/*! * \file rtklib_sbas.h * \brief sbas functions * \authors * * This is a derived work from RTKLIB http://www.rtklib.com/ * The original source code at https://github.com/tomojitakasu/RTKLIB is * released under the BSD 2-clause license with an additional exclusive clause * that does not apply here. This additional clause is reproduced below: * * " The software package includes some companion executive binaries or shared * libraries necessary to execute APs on Windows. These licenses succeed to the * original ones of these software. " * * Neither the executive binaries nor the shared libraries are required by, used * or included in GNSS-SDR. * * ------------------------------------------------------------------------- * Copyright (C) 2007-2013, T. Takasu * Copyright (C) 2017, Javier Arribas * Copyright (C) 2017, Carles Fernandez * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are * met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * * option : -DRRCENA enable rrc correction * * references : * [1] RTCA/DO-229C, Minimum operational performanc standards for global * positioning system/wide area augmentation system airborne equipment, * RTCA inc, November 28, 2001 * [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service * Interface Specification for QZSS, Japan Aerospace Exploration Agency, * July 31, 2009 * * version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $ * history : 2007/10/14 1.0 new * 2009/01/24 1.1 modify sbspntpos() api * improve fast/ion correction update * 2009/04/08 1.2 move function crc24q() to rcvlog.c * support glonass, galileo and qzss * 2009/06/08 1.3 modify sbsupdatestat() * delete sbssatpos() * 2009/12/12 1.4 support glonass * 2010/01/22 1.5 support ems (egnos message service) format * 2010/06/10 1.6 added api: * sbssatcorr(),sbstropcorr(),sbsioncorr(), * sbsupdatecorr() * changed api: * sbsreadmsgt(),sbsreadmsg() * deleted api: * sbspntpos(),sbsupdatestat() * 2010/08/16 1.7 not reject udre==14 or give==15 correction message * (2.4.0_p4) * 2011/01/15 1.8 use api ionppp() * add prn mask of qzss for qzss L1SAIF * 2016/07/29 1.9 crc24q() -> rtk_crc24q() *-----------------------------------------------------------------------------*/ #ifndef RTKLIB_SBAS_H_ #define RTKLIB_SBAS_H_ #include "rtklib.h" #include "rtklib_rtkcmn.h" /* constants -----------------------------------------------------------------*/ #define WEEKOFFSET 1024 /* gps week offset for NovAtel OEM-3 */ /* sbas igp definition -------------------------------------------------------*/ static const short x1[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 65, 75, 85}, x2[]={-55,-50,-45,-40,-35,-30,-25,-20,-15,-10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55}, x3[]={-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 65, 75}, x4[]={-85,-75,-65,-55,-50,-45,-40,-35,-30,-25,-20,-15,-10,- 5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 65, 75}, x5[]={-180,-175,-170,-165,-160,-155,-150,-145,-140,-135,-130,-125,-120,-115, -110,-105,-100,- 95,- 90,- 85,- 80,- 75,- 70,- 65,- 60,- 55,- 50,- 45, - 40,- 35,- 30,- 25,- 20,- 15,- 10,- 5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165, 170, 175}, x6[]={-180,-170,-160,-150,-140,-130,-120,-110,-100,- 90,- 80,- 70,- 60,- 50, - 40,- 30,- 20,- 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170}, x7[]={-180,-150,-120,- 90,- 60,- 30, 0, 30, 60, 90, 120, 150}, x8[]={-170,-140,-110,- 80,- 50,- 20, 10, 40, 70, 100, 130, 160}; const sbsigpband_t igpband1[9][8]={ /* band 0-8 */ {{-180,x1, 1, 28},{-175,x2, 29, 51},{-170,x3, 52, 78},{-165,x2, 79,101}, {-160,x3,102,128},{-155,x2,129,151},{-150,x3,152,178},{-145,x2,179,201}}, {{-140,x4, 1, 28},{-135,x2, 29, 51},{-130,x3, 52, 78},{-125,x2, 79,101}, {-120,x3,102,128},{-115,x2,129,151},{-110,x3,152,178},{-105,x2,179,201}}, {{-100,x3, 1, 27},{- 95,x2, 28, 50},{- 90,x1, 51, 78},{- 85,x2, 79,101}, {- 80,x3,102,128},{- 75,x2,129,151},{- 70,x3,152,178},{- 65,x2,179,201}}, {{- 60,x3, 1, 27},{- 55,x2, 28, 50},{- 50,x4, 51, 78},{- 45,x2, 79,101}, {- 40,x3,102,128},{- 35,x2,129,151},{- 30,x3,152,178},{- 25,x2,179,201}}, {{- 20,x3, 1, 27},{- 15,x2, 28, 50},{- 10,x3, 51, 77},{- 5,x2, 78,100}, { 0,x1,101,128},{ 5,x2,129,151},{ 10,x3,152,178},{ 15,x2,179,201}}, {{ 20,x3, 1, 27},{ 25,x2, 28, 50},{ 30,x3, 51, 77},{ 35,x2, 78,100}, { 40,x4,101,128},{ 45,x2,129,151},{ 50,x3,152,178},{ 55,x2,179,201}}, {{ 60,x3, 1, 27},{ 65,x2, 28, 50},{ 70,x3, 51, 77},{ 75,x2, 78,100}, { 80,x3,101,127},{ 85,x2,128,150},{ 90,x1,151,178},{ 95,x2,179,201}}, {{ 100,x3, 1, 27},{ 105,x2, 28, 50},{ 110,x3, 51, 77},{ 115,x2, 78,100}, { 120,x3,101,127},{ 125,x2,128,150},{ 130,x4,151,178},{ 135,x2,179,201}}, {{ 140,x3, 1, 27},{ 145,x2, 28, 50},{ 150,x3, 51, 77},{ 155,x2, 78,100}, { 160,x3,101,127},{ 165,x2,128,150},{ 170,x3,151,177},{ 175,x2,178,200}} }; const sbsigpband_t igpband2[2][5]={ /* band 9-10 */ {{ 60,x5, 1, 72},{ 65,x6, 73,108},{ 70,x6,109,144},{ 75,x6,145,180}, { 85,x7,181,192}}, {{- 60,x5, 1, 72},{- 65,x6, 73,108},{- 70,x6,109,144},{- 75,x6,145,180}, {- 85,x8,181,192}} }; char *getfield(char *p, int pos); double varfcorr(int udre); double varicorr(int give); double degfcorr(int ai); int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav); int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion); int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat); int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat); int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat); int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat); int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion); int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav); void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,sbs_t *sbs); int cmpmsgs(const void *p1, const void *p2); int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te, sbs_t *sbs); int sbsreadmsg(const char *file, int sel, sbs_t *sbs); void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg); void searchigp(gtime_t time, const double *pos, const sbsion_t *ion, const sbsigp_t **igp, double *x, double *y); int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos, const double *azel, double *delay, double *var); void getmet(double lat, double *met); double sbstropcorr(gtime_t time, const double *pos, const double *azel, double *var); int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat, double *drs, double *ddts); int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat, double *prc, double *var); int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs, double *dts, double *var); int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words, sbsmsg_t *sbsmsg); #endif /* RTKLIB_SBAS_H_ */