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Start work on OSNMA

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This commit is contained in:
Carles Fernandez 2023-05-23 02:23:36 +02:00
parent d30b87c2c1
commit d8a3ae005d
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 119 additions and 38 deletions
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35
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -430,11 +430,11 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_ephemeris());
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
@ -445,7 +445,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
if ((d_band == '1') && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
{
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_reduced_ced());
std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << '\n';
std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
}
@ -456,11 +456,11 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_inav_nav.get_iono());
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << '\n';
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
@ -471,11 +471,11 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_inav_nav.get_utc_model());
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << '\n';
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
@ -489,16 +489,23 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
// debug
if (d_band == '1')
{
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n';
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_BLUE << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << std::endl;
}
DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
DLOG(INFO) << "d_nav.WN_0=" << d_inav_nav.get_Galileo_week();
}
if (d_band == '1' && d_inav_nav.have_new_nma() == true)
{
const std::shared_ptr<OSNMA_msg> tmp_obj = std::make_shared<OSNMA_msg>(d_inav_nav.get_osnma_msg());
// this->message_port_pub(pmt::mp("whatever"), pmt::make_any(tmp_obj));
std::cout << "Galileo OSNMA message received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
}
}
@ -557,21 +564,21 @@ void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t
if (d_fnav_nav.have_new_ephemeris() == true)
{
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_fnav_nav.get_ephemeris());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_fnav_nav.have_new_iono_and_GST() == true)
{
const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_fnav_nav.have_new_utc_model() == true)
{
const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
}
@ -631,7 +638,7 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
d_cnav_dummy_page = is_page_dummy;
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 CNAV dummy pages in channel "
<< d_channel << " from satellite " << d_satellite
<< TEXT_RESET << '\n';
<< TEXT_RESET << std::endl;
}
}
else
@ -648,7 +655,7 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 HAS pages"
<< (d_cnav_nav.is_HAS_in_test_mode() == true ? " (test mode) " : " ")
<< "in channel " << d_channel << " from satellite " << d_satellite
<< TEXT_RESET << '\n';
<< TEXT_RESET << std::endl;
}
}
}

82
src/core/system_parameters/galileo_inav_message.cc
View File

@ -176,8 +176,6 @@ bool Galileo_Inav_Message::read_navigation_bool(const std::bitset<GALILEO_DATA_J
void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even_word)
{
int32_t Page_type = 0;
if (page_string.at(0) == '1') // if page is odd
{
const std::string& page_Odd = page_string;
@ -186,21 +184,16 @@ void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even
{
const std::string page_INAV_even = page_Even;
const std::string page_INAV = page_INAV_even + page_Odd; // Join pages: Even + Odd = INAV page
const std::string Even_bit = page_INAV.substr(0, 1);
const std::string Page_type_even = page_INAV.substr(1, 1);
const std::string nominal = "0";
const std::string Data_k = page_INAV.substr(2, 112);
const std::string Odd_bit = page_INAV.substr(114, 1);
const std::string Page_type_Odd = page_INAV.substr(115, 1);
const std::string Data_j = page_INAV.substr(116, 16);
const std::string Reserved_1 = page_INAV.substr(132, 40);
const std::string SAR = page_INAV.substr(172, 22);
const std::string Spare = page_INAV.substr(194, 2);
const std::string osnma_sis = page_INAV.substr(132, 40);
// const std::string SAR = page_INAV.substr(172, 22);
// const std::string Spare = page_INAV.substr(194, 2);
const std::string CRC_data = page_INAV.substr(196, 24);
const std::string Reserved_2 = page_INAV.substr(220, 8);
const std::string Tail_odd = page_INAV.substr(228, 6);
// const std::string Reserved_2 = page_INAV.substr(220, 8);
// const std::string Tail_odd = page_INAV.substr(228, 6);
// ************ CRC checksum control *******/
std::stringstream TLM_word_for_CRC_stream;
@ -213,12 +206,29 @@ void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even
{
flag_CRC_test = true;
// CRC correct: Decode word
const std::string page_number_bits = Data_k.substr(0, 6);
const std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits(page_number_bits); // from string to bitset
Page_type = static_cast<int32_t>(read_page_type_unsigned(page_type_bits, TYPE));
Page_type_time_stamp = Page_type;
const std::string Data_jk_ephemeris = Data_k + Data_j;
page_jk_decoder(Data_jk_ephemeris.c_str());
// Fill OSNMA data
if (page_position_in_inav_subframe != 255)
{
if (page_position_in_inav_subframe == 0)
{
nma_position_filled = std::array<int8_t, 15>{};
nma_msg.mack = std::array<uint32_t, 15>{};
nma_msg.hkroot = std::array<uint8_t, 15>{};
}
std::bitset<8> hkroot_bs(osnma_sis.substr(0, 8));
std::bitset<32> mack_bs(osnma_sis.substr(8, 32));
if (hkroot_bs.count() != 0 && mack_bs.count() != 0)
{
hkroot_sis = static_cast<uint8_t>(hkroot_bs.to_ulong());
mack_sis = static_cast<uint32_t>(mack_bs.to_ulong());
nma_msg.mack[page_position_in_inav_subframe] = mack_sis;
nma_msg.hkroot[page_position_in_inav_subframe] = hkroot_sis;
nma_position_filled[page_position_in_inav_subframe] = 1;
}
}
}
else
{
@ -690,6 +700,7 @@ void Galileo_Inav_Message::read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>&
IOD_nav_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_4_BIT));
DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4;
SV_ID_PRN_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, SV_ID_PRN_4_BIT));
nma_msg.PRN = static_cast<uint32_t>(SV_ID_PRN_4);
DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4;
C_ic_4 = static_cast<double>(read_navigation_signed(data_bits, C_IC_4_BIT));
C_ic_4 = C_ic_4 * C_IC_4_LSB;
@ -844,6 +855,11 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
const auto page_number = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, PAGE_TYPE_BIT));
DLOG(INFO) << "Page number = " << page_number;
if (page_position_in_inav_subframe != 255)
{
page_position_in_inav_subframe++;
}
switch (page_number)
{
case 1: // Word type 1: Ephemeris (1/4)
@ -884,6 +900,10 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 2: // Word type 2: Ephemeris (2/4)
{
page_position_in_inav_subframe = 0;
nma_msg.mack = std::array<uint32_t, 15>{};
nma_msg.hkroot = std::array<uint8_t, 15>{};
nma_position_filled = std::array<int8_t, 15>{};
read_page_2(data_jk_bits);
if (enable_rs)
{
@ -1371,5 +1391,35 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
default:
break;
}
if (page_position_in_inav_subframe > 14 && page_position_in_inav_subframe != 255)
{
// something weird happened, reset
page_position_in_inav_subframe = 255;
nma_position_filled = std::array<int8_t, 15>{};
nma_msg.mack = std::array<uint32_t, 15>{};
nma_msg.hkroot = std::array<uint8_t, 15>{};
}
return page_number;
}
OSNMA_msg Galileo_Inav_Message::get_osnma_msg() const
{
return nma_msg;
}
bool Galileo_Inav_Message::have_new_nma()
{
if (std::all_of(nma_position_filled.begin(), nma_position_filled.end(),
[](int32_t element) { return element == 1; }))
{
return true;
}
else
{
return false;
}
}

40
src/core/system_parameters/galileo_inav_message.h
View File

@ -25,6 +25,7 @@
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
#include <array>
#include <bitset>
#include <cstdint>
#include <memory>
@ -39,6 +40,14 @@ class ReedSolomon; // Forward declaration of the ReedSolomon class
/** \addtogroup System_Parameters
* \{ */
class OSNMA_msg
{
public:
OSNMA_msg() = default;
std::array<uint32_t, 15> mack{};
std::array<uint8_t, 15> hkroot{};
uint32_t PRN{};
};
/*!
* \brief This class handles the Galileo I/NAV Data message, as described in the
@ -57,13 +66,6 @@ public:
*/
void split_page(std::string page_string, int32_t flag_even_word);
/*
* \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
*
* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
*/
int32_t page_jk_decoder(const char* data_jk);
/*
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
*/
@ -89,6 +91,11 @@ public:
*/
bool have_new_reduced_ced();
/*
* \brief Returns true if new NMA data have arrived. The flag is set to false when the function is executed
*/
bool have_new_nma();
/*
* \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
*/
@ -114,6 +121,11 @@ public:
*/
Galileo_Ephemeris get_reduced_ced() const;
/*
* \brief Returns an OSNMA_msg object filled with the latest NMA message received. Resets msg buffer.
*/
OSNMA_msg get_osnma_msg() const;
inline bool get_flag_CRC_test() const
{
return flag_CRC_test;
@ -210,6 +222,11 @@ public:
inline void init_PRN(uint32_t prn)
{
SV_ID_PRN_4 = prn;
nma_msg.PRN = prn;
nma_msg.mack = std::array<uint32_t, 15>{};
nma_msg.hkroot = std::array<uint8_t, 15>{};
page_position_in_inav_subframe = 255;
nma_position_filled = std::array<int8_t, 15>{};
}
/*
@ -242,7 +259,7 @@ private:
std::unique_ptr<ReedSolomon> rs; // The Reed-Solomon decoder
std::vector<int> inav_rs_pages; // Pages 1,2,3,4,17,18,19,20. Holds 1 if the page has arrived, 0 otherwise.
int32_t Page_type_time_stamp{};
int32_t page_jk_decoder(const char* data_jk);
int32_t IOD_ephemeris{};
// Word type 1: Ephemeris (1/4)
@ -394,6 +411,13 @@ private:
int32_t current_IODnav{};
// OSNMA
uint32_t mack_sis{};
uint8_t hkroot_sis{};
uint8_t page_position_in_inav_subframe{255};
std::array<int8_t, 15> nma_position_filled{};
OSNMA_msg nma_msg{};
uint8_t IODnav_LSB17{};
uint8_t IODnav_LSB18{};
uint8_t IODnav_LSB19{};