/*! * \file glonass_gnav_navigation_message.h * \brief Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1) * \note Code added as part of GSoC 2017 program * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com * \see GLONASS ICD * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver * * This file is part of GNSS-SDR. * * GNSS-SDR is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * GNSS-SDR is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with GNSS-SDR. If not, see . * * ------------------------------------------------------------------------- */ #ifndef GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_ #define GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_ #include "GLONASS_L1_L2_CA.h" #include "glonass_gnav_almanac.h" #include "glonass_gnav_ephemeris.h" #include "glonass_gnav_utc_model.h" #include #include #include #include // for pair #include // for vector /*! * \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1) * \note Code added as part of GSoC 2017 program * \see GLONASS ICD */ class Glonass_Gnav_Navigation_Message { public: /*! * Default constructor */ Glonass_Gnav_Navigation_Message(); bool flag_CRC_test; uint32_t d_frame_ID; uint32_t d_string_ID; bool flag_update_slot_number; int32_t i_channel_ID; uint32_t i_satellite_PRN; Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information Glonass_Gnav_Almanac gnav_almanac[GLONASS_CA_NBR_SATS]; //!< Almanac information for all 24 satellites // Ephemeris Flags and control variables bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received bool flag_ephemeris_str_2; //!< Flag indicating that ephemeris 2/4 (string 2) have been received bool flag_ephemeris_str_3; //!< Flag indicating that ephemeris 3/4 (string 3) have been received bool flag_ephemeris_str_4; //!< Flag indicating that ephemeris 4/4 (string 4) have been received // Almanac Flags bool flag_all_almanac; //!< Flag indicating that all almanac have been received bool flag_almanac_str_6; //!< Flag indicating that almanac of string 6 have been received bool flag_almanac_str_7; //!< Flag indicating that almanac of string 7 have been received bool flag_almanac_str_8; //!< Flag indicating that almanac of string 8 have been received bool flag_almanac_str_9; //!< Flag indicating that almanac of string 9 have been received bool flag_almanac_str_10; //!< Flag indicating that almanac of string 10 have been received bool flag_almanac_str_11; //!< Flag indicating that almanac of string 11 have been received bool flag_almanac_str_12; //!< Flag indicating that almanac of string 12 have been received bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received uint32_t i_alm_satellite_slot_number; //!< SV Orbit Slot Number // UTC and System Clocks Flags bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled bool flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data bool flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data bool flag_TOW_set; //!< Flag indicating when the TOW has been set bool flag_TOW_new; //!< Flag indicating when a new TOW has been computed double d_satClkCorr; //!< Satellite clock error double d_dtr; //!< Relativistic clock correction term double d_satClkDrift; //!< Satellite clock drift double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives double d_previous_Na[GLONASS_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object /*! * \brief Compute CRC for GLONASS GNAV strings * \param bits Bits of the string message where to compute CRC */ bool CRC_test(std::bitset bits); /*! * \brief Computes the frame number being decoded given the satellite slot number * \param satellite_slot_number [in] Satellite slot number identifier * \returns Frame number being decoded, 0 if operation was not successful. */ uint32_t get_frame_number(uint32_t satellite_slot_number); /*! * \brief Reset GLONASS GNAV Navigation Information */ void reset(); /*! * \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data */ Glonass_Gnav_Ephemeris get_ephemeris(); /*! * \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data */ Glonass_Gnav_Utc_Model get_utc_model(); /*! * \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received * \param satellite_slot_number Slot number identifier for the satellite * \returns Returns the Glonass_Gnav_Almanac object for the input slot number */ Glonass_Gnav_Almanac get_almanac(uint32_t satellite_slot_number); /*! * \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived. */ bool have_new_ephemeris(); /*! * \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived */ bool have_new_utc_model(); /*! * \brief Returns true if new Glonass_Gnav_Almanac object has arrived. */ bool have_new_almanac(); /*! * \brief Decodes the GLONASS GNAV string * \param frame_string [in] is the string message within the parsed frame * \returns Returns the ID of the decoded string */ int32_t string_decoder(const std::string& frame_string); private: uint64_t read_navigation_unsigned(std::bitset bits, const std::vector>& parameter); int64_t read_navigation_signed(std::bitset bits, const std::vector>& parameter); bool read_navigation_bool(std::bitset bits, const std::vector>& parameter); }; #endif