/*! * \file GPS_CNAV.h * \brief Defines parameters for GPS CNAV * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * * ----------------------------------------------------------------------------- * * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * This file is part of GNSS-SDR. * * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * SPDX-License-Identifier: GPL-3.0-or-later * * ----------------------------------------------------------------------------- */ #ifndef GNSS_SDR_GPS_CNAV_H #define GNSS_SDR_GPS_CNAV_H #include "MATH_CONSTANTS.h" #include #include // std::pair #include /** \addtogroup Core * \{ */ /** \addtogroup System_Parameters * \{ */ // CNAV GPS NAVIGATION MESSAGE STRUCTURE // NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200M Appendix III) constexpr int32_t GPS_CNAV_DATA_PAGE_BITS = 300; // common to all messages const std::vector > CNAV_PRN({{9, 6}}); const std::vector > CNAV_MSG_TYPE({{15, 6}}); const std::vector > CNAV_TOW({{21, 17}}); // GPS Time Of Week in seconds constexpr int32_t CNAV_TOW_LSB = 6; const std::vector > CNAV_ALERT_FLAG({{38, 1}}); // MESSAGE TYPE 10 (Ephemeris 1) const std::vector > CNAV_WN({{39, 13}}); const std::vector > CNAV_HEALTH({{52, 3}}); const std::vector > CNAV_TOP1({{55, 11}}); constexpr int32_t CNAV_TOP1_LSB = 300; const std::vector > CNAV_URA({{66, 5}}); const std::vector > CNAV_TOE1({{71, 11}}); constexpr int32_t CNAV_TOE1_LSB = 300; const std::vector > CNAV_DELTA_A({{82, 26}}); // Relative to AREF = 26,559,710 meters constexpr double CNAV_DELTA_A_LSB = TWO_N9; const std::vector > CNAV_A_DOT({{108, 25}}); constexpr double CNAV_A_DOT_LSB = TWO_N21; const std::vector > CNAV_DELTA_N0({{133, 17}}); constexpr double CNAV_DELTA_N0_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_DELTA_N0_DOT({{150, 23}}); constexpr double CNAV_DELTA_N0_DOT_LSB = TWO_N57 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_M0({{173, 33}}); constexpr double CNAV_M0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_E_ECCENTRICITY({{206, 33}}); constexpr double CNAV_E_ECCENTRICITY_LSB = TWO_N34; const std::vector > CNAV_OMEGA({{239, 33}}); constexpr double CNAV_OMEGA_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_INTEGRITY_FLAG({{272, 1}}); const std::vector > CNAV_L2_PHASING_FLAG({{273, 1}}); // MESSAGE TYPE 11 (Ephemeris 2) const std::vector > CNAV_TOE2({{39, 11}}); constexpr int32_t CNAV_TOE2_LSB = 300; const std::vector > CNAV_OMEGA0({{50, 33}}); constexpr double CNAV_OMEGA0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_I0({{83, 33}}); constexpr double CNAV_I0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_DELTA_OMEGA_DOT({{116, 17}}); // Relative to REF = -2.6 x 10-9 semi-circles/second. constexpr double CNAV_DELTA_OMEGA_DOT_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_I0_DOT({{133, 15}}); constexpr double CNAV_I0_DOT_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians const std::vector > CNAV_CIS({{148, 16}}); constexpr double CNAV_CIS_LSB = TWO_N30; const std::vector > CNAV_CIC({{164, 16}}); constexpr double CNAV_CIC_LSB = TWO_N30; const std::vector > CNAV_CRS({{180, 24}}); constexpr double CNAV_CRS_LSB = TWO_N8; const std::vector > CNAV_CRC({{204, 24}}); constexpr double CNAV_CRC_LSB = TWO_N8; const std::vector > CNAV_CUS({{228, 21}}); constexpr double CNAV_CUS_LSB = TWO_N30; const std::vector > CNAV_CUC({{249, 21}}); constexpr double CNAV_CUC_LSB = TWO_N30; // MESSAGE TYPE 30 (CLOCK, IONO, GRUP DELAY) const std::vector > CNAV_TOP2({{39, 11}}); constexpr int32_t CNAV_TOP2_LSB = 300; const std::vector > CNAV_URA_NED0({{50, 5}}); const std::vector > CNAV_URA_NED1({{55, 3}}); const std::vector > CNAV_URA_NED2({{58, 3}}); const std::vector > CNAV_TOC({{61, 11}}); constexpr int32_t CNAV_TOC_LSB = 300; const std::vector > CNAV_AF0({{72, 26}}); constexpr double CNAV_AF0_LSB = TWO_N35; const std::vector > CNAV_AF1({{98, 20}}); constexpr double CNAV_AF1_LSB = TWO_N48; const std::vector > CNAV_AF2({{118, 10}}); constexpr double CNAV_AF2_LSB = TWO_N60; const std::vector > CNAV_TGD({{128, 13}}); constexpr double CNAV_TGD_LSB = TWO_N35; const std::vector > CNAV_ISCL1({{141, 13}}); constexpr double CNAV_ISCL1_LSB = TWO_N35; const std::vector > CNAV_ISCL2({{154, 13}}); constexpr double CNAV_ISCL2_LSB = TWO_N35; const std::vector > CNAV_ISCL5I({{167, 13}}); constexpr double CNAV_ISCL5I_LSB = TWO_N35; const std::vector > CNAV_ISCL5Q({{180, 13}}); constexpr double CNAV_ISCL5Q_LSB = TWO_N35; // Ionospheric parameters const std::vector > CNAV_ALPHA0({{193, 8}}); constexpr double CNAV_ALPHA0_LSB = TWO_N30; const std::vector > CNAV_ALPHA1({{201, 8}}); constexpr double CNAV_ALPHA1_LSB = TWO_N27; const std::vector > CNAV_ALPHA2({{209, 8}}); constexpr double CNAV_ALPHA2_LSB = TWO_N24; const std::vector > CNAV_ALPHA3({{217, 8}}); constexpr double CNAV_ALPHA3_LSB = TWO_N24; const std::vector > CNAV_BETA0({{225, 8}}); constexpr double CNAV_BETA0_LSB = TWO_P11; const std::vector > CNAV_BETA1({{233, 8}}); constexpr double CNAV_BETA1_LSB = TWO_P14; const std::vector > CNAV_BETA2({{241, 8}}); constexpr double CNAV_BETA2_LSB = TWO_P16; const std::vector > CNAV_BETA3({{249, 8}}); constexpr double CNAV_BETA3_LSB = TWO_P16; const std::vector > CNAV_WNOP({{257, 8}}); // MESSAGE TYPE 33 (CLOCK and UTC) const std::vector > CNAV_A0({{128, 16}}); constexpr double CNAV_A0_LSB = TWO_N35; const std::vector > CNAV_A1({{144, 13}}); constexpr double CNAV_A1_LSB = TWO_N51; const std::vector > CNAV_A2({{157, 7}}); constexpr double CNAV_A2_LSB = TWO_N68; const std::vector > CNAV_DELTA_TLS({{164, 8}}); constexpr int32_t CNAV_DELTA_TLS_LSB = 1; const std::vector > CNAV_TOT({{172, 16}}); constexpr int32_t CNAV_TOT_LSB = TWO_P4; const std::vector > CNAV_WN_OT({{188, 13}}); constexpr int32_t CNAV_WN_OT_LSB = 1; const std::vector > CNAV_WN_LSF({{201, 13}}); constexpr int32_t CNAV_WN_LSF_LSB = 1; const std::vector > CNAV_DN({{214, 4}}); constexpr int32_t CNAV_DN_LSB = 1; const std::vector > CNAV_DELTA_TLSF({{218, 8}}); constexpr int32_t CNAV_DELTA_TLSF_LSB = 1; constexpr double CNAV_A_REF = 26559710.0; // [m] See IS-GPS-200M, Table 30-I. constexpr double CNAV_OMEGA_DOT_REF = -2.6e-9; // [semicircles / s], see IS-GPS-200M, Table 30-I. // TODO: Add more frames (Almanac, etc...) /** \} */ /** \} */ #endif // GNSS_SDR_GPS_CNAV_H