/*! * \file galileo_navigation_message.cc * \brief Implementation of a Galileo I/NAV Data message * as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010) * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com * \author Javier Arribas, 2013. jarribas(at)cttc.es * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2019 (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. * * SPDX-License-Identifier: GPL-3.0-or-later * * ------------------------------------------------------------------------- */ #include "galileo_navigation_message.h" #include // for boost::crc_basic, boost::crc_optimal #include // for boost::dynamic_bitset #include // for DLOG #include // for reverse #include // for operator<< #include // for std::numeric_limits using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>; bool Galileo_Navigation_Message::CRC_test(std::bitset bits, uint32_t checksum) const { CRC_Galileo_INAV_type CRC_Galileo; uint32_t crc_computed; // Galileo INAV frame for CRC is not an integer multiple of bytes // it needs to be filled with zeroes at the start of the frame. // This operation is done in the transformation from bits to bytes // using boost::dynamic_bitset. // ToDo: Use boost::dynamic_bitset for all the bitset operations in this class boost::dynamic_bitset frame_bits(std::string(bits.to_string())); std::vector bytes; boost::to_block_range(frame_bits, std::back_inserter(bytes)); std::reverse(bytes.begin(), bytes.end()); CRC_Galileo.process_bytes(bytes.data(), GALILEO_DATA_FRAME_BYTES); crc_computed = CRC_Galileo.checksum(); if (checksum == crc_computed) { return true; } return false; } uint64_t Galileo_Navigation_Message::read_navigation_unsigned(std::bitset bits, const std::vector >& parameter) const { uint64_t value = 0ULL; int32_t num_of_slices = parameter.size(); for (int32_t i = 0; i < num_of_slices; i++) { for (int32_t j = 0; j < parameter[i].second; j++) { value <<= 1U; // shift left if (static_cast(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1) { value += 1; // insert the bit } } } return value; } uint64_t Galileo_Navigation_Message::read_page_type_unsigned(std::bitset bits, const std::vector >& parameter) const { uint64_t value = 0ULL; int32_t num_of_slices = parameter.size(); for (int32_t i = 0; i < num_of_slices; i++) { for (int32_t j = 0; j < parameter[i].second; j++) { value <<= 1U; // shift left if (static_cast(bits[GALILEO_PAGE_TYPE_BITS - parameter[i].first - j]) == 1) { value += 1ULL; // insert the bit } } } return value; } int64_t Galileo_Navigation_Message::read_navigation_signed(std::bitset bits, const std::vector >& parameter) const { int64_t value = 0LL; int32_t num_of_slices = parameter.size(); // read the MSB and perform the sign extension if (static_cast(bits[GALILEO_DATA_JK_BITS - parameter[0].first]) == 1) { value ^= 0xFFFFFFFFFFFFFFFFLL; // 64 bits variable } else { value &= 0LL; } for (int32_t i = 0; i < num_of_slices; i++) { for (int32_t j = 0; j < parameter[i].second; j++) { value *= 2; // shift left the signed integer value &= 0xFFFFFFFFFFFFFFFE; // reset the corresponding bit (for the 64 bits variable) if (static_cast(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1) { value += 1LL; // insert the bit } } } return value; } bool Galileo_Navigation_Message::read_navigation_bool(std::bitset bits, const std::vector >& parameter) const { bool value; if (static_cast(static_cast(bits[GALILEO_DATA_JK_BITS - parameter[0].first])) == 1) { value = true; } else { value = false; } return value; } void Galileo_Navigation_Message::split_page(std::string page_string, int32_t flag_even_word) { int32_t Page_type = 0; if (page_string.at(0) == '1') // if page is odd { const std::string& page_Odd = page_string; if (flag_even_word == 1) // An odd page has been received but the previous even page is kept in memory and it is considered to join pages { std::string page_INAV_even = page_Even; std::string page_INAV = page_INAV_even + page_Odd; // Join pages: Even + Odd = INAV page std::string Even_bit = page_INAV.substr(0, 1); std::string Page_type_even = page_INAV.substr(1, 1); std::string nominal = "0"; std::string Data_k = page_INAV.substr(2, 112); std::string Odd_bit = page_INAV.substr(114, 1); std::string Page_type_Odd = page_INAV.substr(115, 1); std::string Data_j = page_INAV.substr(116, 16); std::string Reserved_1 = page_INAV.substr(132, 40); std::string SAR = page_INAV.substr(172, 22); std::string Spare = page_INAV.substr(194, 2); std::string CRC_data = page_INAV.substr(196, 24); std::string Reserved_2 = page_INAV.substr(220, 8); std::string Tail_odd = page_INAV.substr(228, 6); // ************ CRC checksum control *******/ std::stringstream TLM_word_for_CRC_stream; TLM_word_for_CRC_stream << page_INAV; std::string TLM_word_for_CRC; TLM_word_for_CRC = TLM_word_for_CRC_stream.str().substr(0, GALILEO_DATA_FRAME_BITS); std::bitset TLM_word_for_CRC_bits(TLM_word_for_CRC); std::bitset<24> checksum(CRC_data); if (CRC_test(TLM_word_for_CRC_bits, checksum.to_ulong()) == true) { flag_CRC_test = true; // CRC correct: Decode word std::string page_number_bits = Data_k.substr(0, 6); std::bitset page_type_bits(page_number_bits); // from string to bitset Page_type = static_cast(read_page_type_unsigned(page_type_bits, TYPE)); Page_type_time_stamp = Page_type; std::string Data_jk_ephemeris = Data_k + Data_j; page_jk_decoder(Data_jk_ephemeris.c_str()); } else { // Wrong CRC... discard frame flag_CRC_test = false; } } // end of CRC checksum control } // end if (page_string.at(0)=='1') else { page_Even = page_string.substr(0, 114); std::string tail_Even = page_string.substr(114, 6); } } bool Galileo_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class { if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_ephemeris_4 == true) and (flag_iono_and_GST == true)) { // if all ephemeris pages have the same IOD, then they belong to the same block if ((IOD_nav_1 == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3)) { DLOG(INFO) << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch"; flag_ephemeris_1 = false; // clear the flag flag_ephemeris_2 = false; // clear the flag flag_ephemeris_3 = false; // clear the flag flag_ephemeris_4 = false; // clear the flag flag_all_ephemeris = true; IOD_ephemeris = IOD_nav_1; DLOG(INFO) << "Batch number: " << IOD_ephemeris; return true; } } return false; } bool Galileo_Navigation_Message::have_new_iono_and_GST() // Check if we have a new iono data set stored in the galileo navigation class { if ((flag_iono_and_GST == true) and (flag_utc_model == true)) // the condition on flag_utc_model is added to have a time stamp for iono { flag_iono_and_GST = false; // clear the flag return true; } return false; } bool Galileo_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class { if (flag_utc_model == true) { flag_utc_model = false; // clear the flag return true; } return false; } bool Galileo_Navigation_Message::have_new_almanac() // Check if we have a new almanac data set stored in the galileo navigation class { if ((flag_almanac_1 == true) and (flag_almanac_2 == true) and (flag_almanac_3 == true) and (flag_almanac_4 == true)) { // All almanac have been received flag_almanac_1 = false; flag_almanac_2 = false; flag_almanac_3 = false; flag_almanac_4 = false; flag_all_almanac = true; return true; } return false; } Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris() const { Galileo_Ephemeris ephemeris; ephemeris.flag_all_ephemeris = flag_all_ephemeris; ephemeris.IOD_ephemeris = IOD_ephemeris; ephemeris.SV_ID_PRN_4 = SV_ID_PRN_4; ephemeris.i_satellite_PRN = SV_ID_PRN_4; ephemeris.M0_1 = M0_1; // Mean anomaly at reference time [semi-circles] ephemeris.delta_n_3 = delta_n_3; // Mean motion difference from computed value [semi-circles/sec] ephemeris.e_1 = e_1; // Eccentricity ephemeris.A_1 = A_1; // Square root of the semi-major axis [meters^1/2] ephemeris.OMEGA_0_2 = OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles] ephemeris.i_0_2 = i_0_2; // Inclination angle at reference time [semi-circles] ephemeris.omega_2 = omega_2; // Argument of perigee [semi-circles] ephemeris.OMEGA_dot_3 = OMEGA_dot_3; // Rate of right ascension [semi-circles/sec] ephemeris.iDot_2 = iDot_2; // Rate of inclination angle [semi-circles/sec] ephemeris.C_uc_3 = C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians] ephemeris.C_us_3 = C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians] ephemeris.C_rc_3 = C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters] ephemeris.C_rs_3 = C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters] ephemeris.C_ic_4 = C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians] ephemeris.C_is_4 = C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians] ephemeris.t0e_1 = t0e_1; // Ephemeris reference time [s] // Clock correction parameters ephemeris.t0c_4 = t0c_4; // Clock correction data reference Time of Week [sec] ephemeris.af0_4 = af0_4; // SV clock bias correction coefficient [s] ephemeris.af1_4 = af1_4; // SV clock drift correction coefficient [s/s] ephemeris.af2_4 = af2_4; // SV clock drift rate correction coefficient [s/s^2] // GST ephemeris.WN_5 = WN_5; // Week number ephemeris.TOW_5 = TOW_5; // Time of Week ephemeris.SISA_3 = SISA_3; ephemeris.E5b_HS_5 = E5b_HS_5; // E5b Signal Health Status ephemeris.E1B_HS_5 = E1B_HS_5; // E1B Signal Health Status ephemeris.E5b_DVS_5 = E5b_DVS_5; // E5b Data Validity Status ephemeris.E1B_DVS_5 = E1B_DVS_5; // E1B Data Validity Status ephemeris.BGD_E1E5a_5 = BGD_E1E5a_5; // E1-E5a Broadcast Group Delay [s] ephemeris.BGD_E1E5b_5 = BGD_E1E5b_5; // E1-E5b Broadcast Group Delay [s] ephemeris.Galileo_satClkDrift = Galileo_satClkDrift; return ephemeris; } Galileo_Iono Galileo_Navigation_Message::get_iono() const { Galileo_Iono iono; // Ionospheric correction iono.ai0_5 = ai0_5; // Effective Ionisation Level 1st order parameter [sfu] iono.ai1_5 = ai1_5; // Effective Ionisation Level 2st order parameter [sfu/degree] iono.ai2_5 = ai2_5; // Effective Ionisation Level 3st order parameter [sfu/degree] // GST // This is the ONLY page containing the Week Number (WN) iono.TOW_5 = TOW_5; iono.WN_5 = WN_5; // Ionospheric disturbance flag iono.Region1_flag_5 = Region1_flag_5; // Ionospheric Disturbance Flag for region 1 iono.Region2_flag_5 = Region2_flag_5; // Ionospheric Disturbance Flag for region 2 iono.Region3_flag_5 = Region3_flag_5; // Ionospheric Disturbance Flag for region 3 iono.Region4_flag_5 = Region4_flag_5; // Ionospheric Disturbance Flag for region 4 iono.Region5_flag_5 = Region5_flag_5; // Ionospheric Disturbance Flag for region 5 return iono; } Galileo_Utc_Model Galileo_Navigation_Message::get_utc_model() const { Galileo_Utc_Model utc_model; // Word type 6: GST-UTC conversion parameters utc_model.A0_6 = A0_6; utc_model.A1_6 = A1_6; utc_model.Delta_tLS_6 = Delta_tLS_6; utc_model.t0t_6 = t0t_6; utc_model.WNot_6 = WNot_6; utc_model.WN_LSF_6 = WN_LSF_6; utc_model.DN_6 = DN_6; utc_model.Delta_tLSF_6 = Delta_tLSF_6; utc_model.flag_utc_model = flag_utc_model; // GPS to Galileo GST conversion parameters utc_model.A_0G_10 = A_0G_10; utc_model.A_1G_10 = A_1G_10; utc_model.t_0G_10 = t_0G_10; utc_model.WN_0G_10 = WN_0G_10; return utc_model; } Galileo_Almanac_Helper Galileo_Navigation_Message::get_almanac() const { Galileo_Almanac_Helper almanac; // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number almanac.IOD_a_7 = IOD_a_7; almanac.WN_a_7 = WN_a_7; almanac.t0a_7 = t0a_7; almanac.SVID1_7 = SVID1_7; almanac.DELTA_A_7 = DELTA_A_7; almanac.e_7 = e_7; almanac.omega_7 = omega_7; almanac.delta_i_7 = delta_i_7; almanac.Omega0_7 = Omega0_7; almanac.Omega_dot_7 = Omega_dot_7; almanac.M0_7 = M0_7; // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2) almanac.IOD_a_8 = IOD_a_8; almanac.af0_8 = af0_8; almanac.af1_8 = af1_8; almanac.E5b_HS_8 = E5b_HS_8; almanac.E1B_HS_8 = E1B_HS_8; almanac.SVID2_8 = SVID2_8; almanac.DELTA_A_8 = DELTA_A_8; almanac.e_8 = e_8; almanac.omega_8 = omega_8; almanac.delta_i_8 = delta_i_8; almanac.Omega0_8 = Omega0_8; almanac.Omega_dot_8 = Omega_dot_8; // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) almanac.IOD_a_9 = IOD_a_9; almanac.WN_a_9 = WN_a_9; almanac.t0a_9 = t0a_9; almanac.M0_9 = M0_9; almanac.af0_9 = af0_9; almanac.af1_9 = af1_9; almanac.E5b_HS_9 = E5b_HS_9; almanac.E1B_HS_9 = E1B_HS_9; almanac.SVID3_9 = SVID3_9; almanac.DELTA_A_9 = DELTA_A_9; almanac.e_9 = e_9; almanac.omega_9 = omega_9; almanac.delta_i_9 = delta_i_9; // Word type 10: Almanac for SVID3 (2/2) almanac.IOD_a_10 = IOD_a_10; almanac.Omega0_10 = Omega0_10; almanac.Omega_dot_10 = Omega_dot_10; almanac.M0_10 = M0_10; almanac.af0_10 = af0_10; almanac.af1_10 = af1_10; almanac.E5b_HS_10 = E5b_HS_10; almanac.E1B_HS_10 = E1B_HS_10; return almanac; } int32_t Galileo_Navigation_Message::page_jk_decoder(const char* data_jk) { int32_t page_number = 0; std::string data_jk_string = data_jk; std::bitset data_jk_bits(data_jk_string); page_number = static_cast(read_navigation_unsigned(data_jk_bits, PAGE_TYPE_BIT)); DLOG(INFO) << "Page number = " << page_number; switch (page_number) { case 1: // Word type 1: Ephemeris (1/4) IOD_nav_1 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_NAV_1_BIT)); DLOG(INFO) << "IOD_nav_1= " << IOD_nav_1; t0e_1 = static_cast(read_navigation_unsigned(data_jk_bits, T0_E_1_BIT)); t0e_1 = t0e_1 * T0E_1_LSB; DLOG(INFO) << "t0e_1= " << t0e_1; M0_1 = static_cast(read_navigation_signed(data_jk_bits, M0_1_BIT)); M0_1 = M0_1 * M0_1_LSB; DLOG(INFO) << "M0_1= " << M0_1; e_1 = static_cast(read_navigation_unsigned(data_jk_bits, E_1_BIT)); e_1 = e_1 * E_1_LSB; DLOG(INFO) << "e_1= " << e_1; A_1 = static_cast(read_navigation_unsigned(data_jk_bits, A_1_BIT)); A_1 = A_1 * A_1_LSB_GAL; DLOG(INFO) << "A_1= " << A_1; flag_ephemeris_1 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 2: // Word type 2: Ephemeris (2/4) IOD_nav_2 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_NAV_2_BIT)); DLOG(INFO) << "IOD_nav_2= " << IOD_nav_2; OMEGA_0_2 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_0_2_BIT)); OMEGA_0_2 = OMEGA_0_2 * OMEGA_0_2_LSB; DLOG(INFO) << "OMEGA_0_2= " << OMEGA_0_2; i_0_2 = static_cast(read_navigation_signed(data_jk_bits, I_0_2_BIT)); i_0_2 = i_0_2 * I_0_2_LSB; DLOG(INFO) << "i_0_2= " << i_0_2; omega_2 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_2_BIT)); omega_2 = omega_2 * OMEGA_2_LSB; DLOG(INFO) << "omega_2= " << omega_2; iDot_2 = static_cast(read_navigation_signed(data_jk_bits, I_DOT_2_BIT)); iDot_2 = iDot_2 * I_DOT_2_LSB; DLOG(INFO) << "iDot_2= " << iDot_2; flag_ephemeris_2 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 3: // Word type 3: Ephemeris (3/4) and SISA IOD_nav_3 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_NAV_3_BIT)); DLOG(INFO) << "IOD_nav_3= " << IOD_nav_3; OMEGA_dot_3 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_DOT_3_BIT)); OMEGA_dot_3 = OMEGA_dot_3 * OMEGA_DOT_3_LSB; DLOG(INFO) << "OMEGA_dot_3= " << OMEGA_dot_3; delta_n_3 = static_cast(read_navigation_signed(data_jk_bits, DELTA_N_3_BIT)); delta_n_3 = delta_n_3 * DELTA_N_3_LSB; DLOG(INFO) << "delta_n_3= " << delta_n_3; C_uc_3 = static_cast(read_navigation_signed(data_jk_bits, C_UC_3_BIT)); C_uc_3 = C_uc_3 * C_UC_3_LSB; DLOG(INFO) << "C_uc_3= " << C_uc_3; C_us_3 = static_cast(read_navigation_signed(data_jk_bits, C_US_3_BIT)); C_us_3 = C_us_3 * C_US_3_LSB; DLOG(INFO) << "C_us_3= " << C_us_3; C_rc_3 = static_cast(read_navigation_signed(data_jk_bits, C_RC_3_BIT)); C_rc_3 = C_rc_3 * C_RC_3_LSB; DLOG(INFO) << "C_rc_3= " << C_rc_3; C_rs_3 = static_cast(read_navigation_signed(data_jk_bits, C_RS_3_BIT)); C_rs_3 = C_rs_3 * C_RS_3_LSB; DLOG(INFO) << "C_rs_3= " << C_rs_3; SISA_3 = static_cast(read_navigation_unsigned(data_jk_bits, SISA_3_BIT)); DLOG(INFO) << "SISA_3= " << SISA_3; flag_ephemeris_3 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 4: // Word type 4: Ephemeris (4/4) and Clock correction parameters IOD_nav_4 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_NAV_4_BIT)); DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4; SV_ID_PRN_4 = static_cast(read_navigation_unsigned(data_jk_bits, SV_ID_PRN_4_BIT)); DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4; C_ic_4 = static_cast(read_navigation_signed(data_jk_bits, C_IC_4_BIT)); C_ic_4 = C_ic_4 * C_IC_4_LSB; DLOG(INFO) << "C_ic_4= " << C_ic_4; C_is_4 = static_cast(read_navigation_signed(data_jk_bits, C_IS_4_BIT)); C_is_4 = C_is_4 * C_IS_4_LSB; DLOG(INFO) << "C_is_4= " << C_is_4; // Clock correction parameters t0c_4 = static_cast(read_navigation_unsigned(data_jk_bits, T0C_4_BIT)); t0c_4 = t0c_4 * T0C_4_LSB; DLOG(INFO) << "t0c_4= " << t0c_4; af0_4 = static_cast(read_navigation_signed(data_jk_bits, AF0_4_BIT)); af0_4 = af0_4 * AF0_4_LSB; DLOG(INFO) << "af0_4 = " << af0_4; af1_4 = static_cast(read_navigation_signed(data_jk_bits, AF1_4_BIT)); af1_4 = af1_4 * AF1_4_LSB; DLOG(INFO) << "af1_4 = " << af1_4; af2_4 = static_cast(read_navigation_signed(data_jk_bits, AF2_4_BIT)); af2_4 = af2_4 * AF2_4_LSB; DLOG(INFO) << "af2_4 = " << af2_4; spare_4 = static_cast(read_navigation_unsigned(data_jk_bits, SPARE_4_BIT)); DLOG(INFO) << "spare_4 = " << spare_4; flag_ephemeris_4 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 5: // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST // Ionospheric correction ai0_5 = static_cast(read_navigation_unsigned(data_jk_bits, AI0_5_BIT)); ai0_5 = ai0_5 * AI0_5_LSB; DLOG(INFO) << "ai0_5= " << ai0_5; ai1_5 = static_cast(read_navigation_signed(data_jk_bits, AI1_5_BIT)); ai1_5 = ai1_5 * AI1_5_LSB; DLOG(INFO) << "ai1_5= " << ai1_5; ai2_5 = static_cast(read_navigation_signed(data_jk_bits, AI2_5_BIT)); ai2_5 = ai2_5 * AI2_5_LSB; DLOG(INFO) << "ai2_5= " << ai2_5; // Ionospheric disturbance flag Region1_flag_5 = static_cast(read_navigation_bool(data_jk_bits, REGION1_5_BIT)); DLOG(INFO) << "Region1_flag_5= " << Region1_flag_5; Region2_flag_5 = static_cast(read_navigation_bool(data_jk_bits, REGION2_5_BIT)); DLOG(INFO) << "Region2_flag_5= " << Region2_flag_5; Region3_flag_5 = static_cast(read_navigation_bool(data_jk_bits, REGION3_5_BIT)); DLOG(INFO) << "Region3_flag_5= " << Region3_flag_5; Region4_flag_5 = static_cast(read_navigation_bool(data_jk_bits, REGION4_5_BIT)); DLOG(INFO) << "Region4_flag_5= " << Region4_flag_5; Region5_flag_5 = static_cast(read_navigation_bool(data_jk_bits, REGION5_5_BIT)); DLOG(INFO) << "Region5_flag_5= " << Region5_flag_5; BGD_E1E5a_5 = static_cast(read_navigation_signed(data_jk_bits, BGD_E1_E5A_5_BIT)); BGD_E1E5a_5 = BGD_E1E5a_5 * BGD_E1_E5A_5_LSB; DLOG(INFO) << "BGD_E1E5a_5= " << BGD_E1E5a_5; BGD_E1E5b_5 = static_cast(read_navigation_signed(data_jk_bits, BGD_E1_E5B_5_BIT)); BGD_E1E5b_5 = BGD_E1E5b_5 * BGD_E1_E5B_5_LSB; DLOG(INFO) << "BGD_E1E5b_5= " << BGD_E1E5b_5; E5b_HS_5 = static_cast(read_navigation_unsigned(data_jk_bits, E5B_HS_5_BIT)); DLOG(INFO) << "E5b_HS_5= " << E5b_HS_5; E1B_HS_5 = static_cast(read_navigation_unsigned(data_jk_bits, E1_B_HS_5_BIT)); DLOG(INFO) << "E1B_HS_5= " << E1B_HS_5; E5b_DVS_5 = static_cast(read_navigation_unsigned(data_jk_bits, E5B_DVS_5_BIT)); DLOG(INFO) << "E5b_DVS_5= " << E5b_DVS_5; E1B_DVS_5 = static_cast(read_navigation_unsigned(data_jk_bits, E1_B_DVS_5_BIT)); DLOG(INFO) << "E1B_DVS_5= " << E1B_DVS_5; // GST WN_5 = static_cast(read_navigation_unsigned(data_jk_bits, WN_5_BIT)); DLOG(INFO) << "WN_5= " << WN_5; TOW_5 = static_cast(read_navigation_unsigned(data_jk_bits, TOW_5_BIT)); DLOG(INFO) << "TOW_5= " << TOW_5; flag_TOW_5 = true; // set to false externally spare_5 = static_cast(read_navigation_unsigned(data_jk_bits, SPARE_5_BIT)); DLOG(INFO) << "spare_5= " << spare_5; flag_iono_and_GST = true; // set to false externally flag_TOW_set = true; // set to false externally DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 6: // Word type 6: GST-UTC conversion parameters A0_6 = static_cast(read_navigation_signed(data_jk_bits, A0_6_BIT)); A0_6 = A0_6 * A0_6_LSB; DLOG(INFO) << "A0_6= " << A0_6; A1_6 = static_cast(read_navigation_signed(data_jk_bits, A1_6_BIT)); A1_6 = A1_6 * A1_6_LSB; DLOG(INFO) << "A1_6= " << A1_6; Delta_tLS_6 = static_cast(read_navigation_signed(data_jk_bits, DELTA_T_LS_6_BIT)); DLOG(INFO) << "Delta_tLS_6= " << Delta_tLS_6; t0t_6 = static_cast(read_navigation_unsigned(data_jk_bits, T0T_6_BIT)); t0t_6 = t0t_6 * T0T_6_LSB; DLOG(INFO) << "t0t_6= " << t0t_6; WNot_6 = static_cast(read_navigation_unsigned(data_jk_bits, W_NOT_6_BIT)); DLOG(INFO) << "WNot_6= " << WNot_6; WN_LSF_6 = static_cast(read_navigation_unsigned(data_jk_bits, WN_LSF_6_BIT)); DLOG(INFO) << "WN_LSF_6= " << WN_LSF_6; DN_6 = static_cast(read_navigation_unsigned(data_jk_bits, DN_6_BIT)); DLOG(INFO) << "DN_6= " << DN_6; Delta_tLSF_6 = static_cast(read_navigation_signed(data_jk_bits, DELTA_T_LSF_6_BIT)); DLOG(INFO) << "Delta_tLSF_6= " << Delta_tLSF_6; TOW_6 = static_cast(read_navigation_unsigned(data_jk_bits, TOW_6_BIT)); DLOG(INFO) << "TOW_6= " << TOW_6; flag_TOW_6 = true; // set to false externally flag_utc_model = true; // set to false externally flag_TOW_set = true; // set to false externally DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 7: // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number IOD_a_7 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_A_7_BIT)); DLOG(INFO) << "IOD_a_7= " << IOD_a_7; WN_a_7 = static_cast(read_navigation_unsigned(data_jk_bits, WN_A_7_BIT)); DLOG(INFO) << "WN_a_7= " << WN_a_7; t0a_7 = static_cast(read_navigation_unsigned(data_jk_bits, T0A_7_BIT)); t0a_7 = t0a_7 * T0A_7_LSB; DLOG(INFO) << "t0a_7= " << t0a_7; SVID1_7 = static_cast(read_navigation_unsigned(data_jk_bits, SVI_D1_7_BIT)); DLOG(INFO) << "SVID1_7= " << SVID1_7; DELTA_A_7 = static_cast(read_navigation_signed(data_jk_bits, DELTA_A_7_BIT)); DELTA_A_7 = DELTA_A_7 * DELTA_A_7_LSB; DLOG(INFO) << "DELTA_A_7= " << DELTA_A_7; e_7 = static_cast(read_navigation_unsigned(data_jk_bits, E_7_BIT)); e_7 = e_7 * E_7_LSB; DLOG(INFO) << "e_7= " << e_7; omega_7 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_7_BIT)); omega_7 = omega_7 * OMEGA_7_LSB; DLOG(INFO) << "omega_7= " << omega_7; delta_i_7 = static_cast(read_navigation_signed(data_jk_bits, DELTA_I_7_BIT)); delta_i_7 = delta_i_7 * DELTA_I_7_LSB; DLOG(INFO) << "delta_i_7= " << delta_i_7; Omega0_7 = static_cast(read_navigation_signed(data_jk_bits, OMEGA0_7_BIT)); Omega0_7 = Omega0_7 * OMEGA0_7_LSB; DLOG(INFO) << "Omega0_7= " << Omega0_7; Omega_dot_7 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_DOT_7_BIT)); Omega_dot_7 = Omega_dot_7 * OMEGA_DOT_7_LSB; DLOG(INFO) << "Omega_dot_7= " << Omega_dot_7; M0_7 = static_cast(read_navigation_signed(data_jk_bits, M0_7_BIT)); M0_7 = M0_7 * M0_7_LSB; DLOG(INFO) << "M0_7= " << M0_7; flag_almanac_1 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 8: // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/ IOD_a_8 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_A_8_BIT)); DLOG(INFO) << "IOD_a_8= " << IOD_a_8; af0_8 = static_cast(read_navigation_signed(data_jk_bits, AF0_8_BIT)); af0_8 = af0_8 * AF0_8_LSB; DLOG(INFO) << "af0_8= " << af0_8; af1_8 = static_cast(read_navigation_signed(data_jk_bits, AF1_8_BIT)); af1_8 = af1_8 * AF1_8_LSB; DLOG(INFO) << "af1_8= " << af1_8; E5b_HS_8 = static_cast(read_navigation_unsigned(data_jk_bits, E5B_HS_8_BIT)); DLOG(INFO) << "E5b_HS_8= " << E5b_HS_8; E1B_HS_8 = static_cast(read_navigation_unsigned(data_jk_bits, E1_B_HS_8_BIT)); DLOG(INFO) << "E1B_HS_8= " << E1B_HS_8; SVID2_8 = static_cast(read_navigation_unsigned(data_jk_bits, SVI_D2_8_BIT)); DLOG(INFO) << "SVID2_8= " << SVID2_8; DELTA_A_8 = static_cast(read_navigation_signed(data_jk_bits, DELTA_A_8_BIT)); DELTA_A_8 = DELTA_A_8 * DELTA_A_8_LSB; DLOG(INFO) << "DELTA_A_8= " << DELTA_A_8; e_8 = static_cast(read_navigation_unsigned(data_jk_bits, E_8_BIT)); e_8 = e_8 * E_8_LSB; DLOG(INFO) << "e_8= " << e_8; omega_8 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_8_BIT)); omega_8 = omega_8 * OMEGA_8_LSB; DLOG(INFO) << "omega_8= " << omega_8; delta_i_8 = static_cast(read_navigation_signed(data_jk_bits, DELTA_I_8_BIT)); delta_i_8 = delta_i_8 * DELTA_I_8_LSB; DLOG(INFO) << "delta_i_8= " << delta_i_8; Omega0_8 = static_cast(read_navigation_signed(data_jk_bits, OMEGA0_8_BIT)); Omega0_8 = Omega0_8 * OMEGA0_8_LSB; DLOG(INFO) << "Omega0_8= " << Omega0_8; Omega_dot_8 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_DOT_8_BIT)); Omega_dot_8 = Omega_dot_8 * OMEGA_DOT_8_LSB; DLOG(INFO) << "Omega_dot_8= " << Omega_dot_8; flag_almanac_2 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 9: // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) IOD_a_9 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_A_9_BIT)); DLOG(INFO) << "IOD_a_9= " << IOD_a_9; WN_a_9 = static_cast(read_navigation_unsigned(data_jk_bits, WN_A_9_BIT)); DLOG(INFO) << "WN_a_9= " << WN_a_9; t0a_9 = static_cast(read_navigation_unsigned(data_jk_bits, T0A_9_BIT)); t0a_9 = t0a_9 * T0A_9_LSB; DLOG(INFO) << "t0a_9= " << t0a_9; M0_9 = static_cast(read_navigation_signed(data_jk_bits, M0_9_BIT)); M0_9 = M0_9 * M0_9_LSB; DLOG(INFO) << "M0_9= " << M0_9; af0_9 = static_cast(read_navigation_signed(data_jk_bits, AF0_9_BIT)); af0_9 = af0_9 * AF0_9_LSB; DLOG(INFO) << "af0_9= " << af0_9; af1_9 = static_cast(read_navigation_signed(data_jk_bits, AF1_9_BIT)); af1_9 = af1_9 * AF1_9_LSB; DLOG(INFO) << "af1_9= " << af1_9; E5b_HS_9 = static_cast(read_navigation_unsigned(data_jk_bits, E5B_HS_9_BIT)); DLOG(INFO) << "E5b_HS_9= " << E5b_HS_9; E1B_HS_9 = static_cast(read_navigation_unsigned(data_jk_bits, E1_B_HS_9_BIT)); DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9; SVID3_9 = static_cast(read_navigation_unsigned(data_jk_bits, SVI_D3_9_BIT)); DLOG(INFO) << "SVID3_9= " << SVID3_9; DELTA_A_9 = static_cast(read_navigation_signed(data_jk_bits, DELTA_A_9_BIT)); DELTA_A_9 = DELTA_A_9 * DELTA_A_9_LSB; DLOG(INFO) << "DELTA_A_9= " << DELTA_A_9; e_9 = static_cast(read_navigation_unsigned(data_jk_bits, E_9_BIT)); e_9 = e_9 * E_9_LSB; DLOG(INFO) << "e_9= " << e_9; omega_9 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_9_BIT)); omega_9 = omega_9 * OMEGA_9_LSB; DLOG(INFO) << "omega_9= " << omega_9; delta_i_9 = static_cast(read_navigation_signed(data_jk_bits, DELTA_I_9_BIT)); delta_i_9 = delta_i_9 * DELTA_I_9_LSB; DLOG(INFO) << "delta_i_9= " << delta_i_9; flag_almanac_3 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 10: // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters IOD_a_10 = static_cast(read_navigation_unsigned(data_jk_bits, IOD_A_10_BIT)); DLOG(INFO) << "IOD_a_10= " << IOD_a_10; Omega0_10 = static_cast(read_navigation_signed(data_jk_bits, OMEGA0_10_BIT)); Omega0_10 = Omega0_10 * OMEGA0_10_LSB; DLOG(INFO) << "Omega0_10= " << Omega0_10; Omega_dot_10 = static_cast(read_navigation_signed(data_jk_bits, OMEGA_DOT_10_BIT)); Omega_dot_10 = Omega_dot_10 * OMEGA_DOT_10_LSB; DLOG(INFO) << "Omega_dot_10= " << Omega_dot_10; M0_10 = static_cast(read_navigation_signed(data_jk_bits, M0_10_BIT)); M0_10 = M0_10 * M0_10_LSB; DLOG(INFO) << "M0_10= " << M0_10; af0_10 = static_cast(read_navigation_signed(data_jk_bits, AF0_10_BIT)); af0_10 = af0_10 * AF0_10_LSB; DLOG(INFO) << "af0_10= " << af0_10; af1_10 = static_cast(read_navigation_signed(data_jk_bits, AF1_10_BIT)); af1_10 = af1_10 * AF1_10_LSB; DLOG(INFO) << "af1_10= " << af1_10; E5b_HS_10 = static_cast(read_navigation_unsigned(data_jk_bits, E5B_HS_10_BIT)); DLOG(INFO) << "E5b_HS_10= " << E5b_HS_10; E1B_HS_10 = static_cast(read_navigation_unsigned(data_jk_bits, E1_B_HS_10_BIT)); DLOG(INFO) << "E1B_HS_10= " << E1B_HS_10; A_0G_10 = static_cast(read_navigation_signed(data_jk_bits, A_0_G_10_BIT)); A_0G_10 = A_0G_10 * A_0G_10_LSB; flag_GGTO_1 = true; DLOG(INFO) << "A_0G_10= " << A_0G_10; A_1G_10 = static_cast(read_navigation_signed(data_jk_bits, A_1_G_10_BIT)); A_1G_10 = A_1G_10 * A_1G_10_LSB; flag_GGTO_2 = true; DLOG(INFO) << "A_1G_10= " << A_1G_10; t_0G_10 = static_cast(read_navigation_unsigned(data_jk_bits, T_0_G_10_BIT)); t_0G_10 = t_0G_10 * T_0_G_10_LSB; flag_GGTO_3 = true; DLOG(INFO) << "t_0G_10= " << t_0G_10; WN_0G_10 = static_cast(read_navigation_unsigned(data_jk_bits, WN_0_G_10_BIT)); flag_GGTO_4 = true; DLOG(INFO) << "WN_0G_10= " << WN_0G_10; flag_almanac_4 = true; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; case 0: // Word type 0: I/NAV Spare Word Time_0 = static_cast(read_navigation_unsigned(data_jk_bits, TIME_0_BIT)); DLOG(INFO) << "Time_0= " << Time_0; WN_0 = static_cast(read_navigation_unsigned(data_jk_bits, WN_0_BIT)); DLOG(INFO) << "WN_0= " << WN_0; TOW_0 = static_cast(read_navigation_unsigned(data_jk_bits, TOW_0_BIT)); DLOG(INFO) << "TOW_0= " << TOW_0; DLOG(INFO) << "flag_tow_set" << flag_TOW_set; break; default: break; } return page_number; }