mirror of https://github.com/gnss-sdr/gnss-sdr
348 lines
16 KiB
C++
348 lines
16 KiB
C++
/*!
|
|
* \file gps_cnav_navigation_message.cc
|
|
* \brief Implementation of a GPS CNAV Data message decoder as described in IS-GPS-200K
|
|
*
|
|
* See https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf Appendix III
|
|
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* 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.
|
|
*
|
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "gps_cnav_navigation_message.h"
|
|
#include "gnss_satellite.h"
|
|
#include <limits> // for std::numeric_limits
|
|
|
|
|
|
Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
|
|
{
|
|
Gnss_Satellite gnss_satellite_ = Gnss_Satellite();
|
|
for (uint32_t prn_ = 1; prn_ < 33; prn_++)
|
|
{
|
|
satelliteBlock[prn_] = gnss_satellite_.what_block("GPS", prn_);
|
|
}
|
|
b_flag_iono_valid = false;
|
|
b_flag_utc_valid = false;
|
|
}
|
|
|
|
|
|
bool Gps_CNAV_Navigation_Message::read_navigation_bool(std::bitset<GPS_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
|
|
{
|
|
bool value;
|
|
|
|
if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first]) == 1)
|
|
{
|
|
value = true;
|
|
}
|
|
else
|
|
{
|
|
value = false;
|
|
}
|
|
return value;
|
|
}
|
|
|
|
|
|
uint64_t Gps_CNAV_Navigation_Message::read_navigation_unsigned(std::bitset<GPS_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
|
|
{
|
|
uint64_t value = 0ULL;
|
|
int32_t num_of_slices = parameter.size();
|
|
for (int32_t i = 0; i < num_of_slices; i++)
|
|
{
|
|
for (int32_t j = 0; j < parameter[i].second; j++)
|
|
{
|
|
value <<= 1ULL; // shift left
|
|
if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[i].first - j]) == 1)
|
|
{
|
|
value += 1ULL; // insert the bit
|
|
}
|
|
}
|
|
}
|
|
return value;
|
|
}
|
|
|
|
|
|
int64_t Gps_CNAV_Navigation_Message::read_navigation_signed(std::bitset<GPS_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
|
|
{
|
|
int64_t value = 0LL;
|
|
int32_t num_of_slices = parameter.size();
|
|
|
|
// read the MSB and perform the sign extension
|
|
if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first]) == 1)
|
|
{
|
|
value ^= 0xFFFFFFFFFFFFFFFFLL; // 64 bits variable
|
|
}
|
|
else
|
|
{
|
|
value &= 0LL;
|
|
}
|
|
|
|
for (int32_t i = 0; i < num_of_slices; i++)
|
|
{
|
|
for (int32_t j = 0; j < parameter[i].second; j++)
|
|
{
|
|
value *= 2; // shift left the signed integer
|
|
value &= 0xFFFFFFFFFFFFFFFELL; // reset the corresponding bit (for the 64 bits variable)
|
|
if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[i].first - j]) == 1)
|
|
{
|
|
value += 1LL; // insert the bit
|
|
}
|
|
}
|
|
}
|
|
return value;
|
|
}
|
|
|
|
|
|
void Gps_CNAV_Navigation_Message::decode_page(std::bitset<GPS_CNAV_DATA_PAGE_BITS> data_bits)
|
|
{
|
|
int32_t PRN;
|
|
int32_t page_type;
|
|
bool alert_flag;
|
|
|
|
// common to all messages
|
|
PRN = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_PRN));
|
|
ephemeris_record.i_satellite_PRN = PRN;
|
|
|
|
d_TOW = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOW));
|
|
d_TOW *= CNAV_TOW_LSB;
|
|
ephemeris_record.d_TOW = d_TOW;
|
|
|
|
alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
|
|
ephemeris_record.b_alert_flag = alert_flag;
|
|
|
|
page_type = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
|
|
|
|
switch (page_type)
|
|
{
|
|
case 10: // Ephemeris 1/2
|
|
ephemeris_record.i_GPS_week = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_WN));
|
|
ephemeris_record.i_signal_health = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
|
|
ephemeris_record.d_Top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
|
|
ephemeris_record.d_Top *= CNAV_TOP1_LSB;
|
|
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
|
|
ephemeris_record.d_Toe1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE1));
|
|
ephemeris_record.d_Toe1 *= CNAV_TOE1_LSB;
|
|
ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
|
|
ephemeris_record.d_DELTA_A *= CNAV_DELTA_A_LSB;
|
|
ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
|
|
ephemeris_record.d_A_DOT *= CNAV_A_DOT_LSB;
|
|
ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
|
|
ephemeris_record.d_Delta_n *= CNAV_DELTA_N0_LSB;
|
|
ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
|
|
ephemeris_record.d_DELTA_DOT_N *= CNAV_DELTA_N0_DOT_LSB;
|
|
ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
|
|
ephemeris_record.d_M_0 *= CNAV_M0_LSB;
|
|
ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_E_ECCENTRICITY));
|
|
ephemeris_record.d_e_eccentricity *= CNAV_E_ECCENTRICITY_LSB;
|
|
ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
|
|
ephemeris_record.d_OMEGA *= CNAV_OMEGA_LSB;
|
|
|
|
ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
|
|
ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
|
|
|
|
b_flag_ephemeris_1 = true;
|
|
break;
|
|
case 11: // Ephemeris 2/2
|
|
ephemeris_record.d_Toe2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOE2));
|
|
ephemeris_record.d_Toe2 *= CNAV_TOE2_LSB;
|
|
ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
|
|
ephemeris_record.d_OMEGA0 *= CNAV_OMEGA0_LSB;
|
|
ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
|
|
ephemeris_record.d_DELTA_OMEGA_DOT *= CNAV_DELTA_OMEGA_DOT_LSB;
|
|
ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
|
|
ephemeris_record.d_i_0 *= CNAV_I0_LSB;
|
|
ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
|
|
ephemeris_record.d_IDOT *= CNAV_I0_DOT_LSB;
|
|
ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
|
|
ephemeris_record.d_Cis *= CNAV_CIS_LSB;
|
|
ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
|
|
ephemeris_record.d_Cic *= CNAV_CIC_LSB;
|
|
ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
|
|
ephemeris_record.d_Crs *= CNAV_CRS_LSB;
|
|
ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
|
|
ephemeris_record.d_Crc *= CNAV_CRC_LSB;
|
|
ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
|
|
ephemeris_record.d_Cus *= CNAV_CUS_LSB;
|
|
ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
|
|
ephemeris_record.d_Cuc *= CNAV_CUC_LSB;
|
|
b_flag_ephemeris_2 = true;
|
|
break;
|
|
case 30: // (CLOCK, IONO, GRUP DELAY)
|
|
// clock
|
|
ephemeris_record.d_Toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
|
|
ephemeris_record.d_Toc *= CNAV_TOC_LSB;
|
|
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
|
|
ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
|
|
ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
|
|
ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
|
|
ephemeris_record.d_A_f0 *= CNAV_AF0_LSB;
|
|
ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
|
|
ephemeris_record.d_A_f1 *= CNAV_AF1_LSB;
|
|
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
|
|
ephemeris_record.d_A_f2 *= CNAV_AF2_LSB;
|
|
// group delays
|
|
// Check if the grup delay values are not available. See IS-GPS-200, Table 30-IV.
|
|
// Bit string "1000000000000" is -4096 in 2 complement
|
|
ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
|
|
if (ephemeris_record.d_TGD < -4095.9)
|
|
{
|
|
ephemeris_record.d_TGD = 0.0;
|
|
}
|
|
ephemeris_record.d_TGD *= CNAV_TGD_LSB;
|
|
|
|
ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
|
|
if (ephemeris_record.d_ISCL1 < -4095.9)
|
|
{
|
|
ephemeris_record.d_ISCL1 = 0.0;
|
|
}
|
|
ephemeris_record.d_ISCL1 *= CNAV_ISCL1_LSB;
|
|
|
|
ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
|
|
if (ephemeris_record.d_ISCL2 < -4095.9)
|
|
{
|
|
ephemeris_record.d_ISCL2 = 0.0;
|
|
}
|
|
ephemeris_record.d_ISCL2 *= CNAV_ISCL2_LSB;
|
|
|
|
ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
|
|
if (ephemeris_record.d_ISCL5I < -4095.9)
|
|
{
|
|
ephemeris_record.d_ISCL5I = 0.0;
|
|
}
|
|
ephemeris_record.d_ISCL5I *= CNAV_ISCL5I_LSB;
|
|
|
|
ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
|
|
if (ephemeris_record.d_ISCL5Q < -4095.9)
|
|
{
|
|
ephemeris_record.d_ISCL5Q = 0.0;
|
|
}
|
|
ephemeris_record.d_ISCL5Q *= CNAV_ISCL5Q_LSB;
|
|
// iono
|
|
iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
|
|
iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;
|
|
iono_record.d_alpha1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
|
|
iono_record.d_alpha1 = iono_record.d_alpha1 * CNAV_ALPHA1_LSB;
|
|
iono_record.d_alpha2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
|
|
iono_record.d_alpha2 = iono_record.d_alpha2 * CNAV_ALPHA2_LSB;
|
|
iono_record.d_alpha3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
|
|
iono_record.d_alpha3 = iono_record.d_alpha3 * CNAV_ALPHA3_LSB;
|
|
iono_record.d_beta0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
|
|
iono_record.d_beta0 = iono_record.d_beta0 * CNAV_BETA0_LSB;
|
|
iono_record.d_beta1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
|
|
iono_record.d_beta1 = iono_record.d_beta1 * CNAV_BETA1_LSB;
|
|
iono_record.d_beta2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
|
|
iono_record.d_beta2 = iono_record.d_beta2 * CNAV_BETA2_LSB;
|
|
iono_record.d_beta3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
|
|
iono_record.d_beta3 = iono_record.d_beta3 * CNAV_BETA3_LSB;
|
|
b_flag_iono_valid = true;
|
|
break;
|
|
case 33: // (CLOCK & UTC)
|
|
ephemeris_record.d_Top = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOP1));
|
|
ephemeris_record.d_Top = ephemeris_record.d_Top * CNAV_TOP1_LSB;
|
|
ephemeris_record.d_Toc = static_cast<int32_t>(read_navigation_unsigned(data_bits, CNAV_TOC));
|
|
ephemeris_record.d_Toc = ephemeris_record.d_Toc * CNAV_TOC_LSB;
|
|
ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
|
|
ephemeris_record.d_A_f0 = ephemeris_record.d_A_f0 * CNAV_AF0_LSB;
|
|
ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
|
|
ephemeris_record.d_A_f1 = ephemeris_record.d_A_f1 * CNAV_AF1_LSB;
|
|
ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
|
|
ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
|
|
|
|
utc_model_record.d_A0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A0));
|
|
utc_model_record.d_A0 = utc_model_record.d_A0 * CNAV_A0_LSB;
|
|
utc_model_record.d_A1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A1));
|
|
utc_model_record.d_A1 = utc_model_record.d_A1 * CNAV_A1_LSB;
|
|
utc_model_record.d_A2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_A2));
|
|
utc_model_record.d_A2 = utc_model_record.d_A2 * CNAV_A2_LSB;
|
|
|
|
utc_model_record.d_DeltaT_LS = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLS));
|
|
utc_model_record.d_DeltaT_LS = utc_model_record.d_DeltaT_LS * CNAV_DELTA_TLS_LSB;
|
|
|
|
utc_model_record.d_t_OT = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_TOT));
|
|
utc_model_record.d_t_OT = utc_model_record.d_t_OT * CNAV_TOT_LSB;
|
|
|
|
utc_model_record.i_WN_T = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_OT));
|
|
utc_model_record.i_WN_T = utc_model_record.i_WN_T * CNAV_WN_OT_LSB;
|
|
|
|
utc_model_record.i_WN_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_WN_LSF));
|
|
utc_model_record.i_WN_LSF = utc_model_record.i_WN_LSF * CNAV_WN_LSF_LSB;
|
|
|
|
utc_model_record.i_DN = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DN));
|
|
utc_model_record.i_DN = utc_model_record.i_DN * CNAV_DN_LSB;
|
|
|
|
utc_model_record.d_DeltaT_LSF = static_cast<int32_t>(read_navigation_signed(data_bits, CNAV_DELTA_TLSF));
|
|
utc_model_record.d_DeltaT_LSF = utc_model_record.d_DeltaT_LSF * CNAV_DELTA_TLSF_LSB;
|
|
b_flag_utc_valid = true;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
bool Gps_CNAV_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
|
|
{
|
|
if (b_flag_ephemeris_1 == true and b_flag_ephemeris_2 == true)
|
|
{
|
|
if (ephemeris_record.d_Toe1 == ephemeris_record.d_Toe2) // and ephemeris_record.d_Toe1==ephemeris_record.d_Toc)
|
|
{
|
|
// if all ephemeris pages have the same TOE, then they belong to the same block
|
|
// std::cout << "Ephemeris (1, 2) have been received and belong to the same batch" << std::endl;
|
|
b_flag_ephemeris_1 = false; // clear the flag
|
|
b_flag_ephemeris_2 = false; // clear the flag
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
Gps_CNAV_Ephemeris Gps_CNAV_Navigation_Message::get_ephemeris() const
|
|
{
|
|
return ephemeris_record;
|
|
}
|
|
|
|
|
|
bool Gps_CNAV_Navigation_Message::have_new_iono() // Check if we have a new iono data stored in the galileo navigation class
|
|
{
|
|
if (b_flag_iono_valid == true)
|
|
{
|
|
b_flag_iono_valid = false; // clear the flag
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
Gps_CNAV_Iono Gps_CNAV_Navigation_Message::get_iono() const
|
|
{
|
|
return iono_record;
|
|
}
|
|
|
|
|
|
bool Gps_CNAV_Navigation_Message::have_new_utc_model() // Check if we have a new iono data stored in the galileo navigation class
|
|
{
|
|
if (b_flag_utc_valid == true)
|
|
{
|
|
b_flag_utc_valid = false; // clear the flag
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
Gps_CNAV_Utc_Model Gps_CNAV_Navigation_Message::get_utc_model()
|
|
{
|
|
utc_model_record.valid = true;
|
|
return utc_model_record;
|
|
}
|