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Adding RTCM Data Fields for GLONASS processing

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Adds GLONASS related data fields (DFxxx) for RTCM messages including
MS1020, MS1087 and general MSM message types
This commit is contained in:
Damian Miralles 2017-08-08 13:02:59 -07:00 committed by Damian Miralles
parent 6669482e91
commit e58cd5450d
7 changed files with 453 additions and 87 deletions
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2
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -74,7 +74,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
rtklib_sat.sat = glonass_gnav_eph.i_satellite_slot_number; /* satellite number */
rtklib_sat.iode = glonass_gnav_eph.d_t_b; /* IODE (0-6 bit of tb field) */
rtklib_sat.frq = glonass_gnav_eph.i_satellite_freq_channel; /* satellite frequency number */
rtklib_sat.svh = glonass_gnav_eph.d_l_n; /* satellite health*/
rtklib_sat.svh = glonass_gnav_eph.d_l3rd_n; /* satellite health*/
rtklib_sat.sva = glonass_gnav_eph.d_F_T; /* satellite accuracy*/
rtklib_sat.age = glonass_gnav_eph.d_E_n; /* satellite age*/
rtklib_sat.pos[0] = glonass_gnav_eph.d_Xn*1000; /* satellite position (ecef) (m) */

2
src/core/system_parameters/GLONASS_L1_CA.h
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@ -78,6 +78,8 @@ const double GLONASS_SUN_SEMI_MAJOR_AXIS = 1.49598e8; //!< Semi-ma
const double GLONASS_SUN_ECCENTRICITY = 0.016719; //!< Eccentricity of solar orbit
// carrier and code frequencies
const double GLONASS_L2_FREQ_HZ = FREQ2_GLO; //!< L1 [Hz]
const double GLONASS_L1_FREQ_HZ = FREQ1_GLO; //!< L1 [Hz]
const double GLONASS_L1_DFREQ_HZ = DFRQ1_GLO; //!< Freq Bias for GLONASS L1 [Hz]
const double GLONASS_L1_CA_CODE_RATE_HZ = 0.511e6; //!< GLONASS L1 C/A code rate [chips/s]

3
src/core/system_parameters/glonass_gnav_ephemeris.cc
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@ -71,7 +71,8 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
d_P_2 = 0.0; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
d_P_3 = 0.0; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
d_P_4 = 0.0; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
d_l_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l3rd_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l5th_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// clock terms derived from ephemeris data
d_satClkDrift = 0.0; //!< GLONASS clock error

6
src/core/system_parameters/glonass_gnav_ephemeris.h
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@ -95,7 +95,8 @@ public:
double d_P_2; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
double d_P_3; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
double d_P_4; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
double d_l_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
double d_l3rd_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
double d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Inmediate deliverables of ephemeris information
//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
@ -164,7 +165,8 @@ public:
archive & make_nvp("d_P_2", d_P_2); //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
archive & make_nvp("d_P_3", d_P_3); //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
archive & make_nvp("d_P_4", d_P_4); //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
archive & make_nvp("d_l_n", d_l_n); //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
archive & make_nvp("d_l3rd_n", d_l3rd_n); //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
archive & make_nvp("d_l5th_n", d_l5th_n); //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
}
/*!

4
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -394,7 +394,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)) * TWO_N30;
gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)) * TWO_N11;
@ -428,7 +428,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_signed(string_bits, TAU_C)) * TWO_N31;
gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
gnav_utc_model.d_tau_gps = static_cast<double>(read_navigation_signed(string_bits, TAU_GPS)) * TWO_N30;
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
gnav_ephemeris.d_l5th_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
// Compute Year and DoY based on Algorithm A3.11 of GLONASS ICD
if(flag_ephemeris_str_4 == true)

489
src/core/system_parameters/rtcm.cc
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@ -1709,15 +1709,18 @@ int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
//
// ********************************************************
std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
unsigned int msg_number = 1020;
unsigned int glonass_gnav_alm_health = 0;
unsigned int glonass_gnav_alm_health_ind = 0;
unsigned int fifth_str_additional_data_ind = 1;
Rtcm::set_DF002(msg_number);
Rtcm::set_DF038(glonass_gnav_eph);
Rtcm::set_DF040(glonass_gnav_eph);
Rtcm::set_DF104(glonass_gnav_eph);
Rtcm::set_DF105(glonass_gnav_eph);
Rtcm::set_DF104(glonass_gnav_alm_health);
Rtcm::set_DF105(glonass_gnav_alm_health_ind);
Rtcm::set_DF106(glonass_gnav_eph);
Rtcm::set_DF107(glonass_gnav_eph);
Rtcm::set_DF108(glonass_gnav_eph);
@ -1743,11 +1746,11 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
Rtcm::set_DF128(glonass_gnav_eph);
Rtcm::set_DF129(glonass_gnav_eph);
Rtcm::set_DF130(glonass_gnav_eph);
Rtcm::set_DF131(glonass_gnav_eph);
Rtcm::set_DF132(glonass_gnav_eph);
Rtcm::set_DF133(glonass_gnav_eph);
Rtcm::set_DF134(glonass_gnav_eph);
Rtcm::set_DF135(glonass_gnav_eph);
Rtcm::set_DF131(fifth_str_additional_data_ind);
Rtcm::set_DF132(glonass_gnav_utc_model);
Rtcm::set_DF133(glonass_gnav_utc_model);
Rtcm::set_DF134(glonass_gnav_utc_model);
Rtcm::set_DF135(glonass_gnav_utc_model);
Rtcm::set_DF136(glonass_gnav_eph);
std::string data;
@ -1804,10 +1807,13 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
}
int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph)
int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph, Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
// Convert message to binary
std::string message_bin = Rtcm::binary_data_to_bin(message);
int glonass_gnav_alm_health;
int glonass_gnav_alm_health_ind;
int fifth_str_additional_data_ind;
if(!Rtcm::check_CRC(message) )
{
@ -1845,20 +1851,21 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
glonass_gnav_eph.i_satellite_freq_channel = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
index += 5;
glonass_gnav_eph.i_almanac_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_alm_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.i_alamanac_health_indi = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_alm_health_ind = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
glonass_gnav_eph.d_t_k = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 1)))*30
static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600 +
static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6)))*60
;
index += 12;
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600;
index += 5;
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6)))*60;
index += 6;
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 1)))*30;
index += 1;
glonass_gnav_eph.d_B_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
@ -1906,7 +1913,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
glonass_gnav_eph.d_l_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_l3rd_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 22)))* TWO_N30;
@ -1930,22 +1937,22 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
glonass_gnav_eph.d_M = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
glonass_gnav_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
fifth_str_additional_data_ind = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
index += 11;
glonass_gnav_eph.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
index += 32;
glonass_gnav_eph.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
index += 5;
glonass_gnav_eph.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
index += 22;
glonass_gnav_eph.d_l_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
return 0;
}
@ -2247,8 +2254,9 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1071;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1071;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1081;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1091;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2293,9 +2301,10 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
bool divergence_free,
bool more_messages)
{
std::string sys(&observables.second.System, 1);
Rtcm::set_DF002(msg_number);
Rtcm::set_DF003(ref_id);
Rtcm::set_DF004(obs_time);
Rtcm::set_DF393(more_messages);
Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
std::bitset<7> DF001_ = std::bitset<7>("0000000");
@ -2308,7 +2317,20 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
Rtcm::set_DF395(observables);
std::string header = DF002.to_string() + DF003.to_string();
// GNSS Epoch Time Specific to each constellation
if((sys.compare("R") == 0 ))
{
// GLONASS Epoch Time
Rtcm::set_DF034(obs_time);
header += DF034.to_string();
}
else
{
// GPS, Galileo Epoch Time
Rtcm::set_DF004(obs_time);
header += DF004.to_string();
}
header = header + DF393.to_string() +
DF409.to_string() +
DF001_.to_string() +
@ -2413,8 +2435,9 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1072;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1072;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1082;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1092;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2479,7 +2502,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV,
for(unsigned int cell = 0; cell < Ncells ; cell++)
{
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
first_data_type += DF401.to_string();
second_data_type += DF402.to_string();
@ -2514,8 +2537,9 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1073;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1073;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1083;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1093;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2582,7 +2606,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV,
{
Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
first_data_type += DF400.to_string();
second_data_type += DF401.to_string();
@ -2617,8 +2641,9 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1074;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1074;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1084;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1094;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2726,7 +2751,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV,
{
Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
first_data_type += DF400.to_string();
@ -2763,8 +2788,9 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1075;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1075;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1085;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1095;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2879,7 +2905,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV,
{
Rtcm::set_DF400(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF401(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF402(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF403(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
@ -2919,8 +2945,9 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1076;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1076;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1086;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1096;
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) ||(gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -2988,7 +3015,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV,
{
Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
first_data_type += DF405.to_string();
@ -3026,8 +3053,9 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
unsigned int msg_number = 0;
if(gps_eph.i_satellite_PRN != 0) msg_number = 1077;
if(gps_cnav_eph.i_satellite_PRN != 0) msg_number = 1077;
if(glo_gnav_eph.i_satellite_PRN != 0) msg_number = 1087;
if(gal_eph.i_satellite_PRN != 0) msg_number = 1097;
if(((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0) ) && (gal_eph.i_satellite_PRN != 0))
if(((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0) ) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
}
@ -3096,7 +3124,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV,
{
Rtcm::set_DF405(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF406(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF407(ephNAV, ephCNAV, ephFNAV, ephGNAV, obs_time, ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF420(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF408(ordered_by_PRN_pos.at( cell ).second);
Rtcm::set_DF404(ordered_by_PRN_pos.at( cell ).second);
@ -3724,7 +3752,7 @@ int Rtcm::set_DF034(double obs_time)
if(tk > 86400999)
{
LOG(WARNING) << "To large GLONASS Epoch Time (tk)! Set to the last millisecond of the day";
tow = 86400999;
tk = 86400999;
}
DF034 = std::bitset<27>(tk);
return 0;
@ -3798,10 +3826,23 @@ int Rtcm::set_DF039(bool code_indicator)
}
int Rtcm::set_DF040(unsigned short frequency_channel_number)
int Rtcm::set_DF040(unsigned int frequency_channel_number)
{
unsigned int freq_ = frequency_channel_number;
if(freq_ > 20)
{
LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
}
DF040 = std::bitset<5>(freq_);
return 0;
}
int Rtcm::set_DF040(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int freq_ = glonass_gnav_eph.i_satellite_freq_channel;
if(prn_ > 20)
if(freq_ > 20)
{
LOG(WARNING) << "GLONASS Satellite Frequency Number must be between 0 and 20, but channel frequency number " << freq_ << " was found";
}
@ -4186,6 +4227,264 @@ int Rtcm::set_DF103(const Gps_Ephemeris & gps_eph)
}
int Rtcm::set_DF104(unsigned int glonass_gnav_alm_health)
{
DF104 = std::bitset<1>(glonass_gnav_alm_health);
return 0;
}
int Rtcm::set_DF105(unsigned int glonass_gnav_alm_health_ind)
{
DF105 = std::bitset<1>(glonass_gnav_alm_health_ind);
return 0;
}
int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1));
DF106 = std::bitset<2>(P_1);
return 0;
}
int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
// TODO Need to fix this here, bit position has a given order
DF107 = std::bitset<12>(glonass_gnav_eph.d_t_k);
return 0;
}
int Rtcm::set_DF108(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
DF108 = std::bitset<1>(glonass_gnav_eph.d_B_n);
return 0;
}
int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
DF109 = std::bitset<1>(glonass_gnav_eph.d_P_2);
return 0;
}
int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b));
DF110 = std::bitset<7>(t_b);
return 0;
}
int Rtcm::set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int VXn = static_cast<int>(std::round(glonass_gnav_eph.d_VXn/TWO_N20));
DF111 = std::bitset<24>(VXn);
return 0;
}
int Rtcm::set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int Xn = static_cast<int>(std::round(glonass_gnav_eph.d_Xn/TWO_N11));
DF112 = std::bitset<27>(Xn);
return 0;
}
int Rtcm::set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int AXn = static_cast<int>(std::round(glonass_gnav_eph.d_AXn/TWO_N11));
DF113 = std::bitset<5>(AXn);
return 0;
}
int Rtcm::set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int VYn = static_cast<int>(std::round(glonass_gnav_eph.d_VYn/TWO_N20));
DF114 = std::bitset<24>(VYn);
return 0;
}
int Rtcm::set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int Yn = static_cast<int>(std::round(glonass_gnav_eph.d_Yn/TWO_N11));
DF115 = std::bitset<27>(Yn);
return 0;
}
int Rtcm::set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int AYn = static_cast<int>(std::round(glonass_gnav_eph.d_AYn/TWO_N11));
DF116 = std::bitset<5>(AYn);
return 0;
}
int Rtcm::set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int VZn = static_cast<int>(std::round(glonass_gnav_eph.d_VZn/TWO_N20));
DF117 = std::bitset<24>(VZn);
return 0;
}
int Rtcm::set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int Zn = static_cast<int>(std::round(glonass_gnav_eph.d_Zn/TWO_N11));
DF118 = std::bitset<27>(Zn);
return 0;
}
int Rtcm::set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int AZn = static_cast<int>(std::round(glonass_gnav_eph.d_AZn/TWO_N11));
DF119 = std::bitset<5>(AZn);
return 0;
}
int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3/TWO_N11));
DF120 = std::bitset<1>(P3);
return 0;
}
int Rtcm::set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int gamma_n = static_cast<int>(std::round(glonass_gnav_eph.d_gamma_n/TWO_N40));
DF121 = std::bitset<11>(gamma_n);
return 0;
}
int Rtcm::set_DF122(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int P = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P));
DF122 = std::bitset<2>(P);
return 0;
}
int Rtcm::set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int ln = static_cast<unsigned int>((glonass_gnav_eph.d_l3rd_n));
DF123 = std::bitset<1>(ln);
return 0;
}
int Rtcm::set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_tau_n/TWO_N30));
DF124 = std::bitset<22>(tau_n);
return 0;
}
int Rtcm::set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
int delta_tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_Delta_tau_n));
DF125 = std::bitset<5>(delta_tau_n);
return 0;
}
int Rtcm::set_DF126(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int ecc = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_E_n));
DF126 = std::bitset<5>(ecc);
return 0;
}
int Rtcm::set_DF127(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int P4= static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_4));
DF127 = std::bitset<1>(P4);
return 0;
}
int Rtcm::set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int F_t = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_F_T));
DF128 = std::bitset<4>(F_t);
return 0;
}
int Rtcm::set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int N_t = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_N_T));
DF129 = std::bitset<11>(N_t);
return 0;
}
int Rtcm::set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int M = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_M));
DF130 = std::bitset<2>(M);
return 0;
}
int Rtcm::set_DF131(unsigned int fifth_str_additional_data_ind)
{
unsigned int fith_str_data = static_cast<unsigned int>(fifth_str_additional_data_ind);
DF131 = std::bitset<1>(fith_str_data);
return 0;
}
int Rtcm::set_DF132(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
unsigned int N_A = static_cast<unsigned int>(std::round(glonass_gnav_utc_model.d_N_A));
DF132 = std::bitset<11>(N_A);
return 0;
}
int Rtcm::set_DF133(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
int tau_c = static_cast<int>(std::round(glonass_gnav_utc_model.d_tau_c/TWO_N31));
DF133 = std::bitset<32>(tau_c);
return 0;
}
int Rtcm::set_DF134(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
unsigned int N_4 = static_cast<unsigned int>(std::round(glonass_gnav_utc_model.d_N_4));
DF134 = std::bitset<11>(N_4);
return 0;
}
int Rtcm::set_DF135(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model)
{
int tau_gps = static_cast<int>(std::round(glonass_gnav_utc_model.d_tau_gps)/TWO_N30);
DF135 = std::bitset<22>(tau_gps);
return 0;
}
int Rtcm::set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
{
unsigned int l_n = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_l5th_n));
DF136 = std::bitset<1>(l_n);
return 0;
}
int Rtcm::set_DF137(const Gps_Ephemeris & gps_eph)
@ -4526,6 +4825,16 @@ int Rtcm::set_DF395(const std::map<int, Gnss_Synchro> & gnss_synchro)
mask_position = 32 - 16;
DF395.set(mask_position, true);
}
if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ) )
{
mask_position = 32 - 2;
DF395.set(mask_position, true);
}
if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ) )
{
mask_position = 32 - 8;
DF395.set(mask_position, true);
}
}
return 0;
@ -4786,27 +5095,38 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
double lambda = 0.0;
std::string sig_(gnss_synchro.Signal);
std::string sig = sig_.substr(0,2);
std::string sys(&gnss_synchro.System, 1);
if (sig.compare("1C") == 0 )
if ((sig.compare("1C") == 0) && (sys.compare("G") == 0 ))
{
lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
}
if (sig.compare("2S") == 0 )
if ((sig.compare("2S")) == 0 && (sys.compare("G") == 0 ))
{
lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
}
if (sig.compare("5X") == 0 )
if ((sig.compare("5X")) == 0 && (sys.compare("E") == 0 ))
{
lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
}
if (sig.compare("1B") == 0 )
if ((sig.compare("1B")) == 0 && (sys.compare("E") == 0 ))
{
lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
}
if (sig.compare("7X") == 0 )
if ((sig.compare("7X")) == 0 && (sys.compare("E") == 0 ))
{
lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
}
if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
{
// TODO Need to add slot number and freq number to gnss_syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
}
if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
{
// TODO Need to add slot number and freq number to gnss_syncro
lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
}
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
@ -4837,23 +5157,33 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
}
int Rtcm::set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
int Rtcm::set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
{
unsigned int lock_time_period_s = 0;
unsigned int lock_time_indicator;
std::string sig_(gnss_synchro.Signal);
if(sig_.compare("1C"))
std::string sys(&gnss_synchro.System, 1);
if ((sig_.compare("1C") == 0) && (sys.compare("G") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
}
if(sig_.compare("2S"))
if ((sig_.compare("2S") == 0) && (sys.compare("G") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
}
// TODO Should add system for galileo satellites
if(sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X"))
{
lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
}
if ((sig_.compare("1C") == 0) && (sys.compare("R") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
if ((sig_.compare("2C") == 0) && (sys.compare("R") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
lock_time_indicator = Rtcm::msm_lock_time_indicator(lock_time_period_s);
DF402 = std::bitset<4>(lock_time_indicator);
return 0;
@ -4875,28 +5205,38 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
std::string sig_(gnss_synchro.Signal);
std::string sig = sig_.substr(0,2);
int fine_phaserange_rate;
std::string sys_(&gnss_synchro.System, 1);
if (sig.compare("1C") == 0 )
if ((sig_.compare("1C") == 0) && (sys_.compare("G") == 0 ))
{
lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
}
if (sig.compare("2S") == 0 )
if ((sig_.compare("2S") == 0) && (sys_.compare("G") == 0 ))
{
lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
}
if (sig.compare("5X") == 0 )
if ((sig_.compare("5X") == 0) && (sys_.compare("E") == 0 ))
{
lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
}
if (sig.compare("1B") == 0 )
if ((sig_.compare("1B") == 0) && (sys_.compare("E") == 0 ))
{
lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
}
if (sig.compare("7X") == 0 )
if ((sig_.compare("7X") == 0 ) && (sys_.compare("E") == 0 ))
{
lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
}
double rough_phase_range_rate = std::round(- gnss_synchro.Carrier_Doppler_hz * lambda );
double phrr = (- gnss_synchro.Carrier_Doppler_hz * lambda - rough_phase_range_rate);
@ -4953,29 +5293,39 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
double phrng_m;
double lambda = 0.0;
std::string sig_(gnss_synchro.Signal);
std::string sig = sig_.substr(0,2);
sig_ = sig_.substr(0,2);
std::string sys_(&gnss_synchro.System, 1);
if (sig.compare("1C") == 0 )
if ((sig_.compare("1C") == 0) && (sys_.compare("G") == 0 ) )
{
lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
}
if (sig.compare("2S") == 0 )
if ((sig_.compare("2S") == 0) && (sys_.compare("G") == 0 ) )
{
lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
}
if (sig.compare("5X") == 0 )
if ((sig_.compare("5X") == 0) && (sys_.compare("E") == 0 ) )
{
lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
}
if (sig.compare("1B") == 0 )
if ((sig_.compare("1B") == 0) && (sys_.compare("E") == 0 ) )
{
lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
}
if (sig.compare("7X") == 0 )
if ((sig_.compare("7X") == 0 ) && (sys_.compare("E") == 0 ) )
{
lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L1_FREQ_HZ);
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{
//TODO Need to add slot number and freq number to gnss syncro
lambda = GLONASS_C_m_s / (GLONASS_L2_FREQ_HZ);
}
phrng_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI ) * lambda - rough_range_m;
/* Substract phase - pseudorange integer cycle offset */
@ -5005,24 +5355,33 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
}
int Rtcm::set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
int Rtcm::set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro)
{
unsigned int lock_time_indicator;
unsigned int lock_time_period_s = 0;
std::string sig_(gnss_synchro.Signal);
if(sig_.compare("1C"))
std::string sys_(&gnss_synchro.System, 1);
if((sig_.compare("1C")) && (sys_.compare("G") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
}
if(sig_.compare("2S"))
if((sig_.compare("2S")) && (sys_.compare("G") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
}
if(sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X"))
if((sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X") ) && (sys_.compare("E") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
lock_time_indicator = Rtcm::msm_extended_lock_time_indicator(lock_time_period_s);
DF407 = std::bitset<10>(lock_time_indicator);
return 0;

32
src/core/system_parameters/rtcm.h
View File

@ -158,7 +158,7 @@ public:
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1011(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -168,7 +168,7 @@ public:
* \params observables Set of observables as defined by the platform
* \return string with message contents
*/
std::string print_MT1012(Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
/*!
* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
@ -185,18 +185,20 @@ public:
* \brief Prints message type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
* \return Returns message type as a string type
*/
std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::string print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
/*!
* \brief Verifies and reads messages of type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param message Message to read as a string type
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
* \return Returns 1 if anything goes wrong, 0 otherwise.
*/
int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glonass_gnav_eph, Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
/*!
* \brief Prints message type 1029 (Unicode Text String)
@ -1023,7 +1025,7 @@ private:
int set_DF036(bool divergence_free_smoothing_indicator);
std::bitset<3> DF037; //!< GLONASS Smoothing Interval
int set_DF037(unsigned short smoothing_interval);
int set_DF037(short int smoothing_interval);
std::bitset<6> DF038; //!< GLONASS Satellite ID (Satellite Slot Number)
int set_DF038(const Gnss_Synchro & gnss_synchro);
@ -1161,10 +1163,10 @@ private:
int set_DF103(const Gps_Ephemeris & gps_eph);
std::bitset<1> DF104; //!< GLONASS Almanac Health
int set_DF104(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF104(unsigned int glonass_gnav_alm_health);
std::bitset<1> DF105; //!< GLONASS Almanac Health Availability Indicator
int set_DF105(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF105(unsigned int glonass_gnav_alm_health_ind);
std::bitset<2> DF106; //!< GLONASS P1 Word
int set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
@ -1235,26 +1237,26 @@ private:
std::bitset<4> DF128; //!< GLONASS F_T
int set_DF128(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF129; //!< GLONASS N_T
std::bitset<11> DF129; //!< GLONASS N_T
int set_DF129(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<2> DF130; //!< GLONASS M
int set_DF130(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
std::bitset<1> DF131; //!< GLONASS Availability of additional data
int set_DF131(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF131(unsigned int fifth_str_additional_data_ind);
std::bitset<11> DF132; //!< GLONASS N_A
int set_DF132(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF132(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
std::bitset<32> DF133; //!< GLONASS TAU_C
int set_DF133(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF133(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
std::bitset<5> DF134; //!< GLONASS N_4
int set_DF134(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF134(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
std::bitset<22> DF135; //!< GLONASS TAU_GPS
int set_DF135(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
int set_DF135(const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model);
std::bitset<1> DF136; //!< GLONASS L_N (FIFTH STRING)
int set_DF136(const Glonass_Gnav_Ephemeris & glonass_gnav_eph);
@ -1387,7 +1389,7 @@ private:
int set_DF401(const Gnss_Synchro & gnss_synchro);
std::bitset<4> DF402;
int set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
int set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
std::bitset<6> DF403;
int set_DF403(const Gnss_Synchro & gnss_synchro);
@ -1402,7 +1404,7 @@ private:
int set_DF406(const Gnss_Synchro & gnss_synchro);
std::bitset<10> DF407;
int set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
int set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, const Glonass_Gnav_Ephemeris & ephGNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
std::bitset<10> DF408;
int set_DF408(const Gnss_Synchro & gnss_synchro);