mirror of https://github.com/gnss-sdr/gnss-sdr
335 lines
14 KiB
C++
335 lines
14 KiB
C++
/*!
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* \file beidou_dnav_navigation_message.h
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* \brief Interface of a BeiDou DNAV Data message decoder
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* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
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* \author Damian Miralles, 2018. dmiralles2009@gmail.com
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H
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#define GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H
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#include "Beidou_B1I.h"
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#include "Beidou_B3I.h"
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#include "Beidou_DNAV.h"
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#include "beidou_dnav_almanac.h"
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#include "beidou_dnav_ephemeris.h"
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#include "beidou_dnav_iono.h"
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#include "beidou_dnav_utc_model.h"
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#include <bitset>
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#include <cstdint>
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#include <map>
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#include <string>
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#include <utility>
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#include <vector>
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/** \addtogroup Core
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* \{ */
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/** \addtogroup System_Parameters
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* \{ */
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/*!
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* \brief This class decodes a BeiDou D1 NAV Data message
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*/
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class Beidou_Dnav_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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Beidou_Dnav_Navigation_Message();
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/*!
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* \brief Obtain a BDS SV Ephemeris class filled with current SV data
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*/
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Beidou_Dnav_Ephemeris get_ephemeris() const;
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/*!
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* \brief Obtain a BDS ionospheric correction parameters class filled with current SV data
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*/
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Beidou_Dnav_Iono get_iono();
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/*!
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* \brief Obtain a BDS UTC model parameters class filled with current SV data
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*/
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Beidou_Dnav_Utc_Model get_utc_model();
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/*!
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* \brief Decodes the BDS D1 NAV message
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*/
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int32_t d1_subframe_decoder(std::string const& subframe);
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/*!
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* \brief Decodes the BDS D2 NAV message
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*/
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int32_t d2_subframe_decoder(std::string const& subframe);
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/*!
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* \brief Computes the position of the satellite
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*/
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void satellitePosition(double transmitTime);
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/*!
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* \brief Sets (\a d_satClkCorr) according to the User Algorithm for SV Clock Correction
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* and returns the corrected clock
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*/
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double sv_clock_correction(double transmitTime);
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/*!
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* \brief Computes the Coordinated Universal Time (UTC) and
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* returns it in [s]
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*/
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double utc_time(const double beidoutime_corrected) const;
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bool satellite_validation();
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/*!
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* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
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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 Iono model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_iono() const;
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/*!
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* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
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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 UTC model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_almanac();
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/*!
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* \brief Sets satellite PRN number
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*/
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inline void set_satellite_PRN(uint32_t prn)
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{
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i_satellite_PRN = prn;
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}
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inline void set_signal_type(int32_t signal_type)
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{
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i_signal_type = signal_type;
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}
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inline bool get_flag_CRC_test() const
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{
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return flag_crc_test;
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}
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inline bool get_flag_new_SOW_available() const
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{
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return flag_new_SOW_available;
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}
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inline void set_flag_new_SOW_available(bool new_SOW_available)
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{
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flag_new_SOW_available = new_SOW_available;
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}
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inline double get_SOW() const
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{
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return d_SOW;
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}
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private:
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uint64_t read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
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int64_t read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
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bool read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
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void print_beidou_word_bytes(uint32_t BEIDOU_word) const;
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/*
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* Accounts for the beginning or end of week crossover
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*
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* \param[in] - time in seconds
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* \param[out] - corrected time, in seconds
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*/
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double check_t(double time);
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// broadcast orbit 1
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double d_SOW{}; // Time of BeiDou Week of the ephemeris set (taken from subframes SOW) [s]
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double d_SOW_SF1{}; // Time of BeiDou Week from HOW word of Subframe 1 [s]
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double d_SOW_SF2{}; // Time of BeiDou Week from HOW word of Subframe 2 [s]
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double d_SOW_SF3{}; // Time of BeiDou Week from HOW word of Subframe 3 [s]
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double d_SOW_SF4{}; // Time of BeiDou Week from HOW word of Subframe 4 [s]
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double d_SOW_SF5{}; // Time of BeiDou Week from HOW word of Subframe 5 [s]
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double d_AODE{};
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double d_Crs{}; // Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
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double d_Delta_n{}; // Mean Motion Difference From Computed Value [semi-circles/s]
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double d_M_0{}; // Mean Anomaly at Reference Time [semi-circles]
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// broadcast orbit 2
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double d_Cuc{}; // Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_eccentricity{}; // Eccentricity [dimensionless]
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double d_Cus{}; // Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
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double d_sqrt_A{}; // Square Root of the Semi-Major Axis [sqrt(m)]
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// broadcast orbit 3
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double d_Toe_sf2{}; // Ephemeris data reference time of week in subframe 2, D1 Message
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double d_Toe_sf3{}; // Ephemeris data reference time of week in subframe 3, D1 Message
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double d_Toe{}; // Ephemeris data reference time of week in subframe 1, D2 Message
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double d_Toc{}; // clock data reference time [s]
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double d_Cic{}; // Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
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double d_OMEGA0{}; // Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
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double d_Cis{}; // Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
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// broadcast orbit 4
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double d_i_0{}; // Inclination Angle at Reference Time [semi-circles]
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double d_Crc{}; // Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
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double d_OMEGA{}; // Argument of Perigee [semi-cicles]
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double d_OMEGA_DOT{}; // Rate of Right Ascension [semi-circles/s]
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// broadcast orbit 5
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double d_IDOT{}; // Rate of Inclination Angle [semi-circles/s]
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int32_t i_BEIDOU_week{}; // BeiDou week number, aka WN [week]
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// broadcast orbit 6
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int32_t i_SV_accuracy{}; // User Range Accuracy (URA) index of the SV
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int32_t i_SV_health{};
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double d_TGD1{}; // Estimated Group Delay Differential in B1 [s]
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double d_TGD2{}; // Estimated Group Delay Differential in B2 [s]
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double d_AODC{}; // Age of Data, Clock
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// broadcast orbit 7
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// 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]
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// 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.
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// double d_spare1{};
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// double d_spare2{};
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double d_A_f0{}; // Clock correction parameters. Coefficient 0 of code phase offset model [s]
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double d_A_f1{}; // Clock correction parameters. Coefficient 1 of code phase offset model [s/s]
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double d_A_f2{}; // Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
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// D2 NAV Message Decoding
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uint64_t d_A_f1_msb_bits{}; // Clock correction parameters, D2 NAV MSB
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uint64_t d_A_f1_lsb_bits{}; // Clock correction parameters, D2 NAV LSB
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uint64_t d_Cuc_msb_bits{}; // Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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uint64_t d_Cuc_lsb_bits{}; // Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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uint64_t d_eccentricity_msb{}; // Eccentricity [dimensionless]
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uint64_t d_eccentricity_lsb{}; // Eccentricity [dimensionless]
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uint64_t d_Cic_msb_bits{}; // Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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uint64_t d_Cic_lsb_bits{}; // Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
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uint64_t d_eccentricity_msb_bits{}; // Eccentricity [dimensionless]
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uint64_t d_eccentricity_lsb_bits{};
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uint64_t d_i_0_msb_bits{}; // Inclination Angle at Reference Time [semi-circles]
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uint64_t d_i_0_lsb_bits{}; // Inclination Angle at Reference Time [semi-circles]
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uint64_t d_OMEGA_msb_bits{}; // Argument of Perigee [semi-cicles]
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uint64_t d_OMEGA_lsb_bits{}; // Argument of Perigee [semi-cicles]
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uint64_t d_OMEGA_DOT_msb_bits{}; // Rate of Right Ascension [semi-circles/s]
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uint64_t d_OMEGA_DOT_lsb_bits{}; // Rate of Right Ascension [semi-circles/s]
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// Almanac
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// double d_Toa{}; // Almanac reference time [s]
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// int32_t i_WN_A{}; // Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
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std::map<int32_t, int32_t> almanacHealth; // Map that stores the health information stored in the almanac
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std::map<int32_t, std::string> satelliteBlock; // Map that stores to which block the PRN belongs
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// clock terms
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double d_satClkCorr{}; // GPS clock error
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double d_dtr{}; // relativistic clock correction term
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// satellite positions
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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.
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double d_satpos_Y{}; // Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
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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).
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// satellite identification info
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int32_t i_signal_type{}; // BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
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uint32_t i_satellite_PRN{};
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// Ionospheric parameters
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double d_alpha0{}; // Coefficient 0 of a cubic equation representing the amplitude of the vertical delay [s]
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double d_alpha1{}; // Coefficient 1 of a cubic equation representing the amplitude of the vertical delay [s/semi-circle]
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double d_alpha2{}; // Coefficient 2 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^2]
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double d_alpha3{}; // Coefficient 3 of a cubic equation representing the amplitude of the vertical delay [s(semi-circle)^3]
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double d_beta0{}; // Coefficient 0 of a cubic equation representing the period of the model [s]
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double d_beta1{}; // Coefficient 1 of a cubic equation representing the period of the model [s/semi-circle]
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double d_beta2{}; // Coefficient 2 of a cubic equation representing the period of the model [s(semi-circle)^2]
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double d_beta3{}; // Coefficient 3 of a cubic equation representing the period of the model [s(semi-circle)^3]
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// UTC parameters
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double d_A1UTC{}; // 1st order term of a model that relates GPS and UTC time [s/s]
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double d_A0UTC{}; // Constant of a model that relates GPS and UTC time [s]
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int32_t i_DeltaT_LS{}; // delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
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int32_t i_WN_LSF{}; // Week number at the end of which the leap second becomes effective [weeks]
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int32_t i_DN{}; // Day number (DN) at the end of which the leap second becomes effective [days]
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double d_DeltaT_LSF{}; // Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
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double d_A1GPS{};
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double d_A0GPS{};
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double d_A1GAL{};
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double d_A0GAL{};
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double d_A1GLO{};
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double d_A0GLO{};
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double d_SQRT_A_ALMANAC{};
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double d_A1_ALMANAC{};
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double d_A0_ALMANAC{};
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double d_OMEGA0_ALMANAC{};
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double d_E_ALMANAC{};
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double d_DELTA_I{};
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double d_TOA{};
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double d_OMEGA_DOT_ALMANAC{};
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double d_OMEGA_ALMANAC{};
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double d_M0_ALMANAC{};
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int32_t almanac_WN{};
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double d_toa2{};
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// Satellite velocity
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double d_satvel_X{}; // Earth-fixed velocity coordinate x of the satellite [m]
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double d_satvel_Y{}; // Earth-fixed velocity coordinate y of the satellite [m]
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double d_satvel_Z{}; // Earth-fixed velocity coordinate z of the satellite [m]
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// System flags for data processing
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bool flag_eph_valid{};
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bool flag_utc_model_valid{};
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bool flag_iono_valid{};
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bool flag_d1_sf1{};
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bool flag_d1_sf2{};
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bool flag_d1_sf3{};
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bool flag_d1_sf4{};
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bool flag_d1_sf5{};
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bool flag_new_SOW_available{};
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bool flag_crc_test{};
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double d_previous_aode{};
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// bool flag_d1_sf5_p7{}; // D1 NAV Message, Subframe 5, Page 09 decoded indicator
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// bool flag_d1_sf5_p8{}; // D1 NAV Message, Subframe 5, Page 09 decoded indicator
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bool flag_d1_sf5_p9{}; // D1 NAV Message, Subframe 5, Page 09 decoded indicator
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bool flag_d1_sf5_p10{}; // D1 NAV Message, Subframe 5, Page 10 decoded indicator
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bool flag_sf1_p1{}; // D2 NAV Message, Subframe 1, Page 1 decoded indicator
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bool flag_sf1_p2{}; // D2 NAV Message, Subframe 1, Page 2 decoded indicator
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bool flag_sf1_p3{}; // D2 NAV Message, Subframe 1, Page 3 decoded indicator
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bool flag_sf1_p4{}; // D2 NAV Message, Subframe 1, Page 4 decoded indicator
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bool flag_sf1_p5{}; // D2 NAV Message, Subframe 1, Page 5 decoded indicator
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bool flag_sf1_p6{}; // D2 NAV Message, Subframe 1, Page 6 decoded indicator
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bool flag_sf1_p7{}; // D2 NAV Message, Subframe 1, Page 7 decoded indicator
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bool flag_sf1_p8{}; // D2 NAV Message, Subframe 1, Page 8 decoded indicator
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bool flag_sf1_p9{}; // D2 NAV Message, Subframe 1, Page 9 decoded indicator
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bool flag_sf1_p10{}; // D2 NAV Message, Subframe 1, Page 10 decoded indicator
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_BEIDOU_DNAV_NAVIGATION_MESSAGE_H
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