,num_of_slices(CA_OR_P_ON_L2));
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i_code_on_L2 = (int)read_navigation_unsigned(subframe_bits,CA_OR_P_ON_L2,num_of_slices(CA_OR_P_ON_L2));
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d_TGD = (double)read_navigation_signed(subframe_bits,T_GD,num_of_slices(T_GD));
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d_TGD = d_TGD*T_GD_LSB;
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d_IODC = (double)read_navigation_unsigned(subframe_bits,IODC,num_of_slices(IODC));
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@ -462,15 +463,11 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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*/
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break;
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case 2:
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//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
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//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
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case 2: //--- It is subframe 2 -------------------
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b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
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b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
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b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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// --- It is subframe 2 -------------------------------------
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// It contains first part of ephemeris parameters
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d_IODE_SF2 = (double)read_navigation_unsigned(subframe_bits,IODE_SF2,num_of_slices(IODE_SF2));
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d_Crs = (double)read_navigation_signed(subframe_bits,C_RS,num_of_slices(C_RS));
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d_Crs =d_Crs * C_RS_LSB;
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@ -488,6 +485,10 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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d_sqrt_A = d_sqrt_A * SQRT_A_LSB;
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d_Toe = (double)read_navigation_unsigned(subframe_bits,T_OE,num_of_slices(T_OE));
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d_Toe = d_Toe * T_OE_LSB;
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b_fit_interval_flag = read_navigation_bool(subframe_bits, FIT_INTERVAL_FLAG);
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i_AODO = (int)read_navigation_unsigned(subframe_bits,AODO,num_of_slices(AODO));
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i_AODO = i_AODO * AODO_LSB;
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break;
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/*
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@ -501,14 +502,12 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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eph.sqrtA = bin2dec([subframe(227:234) subframe(241:264)])* 2^(-19);
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eph.t_oe = bin2dec(subframe(271:286)) * 2^4;
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*/
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case 3:
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case 3: // --- It is subframe 3 -------------------------------------
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//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
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//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
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b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
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b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
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b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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// --- It is subframe 3 -------------------------------------
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// It contains second part of ephemeris parameters
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d_Cic = (double)read_navigation_signed(subframe_bits,C_IC,num_of_slices(C_IC));
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d_Cic = d_Cic * C_IC_LSB;
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d_OMEGA0 = (double)read_navigation_signed(subframe_bits,OMEGA_0,num_of_slices(OMEGA_0));
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@ -539,19 +538,21 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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eph.IODE_sf3 = bin2dec(subframe(271:278));
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eph.iDot = twosComp2dec(subframe(279:292)) * 2^(-43) * gpsPi;
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*/
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case 4:
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//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
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//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
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case 4: // --- It is subframe 4 ---------- Almanac, ionospheric model, UTC parameters, SV health (PRN: 25-32)
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b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
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b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
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b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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// --- It is subframe 4 -------------------------------------
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// Almanac, ionospheric model, UTC parameters.
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// SV health (PRN: 25-32)
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SV_data_ID = (int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
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SV_page = (int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
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if (SV_page == 4)
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if (SV_page == 13)
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{
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//! \TODO read Estimated Range Deviation (ERD) values
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}
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if (SV_page == 18)
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{
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// Page 18 - Ionospheric and UTC data
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@ -577,25 +578,75 @@ int gps_navigation_message::subframe_decoder(char *subframe)
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d_A0 = d_A0 * A_0_LSB;
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d_t_OT = (double)read_navigation_unsigned(subframe_bits, T_OT,num_of_slices(T_OT));
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d_t_OT = d_t_OT * T_OT_LSB;
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d_WN_T = (double)read_navigation_unsigned(subframe_bits, WN_T,num_of_slices(WN_T));
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i_WN_T = (int)read_navigation_unsigned(subframe_bits, WN_T,num_of_slices(WN_T));
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d_DeltaT_LS = (double)read_navigation_signed(subframe_bits, DELTAT_LS,num_of_slices(DELTAT_LS));
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d_WN_LSF = (double)read_navigation_unsigned(subframe_bits, WN_LSF,num_of_slices(WN_LSF));
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d_DN = (double)read_navigation_unsigned(subframe_bits, DN,num_of_slices(DN));; // Right-justified ?
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i_WN_LSF = (int)read_navigation_unsigned(subframe_bits, WN_LSF,num_of_slices(WN_LSF));
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i_DN = (int)read_navigation_unsigned(subframe_bits, DN,num_of_slices(DN));; // Right-justified ?
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d_DeltaT_LSF = (double)read_navigation_signed(subframe_bits, DELTAT_LSF,num_of_slices(DELTAT_LSF));
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}
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if (SV_page == 25)
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{
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// Page 25 Anti-Spoofing, SV config and almanac health (PRN: 25-32)
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//! \TODO Read Anti-Spoofing, SV config
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almanacHealth[25] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV25,num_of_slices(HEALTH_SV25));
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almanacHealth[26] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV26,num_of_slices(HEALTH_SV26));
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almanacHealth[27] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV27,num_of_slices(HEALTH_SV27));
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almanacHealth[28] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV28,num_of_slices(HEALTH_SV28));
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almanacHealth[29] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV29,num_of_slices(HEALTH_SV29));
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almanacHealth[30] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV30,num_of_slices(HEALTH_SV30));
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almanacHealth[31] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV31,num_of_slices(HEALTH_SV31));
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almanacHealth[32] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV32,num_of_slices(HEALTH_SV32));
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}
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break;
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case 5:
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//tmp_TOW=(double)read_navigation_unsigned(subframe_bits,TOW,num_of_slices(TOW));
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//std::cout<<"tmp_TOW="<<tmp_TOW<<std::endl;
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//--- It is subframe 5 -------------------------------------
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// SV almanac and health (PRN: 1-24).
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// Almanac reference week number and time.
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case 5://--- It is subframe 5 -----------------almanac health (PRN: 1-24) and Almanac reference week number and time.
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b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
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b_alert_flag = read_navigation_bool(subframe_bits, ALERT_FLAG);
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b_antispoofing_flag = read_navigation_bool(subframe_bits, ANTI_SPOOFING_FLAG);
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SV_data_ID = (int)read_navigation_unsigned(subframe_bits,SV_DATA_ID,num_of_slices(SV_DATA_ID));
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SV_page = (int)read_navigation_unsigned(subframe_bits,SV_PAGE,num_of_slices(SV_PAGE));
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if (SV_page < 25)
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{
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//! \TODO read almanac
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}
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if (SV_page == 25)
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{
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d_Toa = (double)read_navigation_unsigned(subframe_bits,T_OA,num_of_slices(T_OA));
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d_Toa = d_Toa * T_OA_LSB;
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i_WN_A = (int)read_navigation_unsigned(subframe_bits,WN_A,num_of_slices(WN_A));
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almanacHealth[1] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV1,num_of_slices(HEALTH_SV1));
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almanacHealth[2] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV2,num_of_slices(HEALTH_SV2));
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almanacHealth[3] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV3,num_of_slices(HEALTH_SV3));
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almanacHealth[4] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV4,num_of_slices(HEALTH_SV4));
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almanacHealth[5] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV5,num_of_slices(HEALTH_SV5));
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almanacHealth[6] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV6,num_of_slices(HEALTH_SV6));
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almanacHealth[7] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV7,num_of_slices(HEALTH_SV7));
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almanacHealth[8] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV8,num_of_slices(HEALTH_SV8));
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almanacHealth[9] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV9,num_of_slices(HEALTH_SV9));
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almanacHealth[10] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV10,num_of_slices(HEALTH_SV10));
|
||||
almanacHealth[11] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV11,num_of_slices(HEALTH_SV11));
|
||||
almanacHealth[12] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV12,num_of_slices(HEALTH_SV12));
|
||||
almanacHealth[13] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV13,num_of_slices(HEALTH_SV13));
|
||||
almanacHealth[14] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV14,num_of_slices(HEALTH_SV14));
|
||||
almanacHealth[15] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV15,num_of_slices(HEALTH_SV15));
|
||||
almanacHealth[16] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV16,num_of_slices(HEALTH_SV16));
|
||||
almanacHealth[17] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV17,num_of_slices(HEALTH_SV17));
|
||||
almanacHealth[18] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV18,num_of_slices(HEALTH_SV18));
|
||||
almanacHealth[19] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV19,num_of_slices(HEALTH_SV19));
|
||||
almanacHealth[20] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV20,num_of_slices(HEALTH_SV20));
|
||||
almanacHealth[21] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV21,num_of_slices(HEALTH_SV21));
|
||||
almanacHealth[22] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV22,num_of_slices(HEALTH_SV22));
|
||||
almanacHealth[23] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV23,num_of_slices(HEALTH_SV23));
|
||||
almanacHealth[24] = (int)read_navigation_unsigned(subframe_bits,HEALTH_SV24,num_of_slices(HEALTH_SV24));
|
||||
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
|
|
@ -613,6 +664,7 @@ bool gps_navigation_message::satellite_validation()
|
|||
|
||||
bool flag_data_valid = false;
|
||||
|
||||
// First Step:
|
||||
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
|
||||
// and check if the data have been filled (!=0)
|
||||
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!=-1)
|
||||
|
|
|
|||
|
|
@ -95,17 +95,18 @@ public:
|
|||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
//broadcast orbit 5
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
double d_codes_on_L2; //!<
|
||||
double d_GPS_week; //!< GPS week number, aka WN [week]
|
||||
int i_code_on_L2; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
|
||||
int i_GPS_week; //!< GPS week number, aka WN [week]
|
||||
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
|
||||
//broadcast orbit 6
|
||||
double d_SV_accuracy; //!< 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;
|
||||
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
|
||||
int i_SV_health;
|
||||
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term for the benefit of "L1 only" or "L2 only" users [s]
|
||||
double d_IODC; //!< Issue of Data, Clock
|
||||
//broadcast orbit 7
|
||||
int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
double d_fit_interval;
|
||||
bool b_fit_interval_flag;//!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
double d_spare2;
|
||||
|
||||
|
|
@ -113,6 +114,12 @@ public:
|
|||
double d_A_f1; //!< Coefficient 1 of code phase offset model [s/s]
|
||||
double d_A_f2; //!< Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
|
||||
// Almanac
|
||||
double d_Toa; //!< Almanac reference time [s]
|
||||
int i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
std::map<int,int> almanacHealth;
|
||||
|
||||
// Flags
|
||||
|
||||
/*! \brief If true, enhanced level of integrity assurance.
|
||||
|
|
@ -165,10 +172,10 @@ public:
|
|||
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]
|
||||
int i_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]
|
||||
int i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue