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gnss-sdr/src/core/system_parameters/galileo_navigation_message.h

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/*!
* \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) 2010-2018 (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_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 <bitset>
#include <cstdint>
#include <string>
#include <utility>
#include <vector>
/*!
* \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<GALILEO_DATA_FRAME_BITS> bits, uint32_t checksum);
bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter);
uint64_t read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter);
uint64_t read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter);
int64_t read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t> >& parameter);
};
#endif /* GALILEO_NAVIGATION_MESSAGE_H_ */
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