mirror of https://github.com/gnss-sdr/gnss-sdr
328 lines
16 KiB
C++
328 lines
16 KiB
C++
/*!
|
|
* \file beidou_dnav_navigation_message.h
|
|
* \brief Interface of a BeiDou DNAV Data message decoder
|
|
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
|
* \author Damian Miralles, 2018. dmiralles2009@gmail.com
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* 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 <https://www.gnu.org/licenses/>.
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*/
|
|
|
|
|
|
#ifndef GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H_
|
|
#define GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H_
|
|
|
|
|
|
#include "Beidou_B1I.h"
|
|
#include "Beidou_B3I.h"
|
|
#include "Beidou_DNAV.h"
|
|
#include "beidou_dnav_almanac.h"
|
|
#include "beidou_dnav_ephemeris.h"
|
|
#include "beidou_dnav_iono.h"
|
|
#include "beidou_dnav_utc_model.h"
|
|
#include <bitset>
|
|
#include <cstdint>
|
|
#include <map>
|
|
#include <string>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
|
|
/*!
|
|
* \brief This class decodes a BeiDou D1 NAV Data message
|
|
*/
|
|
class Beidou_Dnav_Navigation_Message
|
|
{
|
|
public:
|
|
/*!
|
|
* Default constructor
|
|
*/
|
|
Beidou_Dnav_Navigation_Message();
|
|
|
|
// System flags for data processing
|
|
bool flag_eph_valid;
|
|
bool flag_utc_model_valid;
|
|
bool flag_iono_valid;
|
|
bool flag_d1_sf1;
|
|
bool flag_d1_sf2;
|
|
bool flag_d1_sf3;
|
|
bool flag_d1_sf4;
|
|
bool flag_d1_sf5;
|
|
bool flag_new_SOW_available;
|
|
bool flag_crc_test;
|
|
double d_previous_aode;
|
|
|
|
bool flag_d1_sf5_p7; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
|
bool flag_d1_sf5_p8; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
|
bool flag_d1_sf5_p9; //!< D1 NAV Message, Subframe 5, Page 09 decoded indicator
|
|
bool flag_d1_sf5_p10; //!< D1 NAV Message, Subframe 5, Page 10 decoded indicator
|
|
|
|
|
|
bool flag_sf1_p1; //!< D2 NAV Message, Subframe 1, Page 1 decoded indicator
|
|
bool flag_sf1_p2; //!< D2 NAV Message, Subframe 1, Page 2 decoded indicator
|
|
bool flag_sf1_p3; //!< D2 NAV Message, Subframe 1, Page 3 decoded indicator
|
|
bool flag_sf1_p4; //!< D2 NAV Message, Subframe 1, Page 4 decoded indicator
|
|
bool flag_sf1_p5; //!< D2 NAV Message, Subframe 1, Page 5 decoded indicator
|
|
bool flag_sf1_p6; //!< D2 NAV Message, Subframe 1, Page 6 decoded indicator
|
|
bool flag_sf1_p7; //!< D2 NAV Message, Subframe 1, Page 7 decoded indicator
|
|
bool flag_sf1_p8; //!< D2 NAV Message, Subframe 1, Page 8 decoded indicator
|
|
bool flag_sf1_p9; //!< D2 NAV Message, Subframe 1, Page 9 decoded indicator
|
|
bool flag_sf1_p10; //!< D2 NAV Message, Subframe 1, Page 10 decoded indicator
|
|
|
|
//broadcast orbit 1
|
|
double d_SOW; //!< Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s]
|
|
double d_SOW_SF1; //!< Time of BeiDou Week from HOW word of Subframe 1 [s]
|
|
double d_SOW_SF2; //!< Time of BeiDou Week from HOW word of Subframe 2 [s]
|
|
double d_SOW_SF3; //!< Time of BeiDou Week from HOW word of Subframe 3 [s]
|
|
double d_SOW_SF4; //!< Time of BeiDou Week from HOW word of Subframe 4 [s]
|
|
double d_SOW_SF5; //!< Time of BeiDou Week from HOW word of Subframe 5 [s]
|
|
|
|
double d_AODE;
|
|
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
|
|
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
|
|
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
|
|
//broadcast orbit 2
|
|
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
double d_eccentricity; //!< Eccentricity [dimensionless]
|
|
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
|
|
//broadcast orbit 3
|
|
double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2, D1 Message
|
|
double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3, D1 Message
|
|
double d_Toe; //!< Ephemeris data reference time of week in subframe 1, D2 Message
|
|
double d_Toc; //!< clock data reference time [s]
|
|
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
|
|
double d_OMEGA0; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
|
|
double d_Cis; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
|
|
//broadcast orbit 4
|
|
double d_i_0; //!< Inclination Angle at Reference Time [semi-circles]
|
|
double d_Crc; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
|
|
double d_OMEGA; //!< Argument of Perigee [semi-cicles]
|
|
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
|
//broadcast orbit 5
|
|
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
|
int32_t i_BEIDOU_week; //!< BeiDou week number, aka WN [week]
|
|
//broadcast orbit 6
|
|
int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
|
|
int32_t i_SV_health;
|
|
double d_TGD1; //!< Estimated Group Delay Differential in B1 [s]
|
|
double d_TGD2; //!< Estimated Group Delay Differential in B2 [s]
|
|
double d_AODC; //!< Age of Data, Clock
|
|
//broadcast orbit 7
|
|
// int32_t i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
|
|
|
bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
|
double d_spare1;
|
|
double d_spare2;
|
|
|
|
double d_A_f0; //!< Clock correction parameters. Coefficient 0 of code phase offset model [s]
|
|
double d_A_f1; //!< Clock correction parameters. Coefficient 1 of code phase offset model [s/s]
|
|
double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
|
|
|
|
// D2 NAV Message Decoding
|
|
uint64_t d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB
|
|
uint64_t d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB
|
|
uint64_t d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
uint64_t d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
uint64_t d_eccentricity_msb; //!< Eccentricity [dimensionless]
|
|
uint64_t d_eccentricity_lsb; //!< Eccentricity [dimensionless]
|
|
uint64_t d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
uint64_t d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
|
uint64_t d_eccentricity_msb_bits; //!< Eccentricity [dimensionless]
|
|
uint64_t d_eccentricity_lsb_bits;
|
|
uint64_t d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
|
uint64_t d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
|
uint64_t d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles]
|
|
uint64_t d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles]
|
|
uint64_t d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
|
uint64_t d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
|
|
|
// Almanac
|
|
double d_Toa; //!< Almanac reference time [s]
|
|
int32_t i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
|
std::map<int32_t, int32_t> almanacHealth; //!< Map that stores the health information stored in the almanac
|
|
|
|
std::map<int32_t, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
|
|
|
|
// Flags
|
|
|
|
/*! \brief If true, enhanced level of integrity assurance.
|
|
*
|
|
* If false, indicates that the conveying signal is provided with the legacy level of integrity assurance.
|
|
* That is, the probability that the instantaneous URE of the conveying signal exceeds 4.42 times the upper bound
|
|
* value of the current broadcast URA index, for more than 5.2 seconds, without an accompanying alert, is less
|
|
* than 1E-5 per hour. If true, indicates that the conveying signal is provided with an enhanced level of
|
|
* integrity assurance. That is, the probability that the instantaneous URE of the conveying signal exceeds 5.73
|
|
* times the upper bound value of the current broadcast URA index, for more than 5.2 seconds, without an
|
|
* accompanying alert, is less than 1E-8 per hour.
|
|
*/
|
|
bool b_integrity_status_flag;
|
|
bool b_alert_flag; //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
|
|
bool b_antispoofing_flag; //!< If true, the AntiSpoofing mode is ON in that SV
|
|
|
|
// clock terms
|
|
//double d_master_clock; // GPS transmission time
|
|
double d_satClkCorr; // GPS clock error
|
|
double d_dtr; // relativistic clock correction term
|
|
double d_satClkDrift;
|
|
|
|
// satellite positions
|
|
double d_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 d_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
|
|
double d_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 identification info
|
|
int32_t i_channel_ID;
|
|
int32_t i_signal_type; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
|
uint32_t i_satellite_PRN;
|
|
|
|
// time synchro
|
|
double d_subframe_timestamp_ms; //[ms]
|
|
|
|
// Ionospheric parameters
|
|
double d_alpha0; //!< Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
|
|
double d_alpha1; //!< Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
|
|
double d_alpha2; //!< Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
|
|
double d_alpha3; //!< Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
|
|
double d_beta0; //!< Coefficient 0 of a cubic equation representing the period of the model [s]
|
|
double d_beta1; //!< Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
|
|
double d_beta2; //!< Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
|
|
double d_beta3; //!< Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
|
|
|
|
// UTC parameters
|
|
double d_A1UTC; //!< 1st order term of a model that relates GPS and UTC time [s/s]
|
|
double d_A0UTC; //!< Constant of a model that relates GPS and UTC time [s]
|
|
double d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
|
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
|
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
|
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
|
double d_A1GPS;
|
|
double d_A0GPS;
|
|
double d_A1GAL;
|
|
double d_A0GAL;
|
|
double d_A1GLO;
|
|
double d_A0GLO;
|
|
|
|
double d_SQRT_A_ALMANAC;
|
|
double d_A1_ALMANAC;
|
|
double d_A0_ALMANAC;
|
|
double d_OMEGA0_ALMANAC;
|
|
double d_E_ALMANAC;
|
|
double d_DELTA_I;
|
|
double d_TOA;
|
|
double d_OMEGA_DOT_ALMANAC;
|
|
double d_OMEGA_ALMANAC;
|
|
double d_M0_ALMANAC;
|
|
int32_t almanac_WN;
|
|
double d_toa2;
|
|
|
|
// Satellite velocity
|
|
double d_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite [m]
|
|
double d_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m]
|
|
double d_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m]
|
|
|
|
// public functions
|
|
void reset();
|
|
|
|
/*!
|
|
* \brief Obtain a BDS SV Ephemeris class filled with current SV data
|
|
*/
|
|
Beidou_Dnav_Ephemeris get_ephemeris();
|
|
|
|
/*!
|
|
* \brief Obtain a BDS ionospheric correction parameters class filled with current SV data
|
|
*/
|
|
Beidou_Dnav_Iono get_iono();
|
|
|
|
/*!
|
|
* \brief Obtain a BDS UTC model parameters class filled with current SV data
|
|
*/
|
|
Beidou_Dnav_Utc_Model get_utc_model();
|
|
|
|
/*!
|
|
* \brief Decodes the BDS D1 NAV message
|
|
*/
|
|
int32_t d1_subframe_decoder(std::string const& subframe);
|
|
|
|
/*!
|
|
* \brief Decodes the BDS D2 NAV message
|
|
*/
|
|
int32_t d2_subframe_decoder(std::string const& subframe);
|
|
|
|
/*!
|
|
* \brief Computes the position of the satellite
|
|
*/
|
|
void satellitePosition(double transmitTime);
|
|
|
|
/*!
|
|
* \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction
|
|
* and returns the corrected clock
|
|
*/
|
|
double sv_clock_correction(double transmitTime);
|
|
|
|
/*!
|
|
* \brief Computes the Coordinated Universal Time (UTC) and
|
|
* returns it in [s]
|
|
*/
|
|
double utc_time(const double beidoutime_corrected) const;
|
|
|
|
bool satellite_validation();
|
|
|
|
/*
|
|
* \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();
|
|
|
|
/*
|
|
* \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();
|
|
|
|
private:
|
|
uint64_t read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
|
int64_t read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
|
bool read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
|
void print_beidou_word_bytes(uint32_t BEIDOU_word);
|
|
|
|
/*
|
|
* Accounts for the beginning or end of week crossover
|
|
*
|
|
* \param[in] - time in seconds
|
|
* \param[out] - corrected time, in seconds
|
|
*/
|
|
double check_t(double time);
|
|
};
|
|
|
|
#endif
|