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Fix building, apply formatting

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Carles Fernandez 2019-03-18 08:43:38 +01:00
parent 10910269f4
commit ed9aaf86ce
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GPG Key ID: 4C583C52B0C3877D
16 changed files with 1080 additions and 966 deletions
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12
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
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@ -30,15 +30,14 @@
*/ */
#include "beidou_b3i_pcps_acquisition.h" #include "beidou_b3i_pcps_acquisition.h"
#include "Beidou_B3I.h"
#include "acq_conf.h"
#include "beidou_b3i_signal_processing.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include <boost/math/distributions/exponential.hpp> #include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include "beidou_b3i_signal_processing.h"
#include "Beidou_B3I.h"
using google::LogMessage; using google::LogMessage;
@ -59,7 +58,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type); item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
@ -80,7 +79,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_; acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / ( BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -335,6 +334,7 @@ gr::basic_block_sptr BeidouB3iPcpsAcquisition::get_right_block()
return acquisition_; return acquisition_;
} }
void BeidouB3iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples) void BeidouB3iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{ {
acquisition_->set_resampler_latency(latency_samples); acquisition_->set_resampler_latency(latency_samples);

7
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
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@ -34,12 +34,13 @@
#include "acq_conf.h" #include "acq_conf.h"
#include "acquisition_interface.h" #include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition.h" #include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <string> #include <string>
@ -162,7 +163,7 @@ private:
unsigned int doppler_step_; unsigned int doppler_step_;
unsigned int sampled_ms_; unsigned int sampled_ms_;
unsigned int max_dwells_; unsigned int max_dwells_;
long fs_in_; int64_t fs_in_;
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;

24
src/algorithms/libs/beidou_b3i_signal_processing.cc
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@ -39,13 +39,13 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
const unsigned int _code_length = 10230; const unsigned int _code_length = 10230;
bool G1[_code_length]; bool G1[_code_length];
bool G2[_code_length]; bool G2[_code_length];
std::array<bool,13> G1_register = {{1,1,1,1,1,1,1,1,1,1,1,1,1}}; std::array<bool, 13> G1_register = {{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}};
std::array<bool,13> G2_register = {{1,1,1,1,1,1,1,1,1,1,1,1,1}}; std::array<bool, 13> G2_register = {{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}};
std::array<bool,13> G1_register_reset = {{0,0,1,1,1,1,1,1,1,1,1,1,1}}; std::array<bool, 13> G1_register_reset = {{0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}};
bool feedback1, feedback2, aux; bool feedback1, feedback2, aux;
uint32_t lcv, lcv2, delay; uint32_t lcv, lcv2, delay;
int32_t prn_idx = _prn - 1; int32_t prn_idx = _prn - 1;
// clang-format off
std::array<std::array<bool, 13>, 63> G2_register_shifted = {{ std::array<std::array<bool, 13>, 63> G2_register_shifted = {{
{{1,0,1,0,1,1,1,1,1,1,1,1,1,}}, {{1,1,1,1,0,0,0,1,0,1,0,1,1,}}, {{1,0,1,1,1,1,0,0,0,1,0,1,0,}}, {{1,1,1,1,1,1,1,1,1,1,0,1,1,}}, {{1,0,1,0,1,1,1,1,1,1,1,1,1,}}, {{1,1,1,1,0,0,0,1,0,1,0,1,1,}}, {{1,0,1,1,1,1,0,0,0,1,0,1,0,}}, {{1,1,1,1,1,1,1,1,1,1,0,1,1,}},
{{1,1,0,0,1,0,0,0,1,1,1,1,1,}}, {{1,0,0,1,0,0,1,1,0,0,1,0,0,}}, {{1,1,1,1,1,1,1,0,1,0,0,1,0,}}, {{1,1,1,0,1,1,1,1,1,1,1,0,1,}}, {{1,1,0,0,1,0,0,0,1,1,1,1,1,}}, {{1,0,0,1,0,0,1,1,0,0,1,0,0,}}, {{1,1,1,1,1,1,1,0,1,0,0,1,0,}}, {{1,1,1,0,1,1,1,1,1,1,1,0,1,}},
@ -63,14 +63,14 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
{{0,0,0,0,0,0,0,0,1,1,0,0,0,}}, {{1,0,0,0,0,0,0,0,0,0,1,0,0,}}, {{0,0,1,1,0,1,0,1,0,0,1,1,0,}}, {{1,0,1,1,0,0,1,0,0,0,1,1,0,}}, {{0,0,0,0,0,0,0,0,1,1,0,0,0,}}, {{1,0,0,0,0,0,0,0,0,0,1,0,0,}}, {{0,0,1,1,0,1,0,1,0,0,1,1,0,}}, {{1,0,1,1,0,0,1,0,0,0,1,1,0,}},
{{0,1,1,1,0,0,1,1,1,1,0,0,0,}}, {{0,0,1,0,1,1,1,0,0,1,0,1,0,}}, {{1,1,0,0,1,1,1,1,1,0,1,1,0,}}, {{1,0,0,1,0,0,1,0,0,0,1,0,1,}}, {{0,1,1,1,0,0,1,1,1,1,0,0,0,}}, {{0,0,1,0,1,1,1,0,0,1,0,1,0,}}, {{1,1,0,0,1,1,1,1,1,0,1,1,0,}}, {{1,0,0,1,0,0,1,0,0,0,1,0,1,}},
{{0,1,1,1,0,0,0,1,0,0,0,0,0,}}, {{0,0,1,1,0,0,1,0,0,0,0,1,0,}}, {{0,0,1,0,0,0,1,0,0,1,1,1,0,}}}}; {{0,1,1,1,0,0,0,1,0,0,0,0,0,}}, {{0,0,1,1,0,0,1,0,0,0,0,1,0,}}, {{0,0,1,0,0,0,1,0,0,1,1,1,0,}}}};
// clang-format on
// A simple error check // A simple error check
if ((prn_idx < 0) || (prn_idx > 63)) if ((prn_idx < 0) || (prn_idx > 63))
return; return;
// Assign shifted G2 register based on prn number // Assign shifted G2 register based on prn number
G2_register = G2_register_shifted[prn_idx]; G2_register = G2_register_shifted[prn_idx];
std::reverse(G2_register.begin(), G2_register.end()) ; std::reverse(G2_register.begin(), G2_register.end());
// Generate G1 and G2 Register // Generate G1 and G2 Register
for (lcv = 0; lcv < _code_length; lcv++) for (lcv = 0; lcv < _code_length; lcv++)
@ -79,9 +79,10 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
G2[lcv] = G2_register[0]; G2[lcv] = G2_register[0];
//feedback1 = (test_G1_register[0]+test_G1_register[2]+test_G1_register[3]+test_G1_register[12]) & 0x1; //feedback1 = (test_G1_register[0]+test_G1_register[2]+test_G1_register[3]+test_G1_register[12]) & 0x1;
feedback1 = (G1_register[0]+G1_register[9]+G1_register[10]+G1_register[12]) & 0x01; feedback1 = (G1_register[0] + G1_register[9] + G1_register[10] + G1_register[12]) & 0x01;
feedback2 = (G2_register[0]+G2_register[1]+G2_register[3]+G2_register[4]+ feedback2 = (G2_register[0] + G2_register[1] + G2_register[3] + G2_register[4] +
G2_register[6]+G2_register[7]+G2_register[8]+G2_register[12]) & 0x01; G2_register[6] + G2_register[7] + G2_register[8] + G2_register[12]) &
0x01;
for (lcv2 = 0; lcv2 < 12; lcv2++) for (lcv2 = 0; lcv2 < 12; lcv2++)
{ {
@ -93,9 +94,9 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
G2_register[12] = feedback2; G2_register[12] = feedback2;
// Reset G1 register if sequence found // Reset G1 register if sequence found
if(G1_register == G1_register_reset) if (G1_register == G1_register_reset)
{ {
G1_register = {{1,1,1,1,1,1,1,1,1,1,1,1,1}}; G1_register = {{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}};
} }
} }
@ -119,7 +120,6 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
delay++; delay++;
delay %= _code_length; delay %= _code_length;
} }
} }

14
src/algorithms/libs/beidou_b3i_signal_processing.h
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@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -30,8 +30,8 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_ #ifndef GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
#define BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_ #define GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
#include <complex> #include <complex>
#include <iostream> #include <iostream>
@ -39,13 +39,13 @@
#include <array> #include <array>
#include <algorithm> #include <algorithm>
//!Generates int BeiDou B3I code for the desired SV ID and code shift //! Generates int BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift);
//!Generates float BeiDou B3I code for the desired SV ID and code shift //! Generates float BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift);
//!Generates complex BeiDou B3I code for the desired SV ID and code shift, and sampled to specific sampling frequency //! Generates complex BeiDou B3I code for the desired SV ID and code shift, and sampled to specific sampling frequency
void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift);
//! Generates N complex BeiDou B3I codes for the desired SV ID and code shift //! Generates N complex BeiDou B3I codes for the desired SV ID and code shift
@ -54,4 +54,4 @@ void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned in
//! Generates complex BeiDou B3I code for the desired SV ID and code shift //! Generates complex BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift); void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift);
#endif /* BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_ */ #endif /* GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_ */

36
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.cc
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@ -36,7 +36,8 @@
BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder( BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(
ConfigurationInterface *configuration, std::string role, ConfigurationInterface *configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) unsigned int in_streams, unsigned int out_streams)
: role_(role), in_streams_(in_streams), out_streams_(out_streams) { : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
std::string default_dump_filename = "./navigation.dat"; std::string default_dump_filename = "./navigation.dat";
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
@ -46,39 +47,54 @@ BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(
telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_); telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_);
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")"; DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
channel_ = 0; channel_ = 0;
if (in_streams_ > 1) { if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream"; LOG(ERROR) << "This implementation only supports one input stream";
} }
if (out_streams_ > 1) { if (out_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one output stream"; LOG(ERROR) << "This implementation only supports one output stream";
} }
} }
BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default; BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default;
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite) {
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_); telemetry_decoder_->set_satellite(satellite_);
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_; DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
} }
void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block) {
if (top_block) { /* top_block is not null */ void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
}; };
// Nothing to connect internally // Nothing to connect internally
DLOG(INFO) << "nothing to connect internally"; DLOG(INFO) << "nothing to connect internally";
} }
void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block) {
if (top_block) { /* top_block is not null */ void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
}; };
// Nothing to disconnect // Nothing to disconnect
} }
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block() {
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block()
{
return telemetry_decoder_; return telemetry_decoder_;
} }
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block() {
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block()
{
return telemetry_decoder_; return telemetry_decoder_;
} }

12
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h
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@ -35,15 +35,17 @@
#include "beidou_b3i_telemetry_decoder_gs.h" #include "beidou_b3i_telemetry_decoder_gs.h"
#include "gnss_satellite.h" // for Gnss_Satellite #include "gnss_satellite.h" // for Gnss_Satellite
#include "telemetry_decoder_interface.h" #include "telemetry_decoder_interface.h"
#include <cstddef> // for size_t
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr #include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class implements a NAV data decoder for BEIDOU B1I * \brief This class implements a NAV data decoder for BEIDOU B1I
*/ */
class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface { class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface
{
public: public:
BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration, BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
@ -54,7 +56,8 @@ public:
inline std::string role() override { return role_; } inline std::string role() override { return role_; }
//! Returns "BEIDOU_B3I_Telemetry_Decoder" //! Returns "BEIDOU_B3I_Telemetry_Decoder"
inline std::string implementation() override { inline std::string implementation() override
{
return "BEIDOU_B3I_Telemetry_Decoder"; return "BEIDOU_B3I_Telemetry_Decoder";
} }
@ -64,7 +67,8 @@ public:
gr::basic_block_sptr get_right_block() override; gr::basic_block_sptr get_right_block() override;
void set_satellite(const Gnss_Satellite &satellite) override; void set_satellite(const Gnss_Satellite &satellite) override;
inline void set_channel(int channel) override { inline void set_channel(int channel) override
{
telemetry_decoder_->set_channel(channel); telemetry_decoder_->set_channel(channel);
} }

290
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
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@ -36,21 +36,22 @@
#include "beidou_dnav_iono.h" #include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h" #include "beidou_dnav_utc_model.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include <cstdlib> // for abs
#include <exception> // for exception
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#include <pmt/pmt.h> // for make_any #include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp #include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 8 #define CRC_ERROR_LIMIT 8
beidou_b3i_telemetry_decoder_gs_sptr beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump) { bool dump)
{
return beidou_b3i_telemetry_decoder_gs_sptr( return beidou_b3i_telemetry_decoder_gs_sptr(
new beidou_b3i_telemetry_decoder_gs(satellite, dump)); new beidou_b3i_telemetry_decoder_gs(satellite, dump));
} }
@ -59,7 +60,8 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
const Gnss_Satellite &satellite, bool dump) const Gnss_Satellite &satellite, bool dump)
: gr::block("beidou_b3i_telemetry_decoder_gs", : gr::block("beidou_b3i_telemetry_decoder_gs",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Ephemeris data port out // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -83,27 +85,37 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol; BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of secondary code // Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++) { for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1') { {
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1; d_secondary_code_symbols[i] = 1;
} else { }
else
{
d_secondary_code_symbols[i] = -1; d_secondary_code_symbols[i] = -1;
} }
} }
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0; int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) { for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0; int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') { if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
for (uint32_t j = 0; j < d_samples_per_symbol; j++) { {
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_symbols[m]; d_preamble_samples[n] = d_secondary_code_symbols[m];
n++; n++;
m++; m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH; m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
} }
} else { }
for (uint32_t j = 0; j < d_samples_per_symbol; j++) { else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_symbols[m]; d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++; n++;
m++; m++;
@ -132,31 +144,41 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
flag_SOW_set = false; flag_SOW_set = false;
} }
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs() {
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
{
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols); volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols); volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true) { if (d_dump_file.is_open() == true)
try { {
try
{
d_dump_file.close(); d_dump_file.close();
} catch (const std::exception &ex) { }
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " LOG(WARNING) << "Exception in destructor closing the dump file "
<< ex.what(); << ex.what();
} }
} }
} }
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
int32_t *decbits) { int32_t *decbits)
{
int32_t bit, err, reg[4] = {1, 1, 1, 1}; int32_t bit, err, reg[4] = {1, 1, 1, 1};
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2}; int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (uint32_t i = 0; i < 15; i++) { for (uint32_t i = 0; i < 15; i++)
{
decbits[i] = bits[i]; decbits[i] = bits[i];
} }
for (uint32_t i = 0; i < 15; i++) { for (uint32_t i = 0; i < 15; i++)
{
bit = reg[3]; bit = reg[3];
reg[3] = reg[2]; reg[3] = reg[2];
reg[2] = reg[1]; reg[2] = reg[1];
@ -167,24 +189,33 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8]; err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
if (err > 0) { if (err > 0)
{
decbits[err - 1] *= -1; decbits[err - 1] *= -1;
} }
} }
void beidou_b3i_telemetry_decoder_gs::decode_word( void beidou_b3i_telemetry_decoder_gs::decode_word(
int32_t word_counter, const double *enc_word_symbols, int32_t word_counter, const double *enc_word_symbols,
int32_t *dec_word_symbols) { int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15]; int32_t bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1) { if (word_counter == 1)
for (uint32_t j = 0; j < 30; j++) { {
for (uint32_t j = 0; j < 30; j++)
{
dec_word_symbols[j] = dec_word_symbols[j] =
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1); static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
} }
} else { }
for (uint32_t r = 0; r < 2; r++) { else
for (uint32_t c = 0; c < 15; c++) { {
for (uint32_t r = 0; r < 2; r++)
{
for (uint32_t c = 0; c < 15; c++)
{
bitsbch[r * 15 + c] = bitsbch[r * 15 + c] =
static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1); static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
} }
@ -193,50 +224,63 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
decode_bch15_11_01(&bitsbch[0], first_branch); decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch); decode_bch15_11_01(&bitsbch[15], second_branch);
for (uint32_t j = 0; j < 11; j++) { for (uint32_t j = 0; j < 11; j++)
{
dec_word_symbols[j] = first_branch[j]; dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j]; dec_word_symbols[j + 11] = second_branch[j];
} }
for (uint32_t j = 0; j < 4; j++) { for (uint32_t j = 0; j < 4; j++)
{
dec_word_symbols[j + 22] = first_branch[11 + j]; dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j]; dec_word_symbols[j + 26] = second_branch[11 + j];
} }
} }
} }
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
{
// 1. Transform from symbols to bits // 1. Transform from symbols to bits
std::string data_bits; std::string data_bits;
int32_t dec_word_bits[30]; int32_t dec_word_bits[30];
// Decode each word in subframe // Decode each word in subframe
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++) { for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word // decode the word
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits); decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
// Save word to string format // Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++) { for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
{
data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0')); data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0'));
} }
} }
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) { if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
d_nav.d2_subframe_decoder(data_bits); d_nav.d2_subframe_decoder(data_bits);
} else { }
else
{
d_nav.d1_subframe_decoder(data_bits); d_nav.d1_subframe_decoder(data_bits);
} }
// 3. Check operation executed correctly // 3. Check operation executed correctly
if (d_nav.flag_crc_test == true) { if (d_nav.flag_crc_test == true)
{
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite; << " from satellite " << d_satellite;
} else { }
else
{
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite; << " from satellite " << d_satellite;
} }
// 4. Push the new navigation data to the queues // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) { if (d_nav.have_new_ephemeris() == true)
{
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj =
std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris()); std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
@ -246,7 +290,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite << std::endl; << ": ephemeris from satellite " << d_satellite << std::endl;
} }
if (d_nav.have_new_utc_model() == true) { if (d_nav.have_new_utc_model() == true)
{
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj = std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj =
std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model()); std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
@ -257,7 +302,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
<< d_channel << ": UTC model parameters from satellite " << d_channel << ": UTC model parameters from satellite "
<< d_satellite << std::endl; << d_satellite << std::endl;
} }
if (d_nav.have_new_iono() == true) { if (d_nav.have_new_iono() == true)
{
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::shared_ptr<Beidou_Dnav_Iono> tmp_obj =
std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono()); std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
@ -268,7 +314,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
<< d_channel << ": Iono model parameters from satellite " << d_channel << ": Iono model parameters from satellite "
<< d_satellite << std::endl; << d_satellite << std::endl;
} }
if (d_nav.have_new_almanac() == true) { if (d_nav.have_new_almanac() == true)
{
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN; // unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = // std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj =
// std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr)); // std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
@ -281,8 +328,10 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
} }
} }
void beidou_b3i_telemetry_decoder_gs::set_satellite( void beidou_b3i_telemetry_decoder_gs::set_satellite(
const Gnss_Satellite &satellite) { const Gnss_Satellite &satellite)
{
uint32_t sat_prn = 0; uint32_t sat_prn = 0;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " DLOG(INFO) << "Setting decoder Finite State Machine to satellite "
@ -292,11 +341,11 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
// Update satellite information for DNAV decoder // Update satellite information for DNAV decoder
sat_prn = d_satellite.get_PRN(); sat_prn = d_satellite.get_PRN();
d_nav.i_satellite_PRN = sat_prn; d_nav.i_satellite_PRN = sat_prn;
d_nav.i_signal_type = d_nav.i_signal_type = 5; // BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
// Update tel dec parameters for D2 NAV Messages // Update tel dec parameters for D2 NAV Messages
if (sat_prn > 0 and sat_prn < 6) { if (sat_prn > 0 and sat_prn < 6)
{
// Clear values from previous declaration // Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols); volk_gnsssdr_free(d_secondary_code_symbols);
@ -317,14 +366,20 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0; int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) { for (int32_t i = 0; i < d_symbols_per_preamble; i++)
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') { {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) { if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1; d_preamble_samples[n] = 1;
n++; n++;
} }
} else { }
for (uint32_t j = 0; j < d_samples_per_symbol; j++) { else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1; d_preamble_samples[n] = -1;
n++; n++;
} }
@ -340,13 +395,17 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
} }
} }
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) { void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
{
d_channel = channel; d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel; LOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump == true) { if (d_dump == true)
if (d_dump_file.is_open() == false) { {
try { if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry"; d_dump_filename = "telemetry";
d_dump_filename.append(std::to_string(d_channel)); d_dump_filename.append(std::to_string(d_channel));
d_dump_filename.append(".dat"); d_dump_filename.append(".dat");
@ -355,7 +414,9 @@ void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) {
std::ios::out | std::ios::binary); std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str(); << " Log file: " << d_dump_filename.c_str();
} catch (const std::ifstream::failure &e) { }
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel LOG(WARNING) << "channel " << d_channel
<< ": exception opening Beidou TLM dump file. " << ": exception opening Beidou TLM dump file. "
<< e.what(); << e.what();
@ -364,37 +425,40 @@ void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) {
} }
} }
int beidou_b3i_telemetry_decoder_gs::general_work( int beidou_b3i_telemetry_decoder_gs::general_work(
int noutput_items __attribute__((unused)), int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int32_t corr_value = 0; int32_t corr_value = 0;
int32_t preamble_diff = 0; int32_t preamble_diff = 0;
auto **out = reinterpret_cast<Gnss_Synchro **>( auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
&output_items[0]); // Get the output buffer pointer const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(
&input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_symbol; // structure to save the synchronization Gnss_Synchro current_symbol; // structure to save the synchronization
// information and send the output object to the // information and send the output object to the
// next block // next block
// 1. Copy the current tracking output // 1. Copy the current tracking output
current_symbol = in[0][0]; current_symbol = in[0][0];
d_symbol_history.push_back( d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples d_sample_counter++; // count for the processed samples
consume_each(1); consume_each(1);
d_flag_preamble = false; d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols) { if (d_symbol_history.size() > d_required_symbols)
{
//******* preamble correlation ******** //******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++) { for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
if (d_symbol_history[i] < 0) // symbols clipping if (d_symbol_history[i] < 0) // symbols clipping
{ {
corr_value -= d_preamble_samples[i]; corr_value -= d_preamble_samples[i];
} else { }
else
{
corr_value += d_preamble_samples[i]; corr_value += d_preamble_samples[i];
} }
} }
@ -403,7 +467,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
//******* frame sync ****************** //******* frame sync ******************
if (d_stat == 0) // no preamble information if (d_stat == 0) // no preamble information
{ {
if (abs(corr_value) >= d_samples_per_preamble) { if (abs(corr_value) >= d_samples_per_preamble)
{
// Record the preamble sample stamp // Record the preamble sample stamp
d_preamble_index = d_sample_counter; d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT " LOG(INFO) << "Preamble detection for BEIDOU B3I SAT "
@ -411,42 +476,55 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
// Enter into frame pre-detection status // Enter into frame pre-detection status
d_stat = 1; d_stat = 1;
} }
} else if (d_stat == 1) // possible preamble lock }
else if (d_stat == 1) // possible preamble lock
{
if (abs(corr_value) >= d_samples_per_preamble)
{ {
if (abs(corr_value) >= d_samples_per_preamble) {
// check preamble separation // check preamble separation
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index); preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
if (abs(preamble_diff - d_preamble_period_samples) == 0) { if (abs(preamble_diff - d_preamble_period_samples) == 0)
{
// try to decode frame // try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT " LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite; << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2; d_stat = 2;
} else { }
if (preamble_diff > d_preamble_period_samples) { else
{
if (preamble_diff > d_preamble_period_samples)
{
d_stat = 0; // start again d_stat = 0; // start again
} }
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT " DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite; << this->d_satellite;
} }
} }
} else if (d_stat == 2) // preamble acquired }
else if (d_stat == 2) // preamble acquired
{ {
if (d_sample_counter == if (d_sample_counter ==
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples)) { d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
//******* SAMPLES TO SYMBOLS ******* //******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) // normal PLL lock if (corr_value > 0) // normal PLL lock
{ {
int32_t k = 0; int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) { for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = 0;
// integrate samples into symbols // integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++) { for (uint32_t m = 0; m < d_samples_per_symbol; m++)
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) { {
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now! // because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_subframe_symbols[i] +=
d_symbol_history.at(i * d_samples_per_symbol + m); d_symbol_history.at(i * d_samples_per_symbol + m);
} else { }
else
{
// because last symbol of the preamble is just received now! // because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_subframe_symbols[i] +=
static_cast<float>(d_secondary_code_symbols[k]) * static_cast<float>(d_secondary_code_symbols[k]) *
@ -456,18 +534,24 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
} }
} }
} }
} else // 180 deg. inverted carrier phase PLL lock }
else // 180 deg. inverted carrier phase PLL lock
{ {
int32_t k = 0; int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) { for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = 0;
// integrate samples into symbols // integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++) { for (uint32_t m = 0; m < d_samples_per_symbol; m++)
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) { {
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now! // because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_subframe_symbols[i] -=
d_symbol_history.at(i * d_samples_per_symbol + m); d_symbol_history.at(i * d_samples_per_symbol + m);
} else { }
else
{
// because last symbol of the preamble is just received now! // because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_subframe_symbols[i] -=
static_cast<float>(d_secondary_code_symbols[k]) * static_cast<float>(d_secondary_code_symbols[k]) *
@ -482,21 +566,26 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
// call the decoder // call the decoder
decode_subframe(d_subframe_symbols); decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true) { if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to d_flag_preamble = true; // valid preamble indicator (initialized to
// false every work()) // false every work())
d_preamble_index = d_preamble_index =
d_sample_counter; // record the preamble sample stamp (t_P) d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync) { if (!d_flag_frame_sync)
{
d_flag_frame_sync = true; d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " DLOG(INFO) << "BeiDou DNAV frame sync found for SAT "
<< this->d_satellite; << this->d_satellite;
} }
} else { }
else
{
d_CRC_error_counter++; d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT) { if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " LOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite; << this->d_satellite;
d_flag_frame_sync = false; d_flag_frame_sync = false;
@ -519,44 +608,49 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
BEIDOU_B3I_CODE_PERIOD_MS); BEIDOU_B3I_CODE_PERIOD_MS);
flag_SOW_set = true; flag_SOW_set = true;
d_nav.flag_new_SOW_available = false; d_nav.flag_new_SOW_available = false;
} else // if there is not a new preamble, we define the TOW of the current }
else // if there is not a new preamble, we define the TOW of the current
// symbol // symbol
{ {
d_TOW_at_current_symbol_ms += d_TOW_at_current_symbol_ms +=
static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS); static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
} }
if (d_flag_frame_sync == true and flag_SOW_set == true) { if (d_flag_frame_sync == true and flag_SOW_set == true)
{
current_symbol.Flag_valid_word = true; current_symbol.Flag_valid_word = true;
} else { }
else
{
current_symbol.Flag_valid_word = false; current_symbol.Flag_valid_word = false;
} }
current_symbol.PRN = this->d_satellite.get_PRN(); current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms; current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true) { if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try { try
{
double tmp_double; double tmp_double;
uint64_t tmp_ulong_int; uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms); tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter; tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
sizeof(uint64_t));
tmp_double = d_nav.d_SOW; tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols); tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
sizeof(uint64_t)); }
} catch (const std::ifstream::failure &e) { catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what(); LOG(WARNING) << "Exception writing observables dump file " << e.what();
} }
} }
// 3. Make the output (copy the object contents to the GNURadio reserved // 3. Make the output (copy the object contents to the GNURadio reserved memory)
// memory)
*out[0] = current_symbol; *out[0] = current_symbol;
return 1; return 1;

13
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -35,10 +35,10 @@
#include "gnss_satellite.h" #include "gnss_satellite.h"
#include <boost/circular_buffer.hpp> #include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr #include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <cstdint>
#include <fstream>
#include <gnuradio/block.h> // for block #include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star #include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <fstream>
#include <string> #include <string>
class beidou_b3i_telemetry_decoder_gs; class beidou_b3i_telemetry_decoder_gs;
@ -54,7 +54,8 @@ beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
* \brief This class implements a block that decodes the BeiDou DNAV data. * \brief This class implements a block that decodes the BeiDou DNAV data.
* *
*/ */
class beidou_b3i_telemetry_decoder_gs : public gr::block { class beidou_b3i_telemetry_decoder_gs : public gr::block
{
public: public:
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor ~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
@ -101,15 +102,15 @@ private:
int32_t d_CRC_error_counter; // Number of failed CRC operations int32_t d_CRC_error_counter; // Number of failed CRC operations
bool flag_SOW_set; // Indicates when time of week is set bool flag_SOW_set; // Indicates when time of week is set
//!< Navigation Message variable // Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav; Beidou_Dnav_Navigation_Message d_nav;
//!< Values to populate gnss synchronization structure // Values to populate gnss synchronization structure
uint32_t d_TOW_at_Preamble_ms; uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms; uint32_t d_TOW_at_current_symbol_ms;
bool Flag_valid_word; bool Flag_valid_word;
//!< Satellite Information and logging capacity // Satellite Information and logging capacity
Gnss_Satellite d_satellite; Gnss_Satellite d_satellite;
int32_t d_channel; int32_t d_channel;
bool d_dump; bool d_dump;

13
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -11,7 +11,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -34,13 +34,13 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "dll_pll_conf.h"
#include "beidou_b3i_dll_pll_tracking.h" #include "beidou_b3i_dll_pll_tracking.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
#include "Beidou_B3I.h" #include "Beidou_B3I.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -151,6 +151,7 @@ void BeidouB3iDllPllTracking::start_tracking()
tracking_->start_tracking(); tracking_->start_tracking();
} }
void BeidouB3iDllPllTracking::stop_tracking() void BeidouB3iDllPllTracking::stop_tracking()
{ {
tracking_->stop_tracking(); tracking_->stop_tracking();

4
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.h
View File

@ -11,7 +11,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -37,8 +37,8 @@
#ifndef GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_ #ifndef GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_
#define GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_ #define GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_
#include "tracking_interface.h"
#include "dll_pll_veml_tracking.h" #include "dll_pll_veml_tracking.h"
#include "tracking_interface.h"
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;

7
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -43,8 +43,8 @@
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "Galileo_E5a.h" #include "Galileo_E5a.h"
#include "MATH_CONSTANTS.h" #include "MATH_CONSTANTS.h"
#include "beidou_b3i_signal_processing.h"
#include "beidou_b1i_signal_processing.h" #include "beidou_b1i_signal_processing.h"
#include "beidou_b3i_signal_processing.h"
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "galileo_e5_signal_processing.h" #include "galileo_e5_signal_processing.h"
#include "gnss_satellite.h" #include "gnss_satellite.h"
@ -634,14 +634,13 @@ void dll_pll_veml_tracking::start_tracking()
d_symbol_history.resize(22); // Change fixed buffer size d_symbol_history.resize(22); // Change fixed buffer size
d_symbol_history.clear(); d_symbol_history.clear();
} }
} }
else if (systemName == "Beidou" and signal_type == "B3") else if (systemName == "Beidou" and signal_type == "B3")
{ {
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0); beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites // Update secondary code settings for geo satellites
if(d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{ {
d_symbols_per_bit = 2; d_symbols_per_bit = 2;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
@ -656,7 +655,7 @@ void dll_pll_veml_tracking::start_tracking()
d_preamble_length_symbols = 22; d_preamble_length_symbols = 22;
d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0; int32_t n = 0;
uint32_t preambles_bits[BEIDOU_B3I_PREAMBLE_LENGTH_BITS] = {1,1,1,0,0,0,1,0,0,1,0}; uint32_t preambles_bits[BEIDOU_B3I_PREAMBLE_LENGTH_BITS] = {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0};
for (uint32_t preambles_bit : preambles_bits) for (uint32_t preambles_bit : preambles_bits)
{ {
for (int32_t j = 0; j < d_symbols_per_bit; j++) for (int32_t j = 0; j < d_symbols_per_bit; j++)

2
src/core/receiver/gnss_flowgraph.cc
View File

@ -1928,7 +1928,6 @@ void GNSSFlowgraph::set_signals_list()
available_BDS_B1_signals_.push_back(Gnss_Signal( available_BDS_B1_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter), Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B1"))); std::string("B1")));
} }
} }
@ -1944,7 +1943,6 @@ void GNSSFlowgraph::set_signals_list()
available_BDS_B3_signals_.push_back(Gnss_Signal( available_BDS_B3_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter), Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B3"))); std::string("B3")));
} }
} }
} }

8
src/core/system_parameters/Beidou_B3I.h
View File

@ -4,7 +4,7 @@
* \author Damian Miralles, 2019. dmiralles2009@gmail.com * \author Damian Miralles, 2019. dmiralles2009@gmail.com
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -31,10 +31,10 @@
#ifndef GNSS_SDR_BEIDOU_B3I_H_ #ifndef GNSS_SDR_BEIDOU_B3I_H_
#define GNSS_SDR_BEIDOU_B3I_H_ #define GNSS_SDR_BEIDOU_B3I_H_
#include <vector> #include "MATH_CONSTANTS.h"
#include <cstdint> #include <cstdint>
#include <utility> // std::pair #include <utility> // std::pair
#include "MATH_CONSTANTS.h" #include <vector>
// carrier and code frequencies // carrier and code frequencies
const double BEIDOU_B3I_FREQ_HZ = 1.268520e9; //!< BeiDou B3I [Hz] const double BEIDOU_B3I_FREQ_HZ = 1.268520e9; //!< BeiDou B3I [Hz]
@ -52,6 +52,6 @@ const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220; const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s] const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20; // ************* const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20; // *************
const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND*BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s] const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
#endif /* GNSS_SDR_BEIDOU_B3I_H_ */ #endif /* GNSS_SDR_BEIDOU_B3I_H_ */

298
src/core/system_parameters/Beidou_DNAV.h
View File

@ -31,15 +31,15 @@
#ifndef GNSS_SDR_BEIDOU_DNAV_H_ #ifndef GNSS_SDR_BEIDOU_DNAV_H_
#define GNSS_SDR_BEIDOU_DNAV_H_ #define GNSS_SDR_BEIDOU_DNAV_H_
#include <vector> #include "MATH_CONSTANTS.h"
#include <cstdint> #include <cstdint>
#include <utility> #include <utility>
#include "MATH_CONSTANTS.h" #include <vector>
const double BEIDOU_DNAV_C_m_s = 299792458.0; //!< The speed of light, [m/s] const double BEIDOU_DNAV_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double BEIDOU_DNAV_C_m_ms = 299792.4580; //!< The speed of light, [m/ms] const double BEIDOU_DNAV_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double BEIDOU_DNAV_PI = 3.1415926535898; //!< Pi const double BEIDOU_DNAV_PI = 3.1415926535898; //!< Pi
const double BEIDOU_DNAV_TWO_PI = 6.283185307179586;//!< 2Pi const double BEIDOU_DNAV_TWO_PI = 6.283185307179586; //!< 2Pi
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11; const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // ************** const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300; const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
@ -53,10 +53,10 @@ const std::string BEIDOU_DNAV_PREAMBLE = "11100010010";
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE // BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
// GENERAL // GENERAL
const std::vector<std::pair<int32_t,int32_t> > D1_PRE( { {1,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_PRE({{1, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_FRAID( { {16,3} } ); const std::vector<std::pair<int32_t, int32_t> > D1_FRAID({{16, 3}});
const std::vector<std::pair<int32_t,int32_t> > D1_SOW( { {19,8},{31,12} } ); const std::vector<std::pair<int32_t, int32_t> > D1_SOW({{19, 8}, {31, 12}});
const std::vector<std::pair<int32_t,int32_t> > D1_PNUM( { {44,7} } ); const std::vector<std::pair<int32_t, int32_t> > D1_PNUM({{44, 7}});
// DNAV SCALE FACTORS // DNAV SCALE FACTORS
// EPH // EPH
@ -111,183 +111,183 @@ const double D1_A0UTC_LSB = TWO_N30;
const double D1_A1UTC_LSB = TWO_N50; const double D1_A1UTC_LSB = TWO_N50;
// SUBFRAME 1 // SUBFRAME 1
const std::vector<std::pair<int32_t,int32_t> > D1_SAT_H1( { {43,1} } ); const std::vector<std::pair<int32_t, int32_t> > D1_SAT_H1({{43, 1}});
const std::vector<std::pair<int32_t,int32_t> > D1_AODC( { {44,5} } ); const std::vector<std::pair<int32_t, int32_t> > D1_AODC({{44, 5}});
const std::vector<std::pair<int32_t,int32_t> > D1_URAI( { {49,4} } ); const std::vector<std::pair<int32_t, int32_t> > D1_URAI({{49, 4}});
const std::vector<std::pair<int32_t,int32_t> > D1_WN( { {61,13} } ); const std::vector<std::pair<int32_t, int32_t> > D1_WN({{61, 13}});
const std::vector<std::pair<int32_t,int32_t> > D1_TOC( { {74,9},{91,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TOC({{74, 9}, {91, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_TGD1( { {99,10} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TGD1({{99, 10}});
const std::vector<std::pair<int32_t,int32_t> > D1_TGD2( { {121,6} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TGD2({{121, 6}});
const std::vector<std::pair<int32_t,int32_t> > D1_ALPHA0( { {127,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA0({{127, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_ALPHA1( { {135,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA1({{135, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_ALPHA2( { {151,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA2({{151, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_ALPHA3( { {159,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA3({{159, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_BETA0( { {167,6}, {181,2} } ); const std::vector<std::pair<int32_t, int32_t> > D1_BETA0({{167, 6}, {181, 2}});
const std::vector<std::pair<int32_t,int32_t> > D1_BETA1( { {183,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_BETA1({{183, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_BETA2( { {191,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_BETA2({{191, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_BETA3( { {199,4},{211,4} } ); const std::vector<std::pair<int32_t, int32_t> > D1_BETA3({{199, 4}, {211, 4}});
const std::vector<std::pair<int32_t,int32_t> > D1_A2( { {215,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A2({{215, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_A0( { {226,7},{241,17} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0({{226, 7}, {241, 17}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1( { {258,5},{271,17} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1({{258, 5}, {271, 17}});
const std::vector<std::pair<int32_t,int32_t> > D1_AODE( { {288,5} } ); const std::vector<std::pair<int32_t, int32_t> > D1_AODE({{288, 5}});
//SUBFRAME 2 //SUBFRAME 2
const std::vector<std::pair<int32_t,int32_t> > D1_DELTA_N( { {43,10},{61,6} } ); const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_N({{43, 10}, {61, 6}});
const std::vector<std::pair<int32_t,int32_t> > D1_CUC( { {67,16},{91,2} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CUC({{67, 16}, {91, 2}});
const std::vector<std::pair<int32_t,int32_t> > D1_M0( { {93,20}, {121,12} } ); const std::vector<std::pair<int32_t, int32_t> > D1_M0({{93, 20}, {121, 12}});
const std::vector<std::pair<int32_t,int32_t> > D1_E( { {133,10},{151,22} } ); const std::vector<std::pair<int32_t, int32_t> > D1_E({{133, 10}, {151, 22}});
const std::vector<std::pair<int32_t,int32_t> > D1_CUS( { {181,18} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CUS({{181, 18}});
const std::vector<std::pair<int32_t,int32_t> > D1_CRC( { {199,4},{211,14} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CRC({{199, 4}, {211, 14}});
const std::vector<std::pair<int32_t,int32_t> > D1_CRS( { {225,8},{241,10} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CRS({{225, 8}, {241, 10}});
const std::vector<std::pair<int32_t,int32_t> > D1_SQRT_A( { {251,12},{271,20} } ); const std::vector<std::pair<int32_t, int32_t> > D1_SQRT_A({{251, 12}, {271, 20}});
const std::vector<std::pair<int32_t,int32_t> > D1_TOE_SF2( { {291,2} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TOE_SF2({{291, 2}});
//SUBFRAME 3 //SUBFRAME 3
const std::vector<std::pair<int32_t,int32_t> > D1_TOE_SF3( { {43,10},{61,5} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TOE_SF3({{43, 10}, {61, 5}});
const std::vector<std::pair<int32_t,int32_t> > D1_I0( { {66,17},{91,15} } ); const std::vector<std::pair<int32_t, int32_t> > D1_I0({{66, 17}, {91, 15}});
const std::vector<std::pair<int32_t,int32_t> > D1_CIC( { {106,7},{121,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CIC({{106, 7}, {121, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA_DOT( { {132,11},{151,13} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_DOT({{132, 11}, {151, 13}});
const std::vector<std::pair<int32_t,int32_t> > D1_CIS( { {164,9},{181,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_CIS({{164, 9}, {181, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_IDOT( { {190,13},{211,1} } ); const std::vector<std::pair<int32_t, int32_t> > D1_IDOT({{190, 13}, {211, 1}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA0( { {212,21},{241,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA0({{212, 21}, {241, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA( { {252,11},{271,21} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA({{252, 11}, {271, 21}});
//SUBFRAME 4 AND PAGES 1 THROUGH 6 IN SUBFRAME 5 //SUBFRAME 4 AND PAGES 1 THROUGH 6 IN SUBFRAME 5
const std::vector<std::pair<int32_t,int32_t> > D1_SQRT_A_ALMANAC( { {51,2},{61,22} } ); const std::vector<std::pair<int32_t, int32_t> > D1_SQRT_A_ALMANAC({{51, 2}, {61, 22}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1_ALMANAC( { {91,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1_ALMANAC({{91, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_A0_ALMANAC( { {102,11} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0_ALMANAC({{102, 11}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA0_ALMANAC( { {121,22},{151,2} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA0_ALMANAC({{121, 22}, {151, 2}});
const std::vector<std::pair<int32_t,int32_t> > D1_E_ALMANAC( { {153,17} } ); const std::vector<std::pair<int32_t, int32_t> > D1_E_ALMANAC({{153, 17}});
const std::vector<std::pair<int32_t,int32_t> > D1_DELTA_I( { {170,3},{181,13} } ); const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_I({{170, 3}, {181, 13}});
const std::vector<std::pair<int32_t,int32_t> > D1_TOA( { {194,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TOA({{194, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA_DOT_ALMANAC( { {202,1}, {211,16} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_DOT_ALMANAC({{202, 1}, {211, 16}});
const std::vector<std::pair<int32_t,int32_t> > D1_OMEGA_ALMANAC( { {227,6},{241,18} } ); const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_ALMANAC({{227, 6}, {241, 18}});
const std::vector<std::pair<int32_t,int32_t> > D1_M0_ALMANAC( { {259,4},{271,20} } ); const std::vector<std::pair<int32_t, int32_t> > D1_M0_ALMANAC({{259, 4}, {271, 20}});
//SUBFRAME 5 PAGE 7 //SUBFRAME 5 PAGE 7
const std::vector<std::pair<int32_t,int32_t> > D1_HEA1( { {51,2},{61,7} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA1({{51, 2}, {61, 7}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA2( { {68,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA2({{68, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA3( { {77,6},{91,3} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA3({{77, 6}, {91, 3}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA4( { {94,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA4({{94, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA5( { {103,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA5({{103, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA6( { {112,1},{121,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA6({{112, 1}, {121, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA7( { {129,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA7({{129, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA8( { {138,5},{151,4} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA8({{138, 5}, {151, 4}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA9( { {155,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA9({{155, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA10( { {164,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA10({{164, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA11( { {181,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA11({{181, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA12( { {190,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA12({{190, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA13( { {199,4},{211,5} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA13({{199, 4}, {211, 5}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA14( { {216,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA14({{216, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA15( { {225,8},{241,1} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA15({{225, 8}, {241, 1}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA16( { {242,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA16({{242, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA17( { {251,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA17({{251, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA18( { {260,3},{271,6} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA18({{260, 3}, {271, 6}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA19( { {277,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA19({{277, 9}});
//SUBFRAME 5 PAGE 8 //SUBFRAME 5 PAGE 8
const std::vector<std::pair<int32_t,int32_t> > D1_HEA20( { {51,2},{61,7} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA20({{51, 2}, {61, 7}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA21( { {68,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA21({{68, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA22( { {77,6},{91,3} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA22({{77, 6}, {91, 3}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA23( { {94,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA23({{94, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA24( { {103,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA24({{103, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA25( { {112,1},{121,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA25({{112, 1}, {121, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA26( { {129,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA26({{129, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA27( { {138,5},{151,4} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA27({{138, 5}, {151, 4}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA28( { {155,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA28({{155, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA29( { {164,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA29({{164, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_HEA30( { {181,9} } ); const std::vector<std::pair<int32_t, int32_t> > D1_HEA30({{181, 9}});
const std::vector<std::pair<int32_t,int32_t> > D1_WNA( { {190,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_WNA({{190, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_TOA2( { {198,5},{211,3} } ); const std::vector<std::pair<int32_t, int32_t> > D1_TOA2({{198, 5}, {211, 3}});
//SUBFRAME 5 PAGE 9 //SUBFRAME 5 PAGE 9
const std::vector<std::pair<int32_t,int32_t> > D1_A0GPS( { {97,14} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0GPS({{97, 14}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1GPS( { {111,2},{121,14} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1GPS({{111, 2}, {121, 14}});
const std::vector<std::pair<int32_t,int32_t> > D1_A0GAL( { {135,8},{151,6} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0GAL({{135, 8}, {151, 6}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1GAL( { {157,16} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1GAL({{157, 16}});
const std::vector<std::pair<int32_t,int32_t> > D1_A0GLO( { {181,14} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0GLO({{181, 14}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1GLO( { {195,8},{211,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1GLO({{195, 8}, {211, 8}});
//SUBFRAME 5 PAGE 10 //SUBFRAME 5 PAGE 10
const std::vector<std::pair<int32_t,int32_t> > D1_DELTA_T_LS( { {51,2},{61,6} } ); const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_T_LS({{51, 2}, {61, 6}});
const std::vector<std::pair<int32_t,int32_t> > D1_DELTA_T_LSF( { {67,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_T_LSF({{67, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_WN_LSF( { {75,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_WN_LSF({{75, 8}});
const std::vector<std::pair<int32_t,int32_t> > D1_A0UTC( { {91,22},{121,10} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A0UTC({{91, 22}, {121, 10}});
const std::vector<std::pair<int32_t,int32_t> > D1_A1UTC( { {131,12},{151,12} } ); const std::vector<std::pair<int32_t, int32_t> > D1_A1UTC({{131, 12}, {151, 12}});
const std::vector<std::pair<int32_t,int32_t> > D1_DN( { {163,8} } ); const std::vector<std::pair<int32_t, int32_t> > D1_DN({{163, 8}});
// D2 NAV Message Decoding Information // D2 NAV Message Decoding Information
const std::vector<std::pair<int32_t,int32_t> > D2_PRE( { {1,11} } ); const std::vector<std::pair<int32_t, int32_t> > D2_PRE({{1, 11}});
const std::vector<std::pair<int32_t,int32_t> > D2_FRAID( { {16,3} } ); const std::vector<std::pair<int32_t, int32_t> > D2_FRAID({{16, 3}});
const std::vector<std::pair<int32_t,int32_t> > D2_SOW( { {19,8},{31,12} } ); const std::vector<std::pair<int32_t, int32_t> > D2_SOW({{19, 8}, {31, 12}});
const std::vector<std::pair<int32_t,int32_t> > D2_PNUM( { {43,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_PNUM({{43, 4}});
// D2 NAV, SUBFRAME 1, PAGE 1 // D2 NAV, SUBFRAME 1, PAGE 1
const std::vector<std::pair<int32_t,int32_t> > D2_SAT_H1( { {47,1} } ); const std::vector<std::pair<int32_t, int32_t> > D2_SAT_H1({{47, 1}});
const std::vector<std::pair<int32_t,int32_t> > D2_AODC( { {48,5} } ); const std::vector<std::pair<int32_t, int32_t> > D2_AODC({{48, 5}});
const std::vector<std::pair<int32_t,int32_t> > D2_URAI( { {61,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_URAI({{61, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_WN( { {65,13} } ); const std::vector<std::pair<int32_t, int32_t> > D2_WN({{65, 13}});
const std::vector<std::pair<int32_t,int32_t> > D2_TOC( { {78,5},{91,12} } ); const std::vector<std::pair<int32_t, int32_t> > D2_TOC({{78, 5}, {91, 12}});
const std::vector<std::pair<int32_t,int32_t> > D2_TGD1( { {103,10} } ); const std::vector<std::pair<int32_t, int32_t> > D2_TGD1({{103, 10}});
const std::vector<std::pair<int32_t,int32_t> > D2_TGD2( { {121,10} } ); const std::vector<std::pair<int32_t, int32_t> > D2_TGD2({{121, 10}});
// D2 NAV, SUBFRAME 1, PAGE 2 // D2 NAV, SUBFRAME 1, PAGE 2
const std::vector<std::pair<int32_t,int32_t> > D2_ALPHA0( { {47,6}, {61,2} } ); const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA0({{47, 6}, {61, 2}});
const std::vector<std::pair<int32_t,int32_t> > D2_ALPHA1( { {63,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA1({{63, 8}});
const std::vector<std::pair<int32_t,int32_t> > D2_ALPHA2( { {71,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA2({{71, 8}});
const std::vector<std::pair<int32_t,int32_t> > D2_ALPHA3( { {79,4}, {91,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA3({{79, 4}, {91, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_BETA0( { {95,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_BETA0({{95, 8}});
const std::vector<std::pair<int32_t,int32_t> > D2_BETA1( { {103,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_BETA1({{103, 8}});
const std::vector<std::pair<int32_t,int32_t> > D2_BETA2( { {111,2}, {121,6} } ); const std::vector<std::pair<int32_t, int32_t> > D2_BETA2({{111, 2}, {121, 6}});
const std::vector<std::pair<int32_t,int32_t> > D2_BETA3( { {127,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_BETA3({{127, 8}});
// D2 NAV, SUBFRAME 1, PAGE 3 // D2 NAV, SUBFRAME 1, PAGE 3
const std::vector<std::pair<int32_t,int32_t> > D2_A0( { {101,12},{121,12} } ); const std::vector<std::pair<int32_t, int32_t> > D2_A0({{101, 12}, {121, 12}});
const std::vector<std::pair<int32_t,int32_t> > D2_A1_MSB( { {133,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_A1_MSB({{133, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_A1_LSB( { {47,6}, {61, 12} } ); const std::vector<std::pair<int32_t, int32_t> > D2_A1_LSB({{47, 6}, {61, 12}});
const std::vector<std::pair<int32_t,int32_t> > D2_A1( { {279,22} } ); const std::vector<std::pair<int32_t, int32_t> > D2_A1({{279, 22}});
// D2 NAV, SUBFRAME 1, PAGE 4 // D2 NAV, SUBFRAME 1, PAGE 4
const std::vector<std::pair<int32_t,int32_t> > D2_A2( { {73,10}, {91,1} } ); const std::vector<std::pair<int32_t, int32_t> > D2_A2({{73, 10}, {91, 1}});
const std::vector<std::pair<int32_t,int32_t> > D2_AODE( { {92,5} } ); const std::vector<std::pair<int32_t, int32_t> > D2_AODE({{92, 5}});
const std::vector<std::pair<int32_t,int32_t> > D2_DELTA_N( { {97,16} } ); const std::vector<std::pair<int32_t, int32_t> > D2_DELTA_N({{97, 16}});
const std::vector<std::pair<int32_t,int32_t> > D2_CUC_MSB( { {121,14} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CUC_MSB({{121, 14}});
const std::vector<std::pair<int32_t,int32_t> > D2_CUC_LSB( { {47,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CUC_LSB({{47, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_CUC( { {283,18} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CUC({{283, 18}});
// D2 NAV, SUBFRAME 1, PAGE 5 // D2 NAV, SUBFRAME 1, PAGE 5
const std::vector<std::pair<int32_t,int32_t> > D2_M0( { {51,2}, {61,22}, {91,8} } ); const std::vector<std::pair<int32_t, int32_t> > D2_M0({{51, 2}, {61, 22}, {91, 8}});
const std::vector<std::pair<int32_t,int32_t> > D2_CUS( { {99,14}, {121, 4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CUS({{99, 14}, {121, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_E_MSB( { {125,10} } ); const std::vector<std::pair<int32_t, int32_t> > D2_E_MSB({{125, 10}});
// D2 NAV, SUBFRAME 1, PAGE 6 // D2 NAV, SUBFRAME 1, PAGE 6
const std::vector<std::pair<int32_t,int32_t> > D2_E_LSB( { {47,6}, {61, 16} } ); const std::vector<std::pair<int32_t, int32_t> > D2_E_LSB({{47, 6}, {61, 16}});
const std::vector<std::pair<int32_t,int32_t> > D2_SQRT_A( { {77,6},{91,22}, {121,4} } ); const std::vector<std::pair<int32_t, int32_t> > D2_SQRT_A({{77, 6}, {91, 22}, {121, 4}});
const std::vector<std::pair<int32_t,int32_t> > D2_CIC_MSB( { {125,10} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CIC_MSB({{125, 10}});
const std::vector<std::pair<int32_t,int32_t> > D2_CIC_LSB( { {47,6}, {61,2} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CIC_LSB({{47, 6}, {61, 2}});
const std::vector<std::pair<int32_t,int32_t> > D2_CIC( { {283,18} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CIC({{283, 18}});
// D2 NAV, SUBFRAME 1, PAGE 7 // D2 NAV, SUBFRAME 1, PAGE 7
const std::vector<std::pair<int32_t,int32_t> > D2_CIS( { {63,18} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CIS({{63, 18}});
const std::vector<std::pair<int32_t,int32_t> > D2_TOE( { {81,2},{91,15} } ); const std::vector<std::pair<int32_t, int32_t> > D2_TOE({{81, 2}, {91, 15}});
const std::vector<std::pair<int32_t,int32_t> > D2_I0_MSB( { {106,7},{121,14} } ); const std::vector<std::pair<int32_t, int32_t> > D2_I0_MSB({{106, 7}, {121, 14}});
const std::vector<std::pair<int32_t,int32_t> > D2_I0_LSB( { {47,6},{61,5} } ); const std::vector<std::pair<int32_t, int32_t> > D2_I0_LSB({{47, 6}, {61, 5}});
const std::vector<std::pair<int32_t,int32_t> > D2_I0( { {269,32} } ); const std::vector<std::pair<int32_t, int32_t> > D2_I0({{269, 32}});
// D2 NAV, SUBFRAME 1, PAGE 8 // D2 NAV, SUBFRAME 1, PAGE 8
const std::vector<std::pair<int32_t,int32_t> > D2_CRC( { {66,17},{91,1} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CRC({{66, 17}, {91, 1}});
const std::vector<std::pair<int32_t,int32_t> > D2_CRS( { {92,18} } ); const std::vector<std::pair<int32_t, int32_t> > D2_CRS({{92, 18}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA_DOT_MSB( { {110,3},{121,16} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT_MSB({{110, 3}, {121, 16}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA_DOT_LSB( { {47,5} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT_LSB({{47, 5}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA_DOT( { {277,24} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT({{277, 24}});
// D2 NAV, SUBFRAME 1, PAGE 9 // D2 NAV, SUBFRAME 1, PAGE 9
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA0( { {52,1},{61,22},{91,9} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA0({{52, 1}, {61, 22}, {91, 9}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA_MSB( { {100,13},{121,14} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_MSB({{100, 13}, {121, 14}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA_LSB( { {47,5} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_LSB({{47, 5}});
const std::vector<std::pair<int32_t,int32_t> > D2_OMEGA( { {269,32} } ); const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA({{269, 32}});
// D2 NAV, SUBFRAME 1, PAGE 10 // D2 NAV, SUBFRAME 1, PAGE 10
const std::vector<std::pair<int32_t,int32_t> > D2_IDOT( { {52,1},{61,13} } ); const std::vector<std::pair<int32_t, int32_t> > D2_IDOT({{52, 1}, {61, 13}});
#endif /* GNSS_SDR_BEIDOU_DNAV_H_ */ #endif /* GNSS_SDR_BEIDOU_DNAV_H_ */