mirror of https://github.com/gnss-sdr/gnss-sdr
174 lines
7.5 KiB
C++
174 lines
7.5 KiB
C++
/*!
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* \file glonass_gnav_navigation_message.h
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* \brief Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
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* \note Code added as part of GSoC 2017 program
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* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
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#define GNSS_SDR_GLONASS_GNAV_NAVIGATION_MESSAGE_H_
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#include "GLONASS_L1_L2_CA.h"
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#include "glonass_gnav_almanac.h"
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#include "glonass_gnav_ephemeris.h"
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#include "glonass_gnav_utc_model.h"
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#include <bitset>
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#include <cstdint>
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#include <string>
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#include <utility> // for pair
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#include <vector> // for vector
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/*!
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* \brief This class decodes a GLONASS GNAV Data message as described in GLONASS ICD (Edition 5.1)
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* \note Code added as part of GSoC 2017 program
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* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
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*/
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class Glonass_Gnav_Navigation_Message
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{
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public:
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/*!
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* Default constructor
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*/
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Glonass_Gnav_Navigation_Message();
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bool flag_CRC_test;
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uint32_t d_frame_ID;
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uint32_t d_string_ID;
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bool flag_update_slot_number;
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int32_t i_channel_ID;
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uint32_t i_satellite_PRN;
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Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
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Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information
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Glonass_Gnav_Almanac gnav_almanac[GLONASS_CA_NBR_SATS]; //!< Almanac information for all 24 satellites
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// Ephemeris Flags and control variables
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bool flag_all_ephemeris; //!< Flag indicating that all strings containing ephemeris have been received
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bool flag_ephemeris_str_1; //!< Flag indicating that ephemeris 1/4 (string 1) have been received
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bool flag_ephemeris_str_2; //!< Flag indicating that ephemeris 2/4 (string 2) have been received
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bool flag_ephemeris_str_3; //!< Flag indicating that ephemeris 3/4 (string 3) have been received
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bool flag_ephemeris_str_4; //!< Flag indicating that ephemeris 4/4 (string 4) have been received
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// Almanac Flags
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bool flag_all_almanac; //!< Flag indicating that all almanac have been received
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bool flag_almanac_str_6; //!< Flag indicating that almanac of string 6 have been received
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bool flag_almanac_str_7; //!< Flag indicating that almanac of string 7 have been received
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bool flag_almanac_str_8; //!< Flag indicating that almanac of string 8 have been received
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bool flag_almanac_str_9; //!< Flag indicating that almanac of string 9 have been received
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bool flag_almanac_str_10; //!< Flag indicating that almanac of string 10 have been received
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bool flag_almanac_str_11; //!< Flag indicating that almanac of string 11 have been received
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bool flag_almanac_str_12; //!< Flag indicating that almanac of string 12 have been received
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bool flag_almanac_str_13; //!< Flag indicating that almanac of string 13 have been received
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bool flag_almanac_str_14; //!< Flag indicating that almanac of string 14 have been received
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bool flag_almanac_str_15; //!< Flag indicating that almanac of string 15 have been received
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uint32_t i_alm_satellite_slot_number; //!< SV Orbit Slot Number
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// UTC and System Clocks Flags
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bool flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
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bool flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data
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bool flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data
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bool flag_TOW_set; //!< Flag indicating when the TOW has been set
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bool flag_TOW_new; //!< Flag indicating when a new TOW has been computed
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double d_satClkCorr; //!< Satellite clock error
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double d_dtr; //!< Relativistic clock correction term
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double d_satClkDrift; //!< Satellite clock drift
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double d_previous_tb; //!< Previous iode for the Glonass_Gnav_Ephemeris object. Used to determine when new data arrives
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double d_previous_Na[GLONASS_CA_NBR_SATS]; //!< Previous time for almanac of the Glonass_Gnav_Almanac object
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/*!
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* \brief Compute CRC for GLONASS GNAV strings
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* \param bits Bits of the string message where to compute CRC
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*/
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bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
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/*!
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* \brief Computes the frame number being decoded given the satellite slot number
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* \param satellite_slot_number [in] Satellite slot number identifier
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* \returns Frame number being decoded, 0 if operation was not successful.
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*/
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uint32_t get_frame_number(uint32_t satellite_slot_number);
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/*!
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* \brief Reset GLONASS GNAV Navigation Information
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*/
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void reset();
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/*!
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* \brief Obtain a GLONASS GNAV SV Ephemeris class filled with current SV data
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*/
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Glonass_Gnav_Ephemeris get_ephemeris();
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/*!
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* \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data
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*/
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Glonass_Gnav_Utc_Model get_utc_model();
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/*!
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* \brief Returns a Glonass_Gnav_Almanac object filled with the latest navigation data received
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* \param satellite_slot_number Slot number identifier for the satellite
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* \returns Returns the Glonass_Gnav_Almanac object for the input slot number
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*/
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Glonass_Gnav_Almanac get_almanac(uint32_t satellite_slot_number);
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/*!
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* \brief Returns true if a new Glonass_Gnav_Ephemeris object has arrived.
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*/
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bool have_new_ephemeris();
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/*!
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* \brief Returns true if new Glonass_Gnav_Utc_Model object has arrived
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*/
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bool have_new_utc_model();
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/*!
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* \brief Returns true if new Glonass_Gnav_Almanac object has arrived.
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*/
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bool have_new_almanac();
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/*!
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* \brief Decodes the GLONASS GNAV string
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* \param frame_string [in] is the string message within the parsed frame
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* \returns Returns the ID of the decoded string
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*/
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int32_t string_decoder(const std::string& frame_string);
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private:
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uint64_t read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
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int64_t read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
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bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
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};
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#endif
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