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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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38
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -341,26 +341,26 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.type_of_receiver = 55; pvt_output_parameters.type_of_receiver = 55;
} }
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0)) if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0))
{ {
pvt_output_parameters.type_of_receiver = 56; pvt_output_parameters.type_of_receiver = 56;
} }
// BeiDou B3I Receiver // BeiDou B3I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{ {
pvt_output_parameters.type_of_receiver = 60; pvt_output_parameters.type_of_receiver = 60;
} }
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{ {
pvt_output_parameters.type_of_receiver = 61; pvt_output_parameters.type_of_receiver = 61;
} }
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{ {
pvt_output_parameters.type_of_receiver = 62; pvt_output_parameters.type_of_receiver = 62;
} }
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{ {
pvt_output_parameters.type_of_receiver = 63; pvt_output_parameters.type_of_receiver = 63;
} }
// RTKLIB PVT solver options // RTKLIB PVT solver options
// Settings 1 // Settings 1

6
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -837,7 +837,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// BeiDou B3 // BeiDou B3
if (sig_ == "B3") if (sig_ == "B3")
{ {
beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN); beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (beidou_ephemeris_iter != beidou_dnav_ephemeris_map.cend()) if (beidou_ephemeris_iter != beidou_dnav_ephemeris_map.cend())
{ {
bool found_B1I_obs = false; bool found_B1I_obs = false;
@ -847,7 +847,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356, beidou_ephemeris_iter->second.i_BEIDOU_week + 1356,
1); // Band 3 (L2/G2/B3) 1); // Band 3 (L2/G2/B3)
found_B1I_obs = true; found_B1I_obs = true;
break; break;
@ -865,7 +865,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356, beidou_ephemeris_iter->second.i_BEIDOU_week + 1356,
1); // Band 2 (L2/G2) 1); // Band 2 (L2/G2)
valid_obs++; valid_obs++;
} }

32
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
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@ -30,27 +30,26 @@
*/ */
#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;
BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition( BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
ConfigurationInterface* configuration, ConfigurationInterface* configuration,
std::string role, std::string role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams) : role_(role), unsigned int out_streams) : role_(role),
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
Acq_Conf acq_parameters = Acq_Conf(); Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -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_;
@ -264,11 +263,11 @@ void BeidouB3iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
// nothing to connect // nothing to connect
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
// nothing to connect // nothing to connect
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
@ -287,11 +286,11 @@ void BeidouB3iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
// nothing to disconnect // nothing to disconnect
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
// nothing to disconnect // nothing to disconnect
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
@ -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
View File

@ -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_;

58
src/algorithms/libs/beidou_b3i_signal_processing.cc
View File

@ -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,}},
@ -63,41 +63,42 @@ 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++)
{ {
G1[lcv] = G1_register[0]; G1[lcv] = G1_register[0];
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++)
{ {
G1_register[lcv2] = G1_register[lcv2 + 1]; G1_register[lcv2] = G1_register[lcv2 + 1];
G2_register[lcv2] = G2_register[lcv2 + 1]; G2_register[lcv2] = G2_register[lcv2 + 1];
} }
G1_register[12] = feedback1; G1_register[12] = feedback1;
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}};
} }
} }
delay = _code_length; delay = _code_length;
delay += _chip_shift; delay += _chip_shift;
@ -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;
} }
} }
@ -166,8 +166,8 @@ void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned in
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength)); _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants -------------------------------------------------- //--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec _ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec _tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++) for (signed int i = 0; i < _samplesPerCode; i++)

14
src/algorithms/libs/beidou_b3i_signal_processing.h
View File

@ -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_ */

82
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.cc
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@ -36,49 +36,65 @@
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"; {
DLOG(INFO) << "role " << role; std::string default_dump_filename = "./navigation.dat";
dump_ = configuration->property(role + ".dump", false); DLOG(INFO) << "role " << role;
dump_filename_ = dump_ = configuration->property(role + ".dump", false);
configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ =
// make telemetry decoder object configuration->property(role + ".dump_filename", default_dump_filename);
telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_); // make telemetry decoder object
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")"; telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_);
channel_ = 0; DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
if (in_streams_ > 1) { channel_ = 0;
LOG(ERROR) << "This implementation only supports one input stream"; if (in_streams_ > 1)
} {
if (out_streams_ > 1) { LOG(ERROR) << "This implementation only supports one input stream";
LOG(ERROR) << "This implementation only supports one output stream"; }
} if (out_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one output stream";
}
} }
BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default; BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default;
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite) {
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite)
telemetry_decoder_->set_satellite(satellite_); {
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_; satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(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)
}; {
// Nothing to connect internally if (top_block)
DLOG(INFO) << "nothing to connect internally"; { /* top_block is not null */
};
// 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)
}; {
// Nothing to disconnect if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
} }
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block() {
return telemetry_decoder_; gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block()
{
return telemetry_decoder_;
} }
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block() {
return telemetry_decoder_; gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block()
{
return telemetry_decoder_;
} }

66
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h
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@ -33,54 +33,58 @@
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_ #define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
#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,
unsigned int out_streams); unsigned int out_streams);
virtual ~BeidouB3iTelemetryDecoder(); virtual ~BeidouB3iTelemetryDecoder();
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";
}
void connect(gr::top_block_sptr top_block) override; void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_left_block() override;
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);
}
inline void reset() override { return; } inline void reset() override { return; }
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }
private: private:
beidou_b3i_telemetry_decoder_gs_sptr telemetry_decoder_; beidou_b3i_telemetry_decoder_gs_sptr telemetry_decoder_;
Gnss_Satellite satellite_; Gnss_Satellite satellite_;
int channel_; int channel_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
}; };
#endif #endif

1044
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
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109
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
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@ -34,11 +34,11 @@
#include "beidou_dnav_navigation_message.h" #include "beidou_dnav_navigation_message.h"
#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 <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint> #include <cstdint>
#include <fstream> #include <fstream>
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <string> #include <string>
class beidou_b3i_telemetry_decoder_gs; class beidou_b3i_telemetry_decoder_gs;
@ -48,73 +48,74 @@ using beidou_b3i_telemetry_decoder_gs_sptr =
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);
/*! /*!
* \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
void set_channel(int channel); //!< Set receiver's channel void set_channel(int channel); //!< Set receiver's channel
/*! /*!
* \brief This is where all signal processing takes place * \brief This is where all signal processing takes place
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items); gr_vector_void_star &output_items);
private: private:
friend beidou_b3i_telemetry_decoder_gs_sptr friend 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);
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump); beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols); void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, void decode_word(int32_t word_counter, const double *enc_word_symbols,
int32_t *dec_word_symbols); int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits); void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding // Preamble decoding
int32_t *d_preamble_samples; int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols; int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol; uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble; int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble; int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples; int32_t d_preamble_period_samples;
double *d_subframe_symbols; double *d_subframe_symbols;
uint32_t d_required_symbols; uint32_t d_required_symbols;
// Storage for incoming data // Storage for incoming data
boost::circular_buffer<float> d_symbol_history; boost::circular_buffer<float> d_symbol_history;
// Variables for internal functionality // Variables for internal functionality
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc)
// indicating number of samples processed // indicating number of samples processed
uint64_t d_preamble_index; // Index of sample number where preamble was found uint64_t d_preamble_index; // Index of sample number where preamble was found
uint32_t d_stat; // Status of decoder uint32_t d_stat; // Status of decoder
bool d_flag_frame_sync; // Indicate when a frame sync is achieved bool d_flag_frame_sync; // Indicate when a frame sync is achieved
bool d_flag_preamble; // Flag indicating when preamble was found bool d_flag_preamble; // Flag indicating when preamble was found
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;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
}; };
#endif #endif

15
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;
@ -48,7 +48,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
Dll_Pll_Conf trk_param = Dll_Pll_Conf(); Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -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;

103
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -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"
@ -302,20 +302,20 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
} }
else if (signal_type == "B3") else if (signal_type == "B3")
{ {
// GEO Satellites use different secondary code // GEO Satellites use different secondary code
d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ; d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ;
d_code_period = BEIDOU_B3I_CODE_PERIOD; d_code_period = BEIDOU_B3I_CODE_PERIOD;
d_code_chip_rate = BEIDOU_B3I_CODE_RATE_HZ; d_code_chip_rate = BEIDOU_B3I_CODE_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<uint32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS);
d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = true; d_secondary = true;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
interchange_iq = false; interchange_iq = false;
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
} }
else else
{ {
@ -616,47 +616,46 @@ void dll_pll_veml_tracking::start_tracking()
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_B1I_PREAMBLE_LENGTH_BITS] = {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0}; uint32_t preambles_bits[BEIDOU_B1I_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 (uint32_t j = 0; j < d_symbols_per_bit; j++) for (uint32_t j = 0; j < d_symbols_per_bit; j++)
{ {
if (preambles_bit == 1) if (preambles_bit == 1)
{ {
d_preambles_symbols[n] = 1; d_preambles_symbols[n] = 1;
} }
else else
{ {
d_preambles_symbols[n] = -1; d_preambles_symbols[n] = -1;
} }
n++; n++;
} }
} }
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;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = false;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
interchange_iq = false; interchange_iq = false;
d_secondary_code_length = 0; d_secondary_code_length = 0;
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_D2_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_D2_SECONDARY_CODE_STR);
// preamble bits to sampled symbols // preamble bits to sampled symbols
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++)
@ -740,9 +739,9 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking()
if (d_dump_mat) if (d_dump_mat)
{ {
try try
{ {
save_matfile(); save_matfile();
} }
catch (const std::exception &ex) catch (const std::exception &ex)
{ {
LOG(WARNING) << "Error saving the .mat file: " << ex.what(); LOG(WARNING) << "Error saving the .mat file: " << ex.what();
@ -1061,11 +1060,11 @@ void dll_pll_veml_tracking::save_correlation_results()
// If tracking pilot, disable Costas loop // If tracking pilot, disable Costas loop
if (trk_parameters.track_pilot) if (trk_parameters.track_pilot)
{ {
d_cloop = false; d_cloop = false;
} }
else else
{ {
d_cloop = true; d_cloop = true;
} }
} }

76
src/core/receiver/gnss_flowgraph.cc
View File

@ -1117,19 +1117,19 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
break; break;
case evBDS_B1: case evBDS_B1:
available_BDS_B1_signals_.remove(gs); available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_back(gs); available_BDS_B1_signals_.push_back(gs);
break; break;
case evBDS_B3: case evBDS_B3:
available_BDS_B3_signals_.remove(gs); available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_back(gs); available_BDS_B3_signals_.push_back(gs);
break; break;
default: default:
LOG(ERROR) << "This should not happen :-("; LOG(ERROR) << "This should not happen :-(";
break; break;
} }
} }
channels_state_[who] = 0; channels_state_[who] = 0;
acq_channels_count_--; acq_channels_count_--;
@ -1728,8 +1728,8 @@ void GNSSFlowgraph::set_signals_list()
std::set<unsigned int> available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, std::set<unsigned int> available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49,
50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63}; 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63};
std::string sv_list = configuration_->property("Galileo.prns", std::string("")); std::string sv_list = configuration_->property("Galileo.prns", std::string(""));
@ -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")));
} }
} }
} }
@ -1989,7 +1987,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (!pop) if (!pop)
{ {
available_GPS_1C_signals_.push_back(result); available_GPS_1C_signals_.push_back(result);
} }
if (tracked) if (tracked)
{ {
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0)) if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
@ -2206,19 +2204,19 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
} }
if (tracked) if (tracked)
{ {
if (configuration_->property("Channels_B3.count", 0) > 0) if (configuration_->property("Channels_B3.count", 0) > 0)
{ {
for (unsigned int ch = 0; ch < channels_count_; ch++) for (unsigned int ch = 0; ch < channels_count_; ch++)
{ {
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false; if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false;
} }
if (untracked_satellite) if (untracked_satellite)
{ {
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3"); Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3");
available_BDS_B3_signals_.remove(gs); available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_front(gs); available_BDS_B3_signals_.push_front(gs);
} }
} }
} }
break; break;
@ -2231,27 +2229,27 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
} }
if (tracked) if (tracked)
{ {
if (configuration_->property("Channels_B1.count", 0) > 0) if (configuration_->property("Channels_B1.count", 0) > 0)
{ {
for (unsigned int ch = 0; ch < channels_count_; ch++) for (unsigned int ch = 0; ch < channels_count_; ch++)
{ {
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false; if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false;
} }
if (untracked_satellite) if (untracked_satellite)
{ {
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1"); Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1");
available_BDS_B1_signals_.remove(gs); available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_front(gs); available_BDS_B1_signals_.push_front(gs);
} }
} }
} }
break; break;
default: default:
LOG(ERROR) << "This should not happen :-("; LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front(); result = available_GPS_1C_signals_.front();
if (pop) if (pop)
{ {
available_GPS_1C_signals_.pop_front(); available_GPS_1C_signals_.pop_front();
} }
break; break;

40
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
@ -31,27 +31,27 @@
#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 <cstdint>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h" #include "MATH_CONSTANTS.h"
#include <cstdint>
#include <utility> // std::pair
#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]
const double BEIDOU_B3I_CODE_RATE_HZ = 10.23e6; //!< BeiDou B3I code rate [chips/s] const double BEIDOU_B3I_CODE_RATE_HZ = 10.23e6; //!< BeiDou B3I code rate [chips/s]
const double BEIDOU_B3I_CODE_LENGTH_CHIPS = 10230.0; //!< BeiDou B3I code length [chips] const double BEIDOU_B3I_CODE_LENGTH_CHIPS = 10230.0; //!< BeiDou B3I code length [chips]
const double BEIDOU_B3I_CODE_PERIOD = 0.001; //!< BeiDou B3I code period [seconds] const double BEIDOU_B3I_CODE_PERIOD = 0.001; //!< BeiDou B3I code period [seconds]
const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms] const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms]
const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20; const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B3I_SECONDARY_CODE = "00000100110101001110"; const std::string BEIDOU_B3I_SECONDARY_CODE = "00000100110101001110";
const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110"; const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B3I_D2_SECONDARY_CODE_STR = "00"; const std::string BEIDOU_B3I_D2_SECONDARY_CODE_STR = "00";
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_BITS = 11; const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_BITS = 11;
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // ************** const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220; 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_ */

348
src/core/system_parameters/Beidou_DNAV.h
View File

@ -31,17 +31,17 @@
#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;
const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300; const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
const double BEIDOU_DNAV_DATA_BITS = 300; const double BEIDOU_DNAV_DATA_BITS = 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
@ -74,220 +74,220 @@ const double D1_BETA3_LSB = TWO_P16;
const double D1_A2_LSB = TWO_N66; const double D1_A2_LSB = TWO_N66;
const double D1_A0_LSB = TWO_N33; const double D1_A0_LSB = TWO_N33;
const double D1_A1_LSB = TWO_N50; const double D1_A1_LSB = TWO_N50;
const double D1_DELTA_N_LSB = PI_TWO_N43; const double D1_DELTA_N_LSB = PI_TWO_N43;
const double D1_CUC_LSB = TWO_N31; const double D1_CUC_LSB = TWO_N31;
const double D1_M0_LSB = PI_TWO_N31; const double D1_M0_LSB = PI_TWO_N31;
const double D1_E_LSB = TWO_N33; const double D1_E_LSB = TWO_N33;
const double D1_CUS_LSB = TWO_N31; const double D1_CUS_LSB = TWO_N31;
const double D1_CRC_LSB = TWO_N6; const double D1_CRC_LSB = TWO_N6;
const double D1_CRS_LSB = TWO_N6; const double D1_CRS_LSB = TWO_N6;
const double D1_SQRT_A_LSB = TWO_N19; const double D1_SQRT_A_LSB = TWO_N19;
const double D1_TOE_LSB = TWO_P3; const double D1_TOE_LSB = TWO_P3;
const double D1_I0_LSB = PI_TWO_N31; const double D1_I0_LSB = PI_TWO_N31;
const double D1_CIC_LSB = TWO_N31; const double D1_CIC_LSB = TWO_N31;
const double D1_OMEGA_DOT_LSB = PI_TWO_N43; const double D1_OMEGA_DOT_LSB = PI_TWO_N43;
const double D1_CIS_LSB = TWO_N31; const double D1_CIS_LSB = TWO_N31;
const double D1_IDOT_LSB = PI_TWO_N43; const double D1_IDOT_LSB = PI_TWO_N43;
const double D1_OMEGA0_LSB = PI_TWO_N31; const double D1_OMEGA0_LSB = PI_TWO_N31;
const double D1_OMEGA_LSB = PI_TWO_N31; const double D1_OMEGA_LSB = PI_TWO_N31;
//ALM //ALM
const double D1_SQRT_A_ALMANAC_LSB = TWO_N11; const double D1_SQRT_A_ALMANAC_LSB = TWO_N11;
const double D1_A1_ALMANAC_LSB = TWO_N38; const double D1_A1_ALMANAC_LSB = TWO_N38;
const double D1_A0_ALMANAC_LSB = TWO_N20; const double D1_A0_ALMANAC_LSB = TWO_N20;
const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23; const double D1_OMEGA0_ALMANAC_LSB = PI_TWO_N23;
const double D1_E_ALMANAC_LSB = TWO_N21; const double D1_E_ALMANAC_LSB = TWO_N21;
const double D1_DELTA_I_LSB = PI_TWO_N19; const double D1_DELTA_I_LSB = PI_TWO_N19;
const double D1_TOA_LSB = TWO_P12; const double D1_TOA_LSB = TWO_P12;
const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38; const double D1_OMEGA_DOT_ALMANAC_LSB = PI_TWO_N38;
const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23; const double D1_OMEGA_ALMANAC_LSB = PI_TWO_N23;
const double D1_M0_ALMANAC_LSB = PI_TWO_N23; const double D1_M0_ALMANAC_LSB = PI_TWO_N23;
const double D1_A0GPS_LSB = 0.1e-9; const double D1_A0GPS_LSB = 0.1e-9;
const double D1_A1GPS_LSB = 0.1e-9; const double D1_A1GPS_LSB = 0.1e-9;
const double D1_A0GAL_LSB = 0.1e-9; const double D1_A0GAL_LSB = 0.1e-9;
const double D1_A1GAL_LSB = 0.1e-9; const double D1_A1GAL_LSB = 0.1e-9;
const double D1_A0GLO_LSB = 0.1e-9; const double D1_A0GLO_LSB = 0.1e-9;
const double D1_A1GLO_LSB = 0.1e-9; const double D1_A1GLO_LSB = 0.1e-9;
const double D1_A0UTC_LSB = TWO_N30; 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_ */