/*! * \file galileo_navigation_message.h * \brief Implementation of a Galileo I/NAV Data message * as described in Galileo OS SIS ICD Issue 1.2 (Nov. 2015) * \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 * * ------------------------------------------------------------------------- */ #ifndef GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H #define GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H #include "Galileo_E1.h" #include "galileo_almanac_helper.h" #include "galileo_ephemeris.h" #include "galileo_iono.h" #include "galileo_utc_model.h" #include #include #include #include #include /*! * \brief This class handles the Galileo I/NAV Data message, as described in the * Galileo Open Service Signal in Space Interface Control Document (OS SIS ICD), Issue 1.2 (Nov 2015). * See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo-OS-SIS-ICD.pdf */ class Galileo_Navigation_Message { public: Galileo_Navigation_Message() = default; /* * \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j */ void split_page(std::string page_string, int32_t flag_even_word); /* * \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5 * * Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5 */ int32_t page_jk_decoder(const char* data_jk); /* * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed */ bool have_new_ephemeris(); /* * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed */ bool have_new_iono_and_GST(); /* * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed */ bool have_new_utc_model(); /* * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed */ bool have_new_almanac(); /* * \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received */ Galileo_Ephemeris get_ephemeris() const; /* * \brief Returns a Galileo_Iono object filled with the latest navigation data received */ Galileo_Iono get_iono() const; /* * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received */ Galileo_Utc_Model get_utc_model() const; /* * \brief Returns a Galileo_Almanac_Helper object filled with the latest navigation data received */ Galileo_Almanac_Helper get_almanac() const; inline bool get_flag_CRC_test() const { return flag_CRC_test; } inline bool get_flag_TOW_set() const { return flag_TOW_set; } inline void set_flag_TOW_set(bool flag_tow) { flag_TOW_set = flag_tow; } inline int32_t get_Galileo_week() const { return WN_0; } inline bool is_TOW_set() const { return flag_TOW_set; } inline int32_t get_TOW5() const { return TOW_5; } inline int32_t get_TOW6() const { return TOW_6; } inline bool is_TOW5_set() const { return flag_TOW_5; } inline void set_TOW5_flag(bool flag_tow5) { flag_TOW_5 = flag_tow5; } inline bool is_TOW6_set() const { return flag_TOW_6; } inline void set_TOW6_flag(bool flag_tow6) { flag_TOW_6 = flag_tow6; } inline bool get_flag_GGTO() const { return (flag_GGTO_1 == true and flag_GGTO_2 == true and flag_GGTO_3 == true and flag_GGTO_4 == true); } inline double get_A0G() const { return A_0G_10; } inline double get_A1G() const { return A_1G_10; } inline double get_t0G() const { return t_0G_10; } inline double get_WN0G() const { return WN_0G_10; } private: bool CRC_test(std::bitset bits, uint32_t checksum) const; bool read_navigation_bool(std::bitset bits, const std::vector >& parameter) const; uint64_t read_navigation_unsigned(std::bitset bits, const std::vector >& parameter) const; uint64_t read_page_type_unsigned(std::bitset bits, const std::vector >& parameter) const; int64_t read_navigation_signed(std::bitset bits, const std::vector >& parameter) const; std::string page_Even{}; int32_t Page_type_time_stamp{}; int32_t IOD_ephemeris{}; // Word type 1: Ephemeris (1/4) int32_t IOD_nav_1{}; // IOD_nav page 1 int32_t t0e_1{}; // Ephemeris reference time [s] double M0_1{}; // Mean anomaly at reference time [semi-circles] double e_1{}; // Eccentricity double A_1{}; // Square root of the semi-major axis [meters^1/2] // Word type 2: Ephemeris (2/4) int32_t IOD_nav_2{}; // IOD_nav page 2 double OMEGA_0_2{}; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles] double i_0_2{}; // Inclination angle at reference time [semi-circles] double omega_2{}; // Argument of perigee [semi-circles] double iDot_2{}; // Rate of inclination angle [semi-circles/sec] // Word type 3: Ephemeris (3/4) and SISA int32_t IOD_nav_3{}; // double OMEGA_dot_3{}; // Rate of right ascension [semi-circles/sec] double delta_n_3{}; // Mean motion difference from computed value [semi-circles/sec] double C_uc_3{}; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians] double C_us_3{}; // Amplitude of the sine harmonic correction term to the argument of latitude [radians] double C_rc_3{}; // Amplitude of the cosine harmonic correction term to the orbit radius [meters] double C_rs_3{}; // Amplitude of the sine harmonic correction term to the orbit radius [meters] int32_t SISA_3{}; // Word type 4: Ephemeris (4/4) and Clock correction parameters*/ int32_t IOD_nav_4{}; // int32_t SV_ID_PRN_4{}; // double C_ic_4{}; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians] double C_is_4{}; // Amplitude of the sine harmonic correction term to the angle of inclination [radians] // Clock correction parameters int32_t t0c_4{}; // Clock correction data reference Time of Week [sec] double af0_4{}; // SV clock bias correction coefficient [s] double af1_4{}; // SV clock drift correction coefficient [s/s] double af2_4{}; // clock drift rate correction coefficient [s/s^2] double spare_4{}; // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/ // Ionospheric correction double ai0_5{}; // Effective Ionisation Level 1st order parameter [sfu] double ai1_5{}; // Effective Ionisation Level 2st order parameter [sfu/degree] double ai2_5{}; // Effective Ionisation Level 3st order parameter [sfu/degree] // Ionospheric disturbance flag bool Region1_flag_5{}; // Ionospheric Disturbance Flag for region 1 bool Region2_flag_5{}; // Ionospheric Disturbance Flag for region 2 bool Region3_flag_5{}; // Ionospheric Disturbance Flag for region 3 bool Region4_flag_5{}; // Ionospheric Disturbance Flag for region 4 bool Region5_flag_5{}; // Ionospheric Disturbance Flag for region 5 double BGD_E1E5a_5{}; // E1-E5a Broadcast Group Delay [s] double BGD_E1E5b_5{}; // E1-E5b Broadcast Group Delay [s] int32_t E5b_HS_5{}; // E5b Signal Health Status int32_t E1B_HS_5{}; // E1B Signal Health Status bool E5b_DVS_5{}; // E5b Data Validity Status bool E1B_DVS_5{}; // E1B Data Validity Status // GST int32_t WN_5{}; int32_t TOW_5{}; double spare_5{}; // Word type 6: GST-UTC conversion parameters double A0_6{}; double A1_6{}; int32_t Delta_tLS_6{}; int32_t t0t_6{}; int32_t WNot_6{}; int32_t WN_LSF_6{}; int32_t DN_6{}; int32_t Delta_tLSF_6{}; int32_t TOW_6{}; // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number int32_t IOD_a_7{}; int32_t WN_a_7{}; int32_t t0a_7{}; int32_t SVID1_7{}; double DELTA_A_7{}; double e_7{}; double omega_7{}; double delta_i_7{}; double Omega0_7{}; double Omega_dot_7{}; double M0_7{}; // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2) int32_t IOD_a_8{}; double af0_8{}; double af1_8{}; int32_t E5b_HS_8{}; int32_t E1B_HS_8{}; int32_t SVID2_8{}; double DELTA_A_8{}; double e_8{}; double omega_8{}; double delta_i_8{}; double Omega0_8{}; double Omega_dot_8{}; // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) int32_t IOD_a_9{}; int32_t WN_a_9{}; int32_t t0a_9{}; double M0_9{}; double af0_9{}; double af1_9{}; int32_t E5b_HS_9{}; int32_t E1B_HS_9{}; int32_t SVID3_9{}; double DELTA_A_9{}; double e_9{}; double omega_9{}; double delta_i_9{}; // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters int32_t IOD_a_10{}; double Omega0_10{}; double Omega_dot_10{}; double M0_10{}; double af0_10{}; double af1_10{}; int32_t E5b_HS_10{}; int32_t E1B_HS_10{}; // GST-GPS conversion double A_0G_10{}; // Constant term of the offset Delta t systems double A_1G_10{}; // Rate of change of the offset Delta t systems int32_t t_0G_10{}; // Reference time for Galileo/GPS Time Offset (GGTO) data int32_t WN_0G_10{}; // Week Number of Galileo/GPS Time Offset (GGTO) reference // Word type 0: I/NAV Spare Word int32_t Time_0{}; int32_t WN_0{}; int32_t TOW_0{}; double Galileo_satClkDrift{}; bool flag_CRC_test{}; bool flag_all_ephemeris{}; // Flag indicating that all words containing ephemeris have been received bool flag_ephemeris_1{}; // Flag indicating that ephemeris 1/4 (word 1) have been received bool flag_ephemeris_2{}; // Flag indicating that ephemeris 2/4 (word 2) have been received bool flag_ephemeris_3{}; // Flag indicating that ephemeris 3/4 (word 3) have been received bool flag_ephemeris_4{}; // Flag indicating that ephemeris 4/4 (word 4) have been received bool flag_iono_and_GST{}; // Flag indicating that ionospheric and GST parameters (word 5) have been received bool flag_TOW_5{}; bool flag_TOW_6{}; bool flag_TOW_set{}; // it is true when page 5 or page 6 arrives bool flag_utc_model{}; // Flag indicating that utc model parameters (word 6) have been received bool flag_all_almanac{}; // Flag indicating that all almanac have been received bool flag_almanac_1{}; // Flag indicating that almanac 1/4 (word 7) have been received bool flag_almanac_2{}; // Flag indicating that almanac 2/4 (word 8) have been received bool flag_almanac_3{}; // Flag indicating that almanac 3/4 (word 9) have been received bool flag_almanac_4{}; // Flag indicating that almanac 4/4 (word 10) have been received bool flag_GGTO_1{}; bool flag_GGTO_2{}; bool flag_GGTO_3{}; bool flag_GGTO_4{}; }; #endif // GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H