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gnss-sdr/src/core/system_parameters/galileo_fnav_message.cc

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/*!
* \file galileo_fnav_message.h
* \brief Implementation of a Galileo F/NAV Data message
* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_fnav_message.h"
#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
#include <boost/dynamic_bitset.hpp>
#include <glog/logging.h>
#include <algorithm> // for reverse
#include <iostream> // for string, operator<<
#include <iterator> // for back_insert_iterator
using CRC_Galileo_FNAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
void Galileo_Fnav_Message::split_page(const std::string& page_string)
{
const std::string message_word = page_string.substr(0, 214);
const std::string CRC_data = page_string.substr(214, 24);
const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> Word_for_CRC_bits(message_word);
const std::bitset<24> checksum(CRC_data);
if (CRC_test(Word_for_CRC_bits, checksum.to_ulong()) == true)
{
flag_CRC_test = true;
// CRC correct: Decode word
decode_page(message_word);
}
else
{
flag_CRC_test = false;
}
}
bool Galileo_Fnav_Message::CRC_test(const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS>& bits, uint32_t checksum) const
{
CRC_Galileo_FNAV_type CRC_Galileo;
// Galileo FNAV frame for CRC is not an integer multiple of bytes
// it needs to be filled with zeroes at the start of the frame.
// This operation is done in the transformation from bits to bytes
// using boost::dynamic_bitset.
// ToDo: Use boost::dynamic_bitset for all the bitset operations in this class
boost::dynamic_bitset<uint8_t> frame_bits(bits.to_string());
std::vector<uint8_t> bytes;
boost::to_block_range(frame_bits, std::back_inserter(bytes));
std::reverse(bytes.begin(), bytes.end());
CRC_Galileo.process_bytes(bytes.data(), GALILEO_FNAV_DATA_FRAME_BYTES);
const uint32_t crc_computed = CRC_Galileo.checksum();
if (checksum == crc_computed)
{
return true;
}
return false;
}
void Galileo_Fnav_Message::decode_page(const std::string& data)
{
const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> data_bits(data);
page_type = read_navigation_unsigned(data_bits, FNAV_PAGE_TYPE_BIT);
switch (page_type)
{
case 1: // SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal health and Data validity status
FNAV_SV_ID_PRN_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_SV_ID_PRN_1_BIT));
FNAV_IODnav_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_1_BIT));
FNAV_t0c_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_T0C_1_BIT));
FNAV_t0c_1 *= FNAV_T0C_1_LSB;
FNAV_af0_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF0_1_BIT));
FNAV_af0_1 *= FNAV_AF0_1_LSB;
FNAV_af1_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF1_1_BIT));
FNAV_af1_1 *= FNAV_AF1_1_LSB;
FNAV_af2_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF2_1_BIT));
FNAV_af2_1 *= FNAV_AF2_1_LSB;
FNAV_SISA_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_SISA_1_BIT));
FNAV_ai0_1 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_AI0_1_BIT));
FNAV_ai0_1 *= FNAV_AI0_1_LSB;
FNAV_ai1_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AI1_1_BIT));
FNAV_ai1_1 *= FNAV_AI1_1_LSB;
FNAV_ai2_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AI2_1_BIT));
FNAV_ai2_1 *= FNAV_AI2_1_LSB;
FNAV_region1_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_REGION1_1_BIT));
FNAV_region2_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_REGION2_1_BIT));
FNAV_region3_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_REGION3_1_BIT));
FNAV_region4_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_REGION4_1_BIT));
FNAV_region5_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_REGION5_1_BIT));
FNAV_BGD_1 = static_cast<double>(read_navigation_signed(data_bits, FNAV_BGD_1_BIT));
FNAV_BGD_1 *= FNAV_BGD_1_LSB;
FNAV_E5ahs_1 = static_cast<uint32_t>(read_navigation_unsigned(data_bits, FNAV_E5AHS_1_BIT));
FNAV_WN_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_WN_1_BIT));
FNAV_TOW_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_TOW_1_BIT));
FNAV_E5advs_1 = static_cast<bool>(read_navigation_unsigned(data_bits, FNAV_E5ADVS_1_BIT));
flag_TOW_1 = true;
flag_TOW_set = true;
flag_iono_and_GST = true; // set to false externally
break;
case 2: // Ephemeris (1/3) and GST
FNAV_IODnav_2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_2_BIT));
FNAV_M0_2 = static_cast<double>(read_navigation_signed(data_bits, FNAV_M0_2_BIT));
FNAV_M0_2 *= FNAV_M0_2_LSB;
FNAV_omegadot_2 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGADOT_2_BIT));
FNAV_omegadot_2 *= FNAV_OMEGADOT_2_LSB;
FNAV_e_2 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_E_2_BIT));
FNAV_e_2 *= FNAV_E_2_LSB;
FNAV_a12_2 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_A12_2_BIT));
FNAV_a12_2 *= FNAV_A12_2_LSB;
FNAV_omega0_2 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGA0_2_BIT));
FNAV_omega0_2 *= FNAV_OMEGA0_2_LSB;
FNAV_idot_2 = static_cast<double>(read_navigation_signed(data_bits, FNAV_IDOT_2_BIT));
FNAV_idot_2 *= FNAV_IDOT_2_LSB;
FNAV_WN_2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_WN_2_BIT));
FNAV_TOW_2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_TOW_2_BIT));
flag_TOW_2 = true;
flag_TOW_set = true;
flag_ephemeris_1 = true;
break;
case 3: // Ephemeris (2/3) and GST
FNAV_IODnav_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_3_BIT));
FNAV_i0_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_I0_3_BIT));
FNAV_i0_3 *= FNAV_I0_3_LSB;
FNAV_w_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_W_3_BIT));
FNAV_w_3 *= FNAV_W_3_LSB;
FNAV_deltan_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAN_3_BIT));
FNAV_deltan_3 *= FNAV_DELTAN_3_LSB;
FNAV_Cuc_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CUC_3_BIT));
FNAV_Cuc_3 *= FNAV_CUC_3_LSB;
FNAV_Cus_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CUS_3_BIT));
FNAV_Cus_3 *= FNAV_CUS_3_LSB;
FNAV_Crc_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CRC_3_BIT));
FNAV_Crc_3 *= FNAV_CRC_3_LSB;
FNAV_Crs_3 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CRS_3_BIT));
FNAV_Crs_3 *= FNAV_CRS_3_LSB;
FNAV_t0e_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_T0E_3_BIT));
FNAV_t0e_3 *= FNAV_T0E_3_LSB;
FNAV_WN_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_WN_3_BIT));
FNAV_TOW_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_TOW_3_BIT));
flag_TOW_3 = true;
flag_TOW_set = true;
flag_ephemeris_2 = true;
break;
case 4: // Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW
FNAV_IODnav_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DNAV_4_BIT));
FNAV_Cic_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CIC_4_BIT));
FNAV_Cic_4 *= FNAV_CIC_4_LSB;
FNAV_Cis_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_CIS_4_BIT));
FNAV_Cis_4 *= FNAV_CIS_4_LSB;
FNAV_A0_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_A0_4_BIT));
FNAV_A0_4 *= FNAV_A0_4_LSB;
FNAV_A1_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_A1_4_BIT));
FNAV_A1_4 *= FNAV_A1_4_LSB;
FNAV_deltatls_4 = static_cast<int32_t>(read_navigation_signed(data_bits, FNAV_DELTATLS_4_BIT));
FNAV_t0t_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_T0T_4_BIT));
FNAV_t0t_4 *= FNAV_T0T_4_LSB;
FNAV_WNot_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_W_NOT_4_BIT));
FNAV_WNlsf_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_W_NLSF_4_BIT));
FNAV_DN_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_DN_4_BIT));
FNAV_deltatlsf_4 = static_cast<int32_t>(read_navigation_signed(data_bits, FNAV_DELTATLSF_4_BIT));
FNAV_t0g_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_T0G_4_BIT));
FNAV_t0g_4 *= FNAV_T0G_4_LSB;
FNAV_A0g_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_A0G_4_BIT));
FNAV_A0g_4 *= FNAV_A0G_4_LSB;
FNAV_A1g_4 = static_cast<double>(read_navigation_signed(data_bits, FNAV_A1G_4_BIT));
FNAV_A1g_4 *= FNAV_A1G_4_LSB;
FNAV_WN0g_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_W_N0G_4_BIT));
FNAV_TOW_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_TOW_4_BIT));
flag_TOW_4 = true;
flag_TOW_set = true;
flag_ephemeris_3 = true;
flag_utc_model = true; // set to false externally
break;
case 5: // Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
FNAV_IODa_5 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DA_5_BIT));
FNAV_WNa_5 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_W_NA_5_BIT));
FNAV_t0a_5 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_T0A_5_BIT));
FNAV_t0a_5 *= FNAV_T0A_5_LSB;
FNAV_SVID1_5 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_SVI_D1_5_BIT));
FNAV_Deltaa12_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAA12_1_5_BIT));
FNAV_Deltaa12_1_5 *= FNAV_DELTAA12_5_LSB;
FNAV_e_1_5 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_E_1_5_BIT));
FNAV_e_1_5 *= FNAV_E_5_LSB;
FNAV_w_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_W_1_5_BIT));
FNAV_w_1_5 *= FNAV_W_5_LSB;
FNAV_deltai_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAI_1_5_BIT));
FNAV_deltai_1_5 *= FNAV_DELTAI_5_LSB;
FNAV_Omega0_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGA0_1_5_BIT));
FNAV_Omega0_1_5 *= FNAV_OMEGA0_5_LSB;
FNAV_Omegadot_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGADOT_1_5_BIT));
FNAV_Omegadot_1_5 *= FNAV_OMEGADOT_5_LSB;
FNAV_M0_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_M0_1_5_BIT));
FNAV_M0_1_5 *= FNAV_M0_5_LSB;
FNAV_af0_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF0_1_5_BIT));
FNAV_af0_1_5 *= FNAV_AF0_5_LSB;
FNAV_af1_1_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF1_1_5_BIT));
FNAV_af1_1_5 *= FNAV_AF1_5_LSB;
FNAV_E5ahs_1_5 = static_cast<uint32_t>(read_navigation_unsigned(data_bits, FNAV_E5AHS_1_5_BIT));
FNAV_SVID2_5 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_SVI_D2_5_BIT));
FNAV_Deltaa12_2_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAA12_2_5_BIT));
FNAV_Deltaa12_2_5 *= FNAV_DELTAA12_5_LSB;
FNAV_e_2_5 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_E_2_5_BIT));
FNAV_e_2_5 *= FNAV_E_5_LSB;
FNAV_w_2_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_W_2_5_BIT));
FNAV_w_2_5 *= FNAV_W_5_LSB;
FNAV_deltai_2_5 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAI_2_5_BIT));
FNAV_deltai_2_5 *= FNAV_DELTAI_5_LSB;
// TODO check this
// Omega0_2 must be decoded when the two pieces are joined
omega0_1 = data.substr(210, 4);
// omega_flag=true;
//
// FNAV_Omega012_2_5=static_cast<double>(read_navigation_signed(data_bits, FNAV_Omega012_2_5_bit);
flag_almanac_1 = true;
break;
case 6: // Almanac (SVID2(2/2) and SVID3)
FNAV_IODa_6 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_IO_DA_6_BIT));
// Don't worry about omega pieces. If page 5 has not been received, all_ephemeris
// flag will be set to false and the data won't be recorded.*/
const std::string omega0_2 = data.substr(10, 12);
const std::string Omega0 = omega0_1 + omega0_2;
const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> omega_bits(Omega0);
const std::vector<std::pair<int32_t, int32_t>> om_bit({{0, 12}});
FNAV_Omega0_2_6 = static_cast<double>(read_navigation_signed(omega_bits, om_bit));
FNAV_Omega0_2_6 *= FNAV_OMEGA0_5_LSB;
FNAV_Omegadot_2_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGADOT_2_6_BIT));
FNAV_Omegadot_2_6 *= FNAV_OMEGADOT_5_LSB;
FNAV_M0_2_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_M0_2_6_BIT));
FNAV_M0_2_6 *= FNAV_M0_5_LSB;
FNAV_af0_2_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF0_2_6_BIT));
FNAV_af0_2_6 *= FNAV_AF0_5_LSB;
FNAV_af1_2_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF1_2_6_BIT));
FNAV_af1_2_6 *= FNAV_AF1_5_LSB;
FNAV_E5ahs_2_6 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_E5AHS_2_6_BIT));
FNAV_SVID3_6 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_SVI_D3_6_BIT));
FNAV_Deltaa12_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAA12_3_6_BIT));
FNAV_Deltaa12_3_6 *= FNAV_DELTAA12_5_LSB;
FNAV_e_3_6 = static_cast<double>(read_navigation_unsigned(data_bits, FNAV_E_3_6_BIT));
FNAV_e_3_6 *= FNAV_E_5_LSB;
FNAV_w_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_W_3_6_BIT));
FNAV_w_3_6 *= FNAV_W_5_LSB;
FNAV_deltai_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_DELTAI_3_6_BIT));
FNAV_deltai_3_6 *= FNAV_DELTAI_5_LSB;
FNAV_Omega0_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGA0_3_6_BIT));
FNAV_Omega0_3_6 *= FNAV_OMEGA0_5_LSB;
FNAV_Omegadot_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_OMEGADOT_3_6_BIT));
FNAV_Omegadot_3_6 *= FNAV_OMEGADOT_5_LSB;
FNAV_M0_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_M0_3_6_BIT));
FNAV_M0_3_6 *= FNAV_M0_5_LSB;
FNAV_af0_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF0_3_6_BIT));
FNAV_af0_3_6 *= FNAV_AF0_5_LSB;
FNAV_af1_3_6 = static_cast<double>(read_navigation_signed(data_bits, FNAV_AF1_3_6_BIT));
FNAV_af1_3_6 *= FNAV_AF1_5_LSB;
FNAV_E5ahs_3_6 = static_cast<int32_t>(read_navigation_unsigned(data_bits, FNAV_E5AHS_3_6_BIT));
flag_almanac_2 = true;
break;
}
}
uint64_t Galileo_Fnav_Message::read_navigation_unsigned(const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
uint64_t value = 0ULL;
for (const auto& p : parameter)
{
for (int j = 0; j < p.second; j++)
{
value <<= 1U; // shift left
value |= static_cast<uint64_t>(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]);
}
}
return value;
}
int64_t Galileo_Fnav_Message::read_navigation_signed(const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
int64_t value = (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
for (const auto& p : parameter)
{
for (int32_t j = 0; j < p.second; j++)
{
value = (value << 1) | static_cast<int64_t>(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]);
}
}
return value;
}
bool Galileo_Fnav_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
{
if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_iono_and_GST == true))
{
// if all ephemeris pages have the same IOD, then they belong to the same block
if ((FNAV_IODnav_1 == FNAV_IODnav_2) and (FNAV_IODnav_3 == FNAV_IODnav_4) and (FNAV_IODnav_1 == FNAV_IODnav_3))
{
DLOG(INFO) << "Ephemeris (1, 2, 3) have been received and belong to the same batch";
flag_ephemeris_1 = false; // clear the flag
flag_ephemeris_2 = false; // clear the flag
flag_ephemeris_3 = false; // clear the flag
flag_all_ephemeris = true;
IOD_ephemeris = FNAV_IODnav_1;
DLOG(INFO) << "Batch number: " << IOD_ephemeris;
return true;
}
}
return false;
}
bool Galileo_Fnav_Message::have_new_iono_and_GST() // Check if we have a new iono data set stored in the galileo navigation class
{
if ((flag_iono_and_GST == true) and (flag_utc_model == true)) // the condition on flag_utc_model is added to have a time stamp for iono
{
flag_iono_and_GST = false; // clear the flag
}
else
{
return false;
}
return true;
}
bool Galileo_Fnav_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
{
if (flag_utc_model == true)
{
flag_utc_model = false; // clear the flag
}
else
{
return false;
}
return true;
}
bool Galileo_Fnav_Message::have_new_almanac() // Check if we have a new almanac data set stored in the galileo navigation class
{
if ((flag_almanac_1 == true) and (flag_almanac_2 == true))
{
// All Almanac data have been received
flag_almanac_1 = false;
flag_almanac_2 = false;
flag_all_almanac = true;
}
else
{
return false;
}
return true;
}
Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris() const
{
Galileo_Ephemeris ephemeris;
ephemeris.flag_all_ephemeris = flag_all_ephemeris;
ephemeris.IOD_ephemeris = IOD_ephemeris;
ephemeris.PRN = FNAV_SV_ID_PRN_1;
ephemeris.M_0 = FNAV_M0_2; // Mean anomaly at reference time [rad]
ephemeris.delta_n = FNAV_deltan_3; // Mean motion difference from computed value [rad/sec]
ephemeris.ecc = FNAV_e_2; // Eccentricity
ephemeris.sqrtA = FNAV_a12_2; // Square root of the semi-major axis [meters^1/2]
ephemeris.OMEGA_0 = FNAV_omega0_2; // Longitude of ascending node of orbital plane at weekly epoch [rad]
ephemeris.i_0 = FNAV_i0_3; // Inclination angle at reference time [rad]
ephemeris.omega = FNAV_w_3; // Argument of perigee [rad]
ephemeris.OMEGAdot = FNAV_omegadot_2; // Rate of right ascension [rad/sec]
ephemeris.idot = FNAV_idot_2; // Rate of inclination angle [rad/sec]
ephemeris.Cuc = FNAV_Cuc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
ephemeris.Cus = FNAV_Cus_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
ephemeris.Crc = FNAV_Crc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
ephemeris.Crs = FNAV_Crs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
ephemeris.Cic = FNAV_Cic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
ephemeris.Cis = FNAV_Cis_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
ephemeris.toe = FNAV_t0e_3; // Ephemeris reference time [s]
// Clock correction parameters
ephemeris.toc = FNAV_t0c_1; // Clock correction data reference Time of Week [sec]
ephemeris.af0 = FNAV_af0_1; // SV clock bias correction coefficient [s]
ephemeris.af1 = FNAV_af1_1; // SV clock drift correction coefficient [s/s]
ephemeris.af2 = FNAV_af2_1; // SV clock drift rate correction coefficient [s/s^2]
// GST
ephemeris.WN = FNAV_WN_3; // Week number
ephemeris.tow = FNAV_TOW_3; // Time of Week
// Health status
ephemeris.E5a_HS = FNAV_E5ahs_1;
ephemeris.E5a_DVS = FNAV_E5advs_1;
return ephemeris;
}
Galileo_Iono Galileo_Fnav_Message::get_iono() const
{
Galileo_Iono iono;
// Ionospheric correction
iono.ai0 = FNAV_ai0_1; // Effective Ionisation Level 1st order parameter [sfu]
iono.ai1 = FNAV_ai1_1; // Effective Ionisation Level 2st order parameter [sfu/degree]
iono.ai2 = FNAV_ai2_1; // Effective Ionisation Level 3st order parameter [sfu/degree]
// Ionospheric disturbance flag
iono.Region1_flag = FNAV_region1_1; // Ionospheric Disturbance Flag for region 1
iono.Region2_flag = FNAV_region2_1; // Ionospheric Disturbance Flag for region 2
iono.Region3_flag = FNAV_region3_1; // Ionospheric Disturbance Flag for region 3
iono.Region4_flag = FNAV_region4_1; // Ionospheric Disturbance Flag for region 4
iono.Region5_flag = FNAV_region5_1; // Ionospheric Disturbance Flag for region 5
// GST
iono.tow = FNAV_TOW_1;
iono.WN = FNAV_WN_1;
return iono;
}
Galileo_Utc_Model Galileo_Fnav_Message::get_utc_model() const
{
Galileo_Utc_Model utc_model;
// Word type 6: GST-UTC conversion parameters
utc_model.A0 = FNAV_A0_4;
utc_model.A1 = FNAV_A1_4;
utc_model.Delta_tLS = FNAV_deltatls_4;
utc_model.tot = FNAV_t0t_4;
utc_model.WNot = FNAV_WNot_4;
utc_model.WN_LSF = FNAV_WNlsf_4;
utc_model.DN = FNAV_DN_4;
utc_model.Delta_tLSF = FNAV_deltatlsf_4;
utc_model.flag_utc_model = flag_utc_model;
return utc_model;
}
Galileo_Almanac_Helper Galileo_Fnav_Message::get_almanac() const
{
Galileo_Almanac_Helper almanac;
// FNAV equivalent of INAV Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
almanac.IOD_a_7 = FNAV_IODa_5;
almanac.WN_a_7 = FNAV_WNa_5;
almanac.t0a_7 = FNAV_t0a_5;
almanac.SVID1_7 = FNAV_SVID1_5;
almanac.DELTA_A_7 = FNAV_Deltaa12_1_5;
almanac.e_7 = FNAV_e_1_5;
almanac.omega_7 = FNAV_w_1_5;
almanac.delta_i_7 = FNAV_deltai_1_5;
almanac.Omega0_7 = FNAV_Omega0_1_5;
almanac.Omega_dot_7 = FNAV_Omegadot_1_5;
almanac.M0_7 = FNAV_M0_1_5;
// FNAV equivalent of INAV Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
almanac.IOD_a_8 = FNAV_IODa_5;
almanac.af0_8 = FNAV_af0_1_5;
almanac.af1_8 = FNAV_af1_1_5;
almanac.E5a_HS_8 = FNAV_E5ahs_1_5;
almanac.SVID2_8 = FNAV_SVID2_5;
almanac.DELTA_A_8 = FNAV_Deltaa12_2_5;
almanac.e_8 = FNAV_e_2_5;
almanac.omega_8 = FNAV_w_2_5;
almanac.delta_i_8 = FNAV_deltai_2_5;
almanac.Omega0_8 = FNAV_Omega0_2_6;
almanac.Omega_dot_8 = FNAV_Omegadot_2_6;
// FNAV equivalent of INAV Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
almanac.IOD_a_9 = FNAV_IODa_6;
almanac.WN_a_9 = FNAV_WNa_5;
almanac.t0a_9 = FNAV_t0a_5;
almanac.M0_9 = FNAV_M0_2_6;
almanac.af0_9 = FNAV_af0_2_6;
almanac.af1_9 = FNAV_af1_2_6;
almanac.E5a_HS_9 = FNAV_E5ahs_2_6;
almanac.SVID3_9 = FNAV_SVID3_6;
almanac.DELTA_A_9 = FNAV_Deltaa12_3_6;
almanac.e_9 = FNAV_e_3_6;
almanac.omega_9 = FNAV_w_3_6;
almanac.delta_i_9 = FNAV_deltai_3_6;
// FNAV equivalent of INAV Word type 10: Almanac for SVID3 (2/2)
almanac.IOD_a_10 = FNAV_IODa_6;
almanac.Omega0_10 = FNAV_Omega0_3_6;
almanac.Omega_dot_10 = FNAV_Omegadot_3_6;
almanac.M0_10 = FNAV_M0_3_6;
almanac.af0_10 = FNAV_af0_3_6;
almanac.af1_10 = FNAV_af1_3_6;
almanac.E5a_HS_10 = FNAV_E5ahs_3_6;
return almanac;
}
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