mirror of https://github.com/gnss-sdr/gnss-sdr
171 lines
8.1 KiB
C++
171 lines
8.1 KiB
C++
/*!
|
|
* \file GPS_CNAV.h
|
|
* \brief Defines parameters for GPS CNAV
|
|
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*
|
|
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
|
* This file is part of GNSS-SDR.
|
|
*
|
|
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*/
|
|
|
|
|
|
#ifndef GNSS_SDR_GPS_CNAV_H
|
|
#define GNSS_SDR_GPS_CNAV_H
|
|
|
|
#include "MATH_CONSTANTS.h"
|
|
#include <cstdint>
|
|
#include <utility> // std::pair
|
|
#include <vector>
|
|
|
|
/** \addtogroup Core
|
|
* \{ */
|
|
/** \addtogroup System_Parameters
|
|
* \{ */
|
|
|
|
|
|
// CNAV GPS NAVIGATION MESSAGE STRUCTURE
|
|
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200M Appendix III)
|
|
|
|
constexpr int32_t GPS_CNAV_DATA_PAGE_BITS = 300;
|
|
|
|
// common to all messages
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_PRN({{9, 6}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_MSG_TYPE({{15, 6}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOW({{21, 17}}); // GPS Time Of Week in seconds
|
|
constexpr int32_t CNAV_TOW_LSB = 6;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALERT_FLAG({{38, 1}});
|
|
|
|
// MESSAGE TYPE 10 (Ephemeris 1)
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN({{39, 13}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_HEALTH({{52, 3}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOP1({{55, 11}});
|
|
constexpr int32_t CNAV_TOP1_LSB = 300;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA({{66, 5}});
|
|
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOE1({{71, 11}});
|
|
constexpr int32_t CNAV_TOE1_LSB = 300;
|
|
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_A({{82, 26}}); // Relative to AREF = 26,559,710 meters
|
|
constexpr double CNAV_DELTA_A_LSB = TWO_N9;
|
|
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_A_DOT({{108, 25}});
|
|
constexpr double CNAV_A_DOT_LSB = TWO_N21;
|
|
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_N0({{133, 17}});
|
|
constexpr double CNAV_DELTA_N0_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_N0_DOT({{150, 23}});
|
|
constexpr double CNAV_DELTA_N0_DOT_LSB = TWO_N57 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_M0({{173, 33}});
|
|
constexpr double CNAV_M0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_E_ECCENTRICITY({{206, 33}});
|
|
constexpr double CNAV_E_ECCENTRICITY_LSB = TWO_N34;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_OMEGA({{239, 33}});
|
|
constexpr double CNAV_OMEGA_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_INTEGRITY_FLAG({{272, 1}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_L2_PHASING_FLAG({{273, 1}});
|
|
|
|
// MESSAGE TYPE 11 (Ephemeris 2)
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOE2({{39, 11}});
|
|
constexpr int32_t CNAV_TOE2_LSB = 300;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_OMEGA0({{50, 33}});
|
|
constexpr double CNAV_OMEGA0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_I0({{83, 33}});
|
|
constexpr double CNAV_I0_LSB = TWO_N32 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_OMEGA_DOT({{116, 17}}); // Relative to REF = -2.6 x 10-9 semi-circles/second.
|
|
constexpr double CNAV_DELTA_OMEGA_DOT_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_I0_DOT({{133, 15}});
|
|
constexpr double CNAV_I0_DOT_LSB = TWO_N44 * GNSS_PI; // semi-circles to radians
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CIS({{148, 16}});
|
|
constexpr double CNAV_CIS_LSB = TWO_N30;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CIC({{164, 16}});
|
|
constexpr double CNAV_CIC_LSB = TWO_N30;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CRS({{180, 24}});
|
|
constexpr double CNAV_CRS_LSB = TWO_N8;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CRC({{204, 24}});
|
|
constexpr double CNAV_CRC_LSB = TWO_N8;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CUS({{228, 21}});
|
|
constexpr double CNAV_CUS_LSB = TWO_N30;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_CUC({{249, 21}});
|
|
constexpr double CNAV_CUC_LSB = TWO_N30;
|
|
|
|
|
|
// MESSAGE TYPE 30 (CLOCK, IONO, GRUP DELAY)
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOP2({{39, 11}});
|
|
constexpr int32_t CNAV_TOP2_LSB = 300;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED0({{50, 5}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED1({{55, 3}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_URA_NED2({{58, 3}});
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOC({{61, 11}});
|
|
constexpr int32_t CNAV_TOC_LSB = 300;
|
|
const std::vector<std::pair<int, int> > CNAV_AF0({{72, 26}});
|
|
constexpr double CNAV_AF0_LSB = TWO_N35;
|
|
const std::vector<std::pair<int, int> > CNAV_AF1({{98, 20}});
|
|
constexpr double CNAV_AF1_LSB = TWO_N48;
|
|
const std::vector<std::pair<int, int> > CNAV_AF2({{118, 10}});
|
|
constexpr double CNAV_AF2_LSB = TWO_N60;
|
|
const std::vector<std::pair<int, int> > CNAV_TGD({{128, 13}});
|
|
constexpr double CNAV_TGD_LSB = TWO_N35;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL1({{141, 13}});
|
|
constexpr double CNAV_ISCL1_LSB = TWO_N35;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL2({{154, 13}});
|
|
constexpr double CNAV_ISCL2_LSB = TWO_N35;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL5I({{167, 13}});
|
|
constexpr double CNAV_ISCL5I_LSB = TWO_N35;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ISCL5Q({{180, 13}});
|
|
constexpr double CNAV_ISCL5Q_LSB = TWO_N35;
|
|
// Ionospheric parameters
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA0({{193, 8}});
|
|
constexpr double CNAV_ALPHA0_LSB = TWO_N30;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA1({{201, 8}});
|
|
constexpr double CNAV_ALPHA1_LSB = TWO_N27;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA2({{209, 8}});
|
|
constexpr double CNAV_ALPHA2_LSB = TWO_N24;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_ALPHA3({{217, 8}});
|
|
constexpr double CNAV_ALPHA3_LSB = TWO_N24;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA0({{225, 8}});
|
|
constexpr double CNAV_BETA0_LSB = TWO_P11;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA1({{233, 8}});
|
|
constexpr double CNAV_BETA1_LSB = TWO_P14;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA2({{241, 8}});
|
|
constexpr double CNAV_BETA2_LSB = TWO_P16;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_BETA3({{249, 8}});
|
|
constexpr double CNAV_BETA3_LSB = TWO_P16;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_WNOP({{257, 8}});
|
|
|
|
|
|
// MESSAGE TYPE 33 (CLOCK and UTC)
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_A0({{128, 16}});
|
|
constexpr double CNAV_A0_LSB = TWO_N35;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_A1({{144, 13}});
|
|
constexpr double CNAV_A1_LSB = TWO_N51;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_A2({{157, 7}});
|
|
constexpr double CNAV_A2_LSB = TWO_N68;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_TLS({{164, 8}});
|
|
constexpr int32_t CNAV_DELTA_TLS_LSB = 1;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_TOT({{172, 16}});
|
|
constexpr int32_t CNAV_TOT_LSB = TWO_P4;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN_OT({{188, 13}});
|
|
constexpr int32_t CNAV_WN_OT_LSB = 1;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_WN_LSF({{201, 13}});
|
|
constexpr int32_t CNAV_WN_LSF_LSB = 1;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DN({{214, 4}});
|
|
constexpr int32_t CNAV_DN_LSB = 1;
|
|
const std::vector<std::pair<int32_t, int32_t> > CNAV_DELTA_TLSF({{218, 8}});
|
|
constexpr int32_t CNAV_DELTA_TLSF_LSB = 1;
|
|
|
|
constexpr double CNAV_A_REF = 26559710.0; // [m] See IS-GPS-200M, Table 30-I.
|
|
constexpr double CNAV_OMEGA_DOT_REF = -2.6e-9; // [semicircles / s], see IS-GPS-200M, Table 30-I.
|
|
|
|
// TODO: Add more frames (Almanac, etc...)
|
|
|
|
|
|
/** \} */
|
|
/** \} */
|
|
#endif // GNSS_SDR_GPS_CNAV_H
|