/*! * \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. * * 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_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/system/files/galileo_documents/Galileo_OS_SIS_ICD.pdf */ class Galileo_Navigation_Message { public: Galileo_Navigation_Message(); int32_t Page_type_time_stamp; int32_t flag_even_word; std::string page_Even; 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 int32_t IOD_ephemeris; bool flag_GGTO; bool flag_GGTO_1; bool flag_GGTO_2; bool flag_GGTO_3; bool flag_GGTO_4; // 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; double Galileo_dtr; //!< Relativistic clock correction term // satellite positions double galileo_satpos_X; //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis. double galileo_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system. double galileo_satpos_Z; //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP). // Satellite velocity double galileo_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite [m] double galileo_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m] double galileo_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m] /* * \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); void reset(); /* * \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(); /* * \brief Returns a Galileo_Iono object filled with the latest navigation data received */ Galileo_Iono get_iono(); /* * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received */ Galileo_Utc_Model get_utc_model(); /* * \brief Returns a Galileo_Almanac_Helper object filled with the latest navigation data received */ Galileo_Almanac_Helper get_almanac(); private: bool CRC_test(std::bitset bits, uint32_t checksum); bool read_navigation_bool(std::bitset bits, const std::vector >& parameter); uint64_t read_navigation_unsigned(std::bitset bits, const std::vector >& parameter); uint64_t read_page_type_unsigned(std::bitset bits, const std::vector >& parameter); int64_t read_navigation_signed(std::bitset bits, const std::vector >& parameter); }; #endif // GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H_