mirror of https://github.com/gnss-sdr/gnss-sdr
1339 lines
61 KiB
C++
1339 lines
61 KiB
C++
/*!
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* \file galileo_inav_message.cc
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* \brief Implementation of a Galileo I/NAV Data message
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* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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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) 2010-2021 (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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#include "galileo_inav_message.h"
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#include "galileo_reduced_ced.h"
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#include "reed_solomon.h"
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#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
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#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
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#include <glog/logging.h> // for DLOG
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#include <algorithm> // for reverse
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#include <iostream> // for operator<<
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#include <limits> // for std::numeric_limits
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#include <numeric> // for std::accumulate
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using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
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Galileo_Inav_Message::Galileo_Inav_Message()
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{
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rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
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// Instantiate ReedSolomon without encoding capabilities, saves some memory
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rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
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inav_rs_pages = std::vector<int>(8, 0);
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}
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// here the compiler knows how to destrcut rs
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Galileo_Inav_Message::~Galileo_Inav_Message() = default;
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bool Galileo_Inav_Message::CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const
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{
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CRC_Galileo_INAV_type CRC_Galileo;
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// Galileo INAV frame for CRC is not an integer multiple of bytes
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// it needs to be filled with zeroes at the start of the frame.
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// This operation is done in the transformation from bits to bytes
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// using boost::dynamic_bitset.
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// ToDo: Use boost::dynamic_bitset for all the bitset operations in this class
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boost::dynamic_bitset<unsigned char> frame_bits(bits.to_string());
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std::vector<unsigned char> bytes;
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boost::to_block_range(frame_bits, std::back_inserter(bytes));
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std::reverse(bytes.begin(), bytes.end());
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CRC_Galileo.process_bytes(bytes.data(), GALILEO_DATA_FRAME_BYTES);
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const uint32_t crc_computed = CRC_Galileo.checksum();
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if (checksum == crc_computed)
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{
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return true;
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}
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return false;
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}
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uint64_t Galileo_Inav_Message::read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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uint64_t value = 0ULL;
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for (const auto& p : parameter)
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{
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for (int j = 0; j < p.second; j++)
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{
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value <<= 1U; // shift left
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value |= static_cast<uint64_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
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}
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}
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return value;
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}
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uint8_t Galileo_Inav_Message::read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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uint8_t value = 0;
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for (const auto& p : parameter)
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{
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for (int j = 0; j < p.second; j++)
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{
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value <<= 1; // shift left
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value |= static_cast<uint8_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
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}
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}
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return value;
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}
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uint64_t Galileo_Inav_Message::read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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uint64_t value = 0ULL;
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for (const auto& p : parameter)
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{
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for (int j = 0; j < p.second; j++)
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{
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value <<= 1; // shift left
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value |= static_cast<uint64_t>(bits[GALILEO_PAGE_TYPE_BITS - p.first - j]);
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}
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}
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return value;
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}
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int64_t Galileo_Inav_Message::read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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int64_t value = (bits[GALILEO_DATA_JK_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
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for (const auto& p : parameter)
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{
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for (int32_t j = 0; j < p.second; j++)
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{
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value = (value << 1) | static_cast<int64_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
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}
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}
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return value;
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}
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bool Galileo_Inav_Message::read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
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{
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bool value = bits[GALILEO_DATA_JK_BITS - parameter[0].first];
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return value;
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}
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void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even_word)
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{
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int32_t Page_type = 0;
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if (page_string.at(0) == '1') // if page is odd
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{
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const std::string& page_Odd = page_string;
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if (flag_even_word == 1) // An odd page has been received but the previous even page is kept in memory and it is considered to join pages
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{
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const std::string page_INAV_even = page_Even;
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const std::string page_INAV = page_INAV_even + page_Odd; // Join pages: Even + Odd = INAV page
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const std::string Even_bit = page_INAV.substr(0, 1);
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const std::string Page_type_even = page_INAV.substr(1, 1);
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const std::string nominal = "0";
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const std::string Data_k = page_INAV.substr(2, 112);
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const std::string Odd_bit = page_INAV.substr(114, 1);
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const std::string Page_type_Odd = page_INAV.substr(115, 1);
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const std::string Data_j = page_INAV.substr(116, 16);
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const std::string Reserved_1 = page_INAV.substr(132, 40);
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const std::string SAR = page_INAV.substr(172, 22);
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const std::string Spare = page_INAV.substr(194, 2);
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const std::string CRC_data = page_INAV.substr(196, 24);
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const std::string Reserved_2 = page_INAV.substr(220, 8);
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const std::string Tail_odd = page_INAV.substr(228, 6);
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// ************ CRC checksum control *******/
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std::stringstream TLM_word_for_CRC_stream;
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TLM_word_for_CRC_stream << page_INAV;
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const std::string TLM_word_for_CRC = TLM_word_for_CRC_stream.str().substr(0, GALILEO_DATA_FRAME_BITS);
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const std::bitset<GALILEO_DATA_FRAME_BITS> TLM_word_for_CRC_bits(TLM_word_for_CRC);
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const std::bitset<24> checksum(CRC_data);
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if (CRC_test(TLM_word_for_CRC_bits, checksum.to_ulong()) == true)
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{
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flag_CRC_test = true;
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// CRC correct: Decode word
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const std::string page_number_bits = Data_k.substr(0, 6);
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const std::bitset<GALILEO_PAGE_TYPE_BITS> page_type_bits(page_number_bits); // from string to bitset
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Page_type = static_cast<int32_t>(read_page_type_unsigned(page_type_bits, TYPE));
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Page_type_time_stamp = Page_type;
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const std::string Data_jk_ephemeris = Data_k + Data_j;
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page_jk_decoder(Data_jk_ephemeris.c_str());
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}
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else
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{
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// Wrong CRC... discard frame
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flag_CRC_test = false;
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}
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} // end of CRC checksum control
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} // end if (page_string.at(0)=='1')
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else
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{
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page_Even = page_string.substr(0, 114);
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}
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}
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bool Galileo_Inav_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
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{
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if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_ephemeris_4 == true) and (flag_iono_and_GST == true))
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{
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// if all ephemeris pages have the same IOD, then they belong to the same block
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if ((IOD_nav_1 == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
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{
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DLOG(INFO) << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch";
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flag_ephemeris_1 = false; // clear the flag
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flag_ephemeris_2 = false; // clear the flag
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flag_ephemeris_3 = false; // clear the flag
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flag_ephemeris_4 = false; // clear the flag
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flag_all_ephemeris = true;
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IOD_ephemeris = IOD_nav_1;
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enable_rs = false; // Do not retrieve reduced CED if we already have the full ephemeris set
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DLOG(INFO) << "Batch number: " << IOD_ephemeris;
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return true;
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}
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}
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if (enable_rs)
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{
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// Implement FEC2 Erasure Correction defined in Galileo ICD 2.0
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if (std::accumulate(inav_rs_pages.begin(), inav_rs_pages.end(), 0) == 4)
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{
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// Four different INAV pages received with CRC ok
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// so we can decode the buffer and retrieve data from missing pages
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// Generate erasure vector
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std::vector<int> erasure_positions;
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erasure_positions.reserve(60); // max number of erasure positions
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if (inav_rs_pages[0] == 0)
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{
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// we always know rs_buffer[0], so we start at 1
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for (int i = 1; i < 16; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[1] == 0)
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{
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for (int i = 16; i < 30; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[2] == 0)
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{
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for (int i = 30; i < 44; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[3] == 0)
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{
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for (int i = 44; i < 58; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[4] == 0)
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{
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for (int i = 58; i < 73; i++)
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{
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erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
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}
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}
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if (inav_rs_pages[5] == 0)
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{
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for (int i = 73; i < 88; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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if (inav_rs_pages[6] == 0)
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{
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for (int i = 88; i < 103; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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if (inav_rs_pages[7] == 0)
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{
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for (int i = 103; i < 118; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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// Decode rs_buffer
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int result = rs->decode(rs_buffer, erasure_positions);
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// if decoding ok
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if (result >= 0)
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{
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if (inav_rs_pages[0] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_1(rs_buffer);
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read_page_1(missing_bits);
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}
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if (inav_rs_pages[1] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_2(rs_buffer);
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read_page_2(missing_bits);
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}
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if (inav_rs_pages[2] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_3(rs_buffer);
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read_page_3(missing_bits);
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}
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if (inav_rs_pages[3] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_4(rs_buffer);
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read_page_4(missing_bits);
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}
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// Reset flags
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inav_rs_pages = std::vector<int>(8, 0);
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flag_ephemeris_1 = false; // clear the flag
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flag_ephemeris_2 = false; // clear the flag
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flag_ephemeris_3 = false; // clear the flag
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flag_ephemeris_4 = false; // clear the flag
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flag_all_ephemeris = true;
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IOD_ephemeris = IOD_nav_1;
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enable_rs = false; // Retrieve reduced CED only once
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DLOG(INFO) << "Batch number: " << IOD_ephemeris;
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return true;
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}
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}
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}
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return false;
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}
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bool Galileo_Inav_Message::have_new_iono_and_GST() // Check if we have a new iono data set stored in the galileo navigation class
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{
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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
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{
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flag_iono_and_GST = false; // clear the flag
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return true;
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}
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return false;
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}
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bool Galileo_Inav_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
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{
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if (flag_utc_model == true)
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{
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flag_utc_model = false; // clear the flag
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return true;
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}
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return false;
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}
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bool Galileo_Inav_Message::have_new_almanac() // Check if we have a new almanac data set stored in the galileo navigation class
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{
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if ((flag_almanac_1 == true) and (flag_almanac_2 == true) and (flag_almanac_3 == true) and (flag_almanac_4 == true))
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{
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// All Almanac data have been received
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flag_almanac_1 = false;
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flag_almanac_2 = false;
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flag_almanac_3 = false;
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flag_almanac_4 = false;
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flag_all_almanac = true;
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return true;
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}
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return false;
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}
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bool Galileo_Inav_Message::have_new_reduced_ced()
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{
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// Check if we have a new CED data set stored in the galileo navigation class
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if ((flag_CED == true) && (WN_5 > 0)) // We need the week number to compute GST
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{
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flag_CED = false;
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return true;
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}
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return false;
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}
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Galileo_Ephemeris Galileo_Inav_Message::get_ephemeris() const
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{
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Galileo_Ephemeris ephemeris;
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ephemeris.flag_all_ephemeris = flag_all_ephemeris;
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ephemeris.IOD_ephemeris = IOD_ephemeris;
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ephemeris.IOD_nav = IOD_nav_1;
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ephemeris.PRN = SV_ID_PRN_4;
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ephemeris.M_0 = M0_1; // Mean anomaly at reference time [rad]
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ephemeris.delta_n = delta_n_3; // Mean motion difference from computed value [rad/sec]
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ephemeris.ecc = e_1; // Eccentricity
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ephemeris.sqrtA = A_1; // Square root of the semi-major axis [meters^1/2]
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ephemeris.OMEGA_0 = OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [rad]
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ephemeris.i_0 = i_0_2; // Inclination angle at reference time [rad]
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ephemeris.omega = omega_2; // Argument of perigee [rad]
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ephemeris.OMEGAdot = OMEGA_dot_3; // Rate of right ascension [rad/sec]
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ephemeris.idot = iDot_2; // Rate of inclination angle [rad/sec]
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ephemeris.Cuc = C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
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ephemeris.Cus = C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [rad]
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ephemeris.Crc = C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
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ephemeris.Crs = C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
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ephemeris.Cic = C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
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ephemeris.Cis = C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [rad]
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ephemeris.toe = t0e_1; // Ephemeris reference time [s]
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// Clock correction parameters
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ephemeris.toc = t0c_4; // Clock correction data reference Time of Week [sec]
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ephemeris.af0 = af0_4; // SV clock bias correction coefficient [s]
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ephemeris.af1 = af1_4; // SV clock drift correction coefficient [s/s]
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ephemeris.af2 = af2_4; // SV clock drift rate correction coefficient [s/s^2]
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// GST
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ephemeris.WN = WN_5; // Week number
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ephemeris.tow = TOW_5; // Time of Week
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ephemeris.SISA = SISA_3;
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ephemeris.E5b_HS = E5b_HS_5; // E5b Signal Health Status
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ephemeris.E1B_HS = E1B_HS_5; // E1B Signal Health Status
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ephemeris.E5b_DVS = E5b_DVS_5; // E5b Data Validity Status
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ephemeris.E1B_DVS = E1B_DVS_5; // E1B Data Validity Status
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ephemeris.BGD_E1E5a = BGD_E1E5a_5; // E1-E5a Broadcast Group Delay [s]
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ephemeris.BGD_E1E5b = BGD_E1E5b_5; // E1-E5b Broadcast Group Delay [s]
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ephemeris.satClkDrift = Galileo_satClkDrift;
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return ephemeris;
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}
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Galileo_Iono Galileo_Inav_Message::get_iono() const
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{
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Galileo_Iono iono;
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// Ionospheric correction
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iono.ai0 = ai0_5; // Effective Ionisation Level 1st order parameter [sfu]
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iono.ai1 = ai1_5; // Effective Ionisation Level 2st order parameter [sfu/degree]
|
|
iono.ai2 = ai2_5; // Effective Ionisation Level 3st order parameter [sfu/degree]
|
|
|
|
// GST
|
|
// This is the ONLY page containing the Week Number (WN)
|
|
iono.tow = TOW_5;
|
|
iono.WN = WN_5;
|
|
|
|
// Ionospheric disturbance flag
|
|
iono.Region1_flag = Region1_flag_5; // Ionospheric Disturbance Flag for region 1
|
|
iono.Region2_flag = Region2_flag_5; // Ionospheric Disturbance Flag for region 2
|
|
iono.Region3_flag = Region3_flag_5; // Ionospheric Disturbance Flag for region 3
|
|
iono.Region4_flag = Region4_flag_5; // Ionospheric Disturbance Flag for region 4
|
|
iono.Region5_flag = Region5_flag_5; // Ionospheric Disturbance Flag for region 5
|
|
|
|
return iono;
|
|
}
|
|
|
|
|
|
Galileo_Utc_Model Galileo_Inav_Message::get_utc_model() const
|
|
{
|
|
Galileo_Utc_Model utc_model;
|
|
// Word type 6: GST-UTC conversion parameters
|
|
utc_model.A0 = A0_6;
|
|
utc_model.A1 = A1_6;
|
|
utc_model.Delta_tLS = Delta_tLS_6;
|
|
utc_model.tot = t0t_6;
|
|
utc_model.WNot = WNot_6;
|
|
utc_model.WN_LSF = WN_LSF_6;
|
|
utc_model.DN = DN_6;
|
|
utc_model.Delta_tLSF = Delta_tLSF_6;
|
|
utc_model.flag_utc_model = flag_utc_model;
|
|
// GPS to Galileo GST conversion parameters
|
|
utc_model.A_0G = A_0G_10;
|
|
utc_model.A_1G = A_1G_10;
|
|
utc_model.t_0G = t_0G_10;
|
|
utc_model.WN_0G = WN_0G_10;
|
|
return utc_model;
|
|
}
|
|
|
|
|
|
Galileo_Almanac_Helper Galileo_Inav_Message::get_almanac() const
|
|
{
|
|
Galileo_Almanac_Helper almanac;
|
|
// Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
|
almanac.IOD_a_7 = IOD_a_7;
|
|
almanac.WN_a_7 = WN_a_7;
|
|
almanac.t0a_7 = t0a_7;
|
|
almanac.SVID1_7 = SVID1_7;
|
|
almanac.DELTA_A_7 = DELTA_A_7;
|
|
almanac.e_7 = e_7;
|
|
almanac.omega_7 = omega_7;
|
|
almanac.delta_i_7 = delta_i_7;
|
|
almanac.Omega0_7 = Omega0_7;
|
|
almanac.Omega_dot_7 = Omega_dot_7;
|
|
almanac.M0_7 = M0_7;
|
|
|
|
// Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
|
|
almanac.IOD_a_8 = IOD_a_8;
|
|
almanac.af0_8 = af0_8;
|
|
almanac.af1_8 = af1_8;
|
|
almanac.E5b_HS_8 = E5b_HS_8;
|
|
almanac.E1B_HS_8 = E1B_HS_8;
|
|
almanac.SVID2_8 = SVID2_8;
|
|
almanac.DELTA_A_8 = DELTA_A_8;
|
|
almanac.e_8 = e_8;
|
|
almanac.omega_8 = omega_8;
|
|
almanac.delta_i_8 = delta_i_8;
|
|
almanac.Omega0_8 = Omega0_8;
|
|
almanac.Omega_dot_8 = Omega_dot_8;
|
|
|
|
// Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
|
almanac.IOD_a_9 = IOD_a_9;
|
|
almanac.WN_a_9 = WN_a_9;
|
|
almanac.t0a_9 = t0a_9;
|
|
almanac.M0_9 = M0_9;
|
|
almanac.af0_9 = af0_9;
|
|
almanac.af1_9 = af1_9;
|
|
almanac.E5b_HS_9 = E5b_HS_9;
|
|
almanac.E1B_HS_9 = E1B_HS_9;
|
|
almanac.SVID3_9 = SVID3_9;
|
|
almanac.DELTA_A_9 = DELTA_A_9;
|
|
almanac.e_9 = e_9;
|
|
almanac.omega_9 = omega_9;
|
|
almanac.delta_i_9 = delta_i_9;
|
|
|
|
// Word type 10: Almanac for SVID3 (2/2)
|
|
almanac.IOD_a_10 = IOD_a_10;
|
|
almanac.Omega0_10 = Omega0_10;
|
|
almanac.Omega_dot_10 = Omega_dot_10;
|
|
almanac.M0_10 = M0_10;
|
|
almanac.af0_10 = af0_10;
|
|
almanac.af1_10 = af1_10;
|
|
almanac.E5b_HS_10 = E5b_HS_10;
|
|
almanac.E1B_HS_10 = E1B_HS_10;
|
|
|
|
return almanac;
|
|
}
|
|
|
|
|
|
Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
|
|
{
|
|
Galileo_Reduced_CED ced{};
|
|
ced.PRN = SV_ID_PRN_4;
|
|
// From ICD: TOTRedCED is the start time of transmission of the
|
|
// Reduced CED word 16 in GST
|
|
if (TOW_5 > TOW_6)
|
|
{
|
|
ced.TOTRedCED = WN_5 * 604800 + TOW_5 + 4; // According to ICD 2.0, Table 38
|
|
}
|
|
else
|
|
{
|
|
ced.TOTRedCED = WN_5 * 604800 + TOW_6 + 10; // According to ICD 2.0, Table 38
|
|
}
|
|
std::array<int32_t, 4> iod_navs = {IOD_nav_1, IOD_nav_2, IOD_nav_3, IOD_nav_4};
|
|
int32_t max_IOD_nav = IOD_nav_1;
|
|
for (int i = 1; i < 4; i++)
|
|
{
|
|
if (iod_navs[i] > max_IOD_nav)
|
|
{
|
|
max_IOD_nav = iod_navs[i];
|
|
}
|
|
}
|
|
ced.IODnav = max_IOD_nav;
|
|
ced.DeltaAred = ced_DeltaAred;
|
|
ced.exred = ced_exred;
|
|
ced.eyred = ced_eyred;
|
|
ced.Deltai0red = ced_Deltai0red;
|
|
ced.Omega0red = ced_Omega0red;
|
|
ced.lambda0red = ced_lambda0red;
|
|
ced.af0red = ced_af0red;
|
|
ced.af1red = ced_af1red;
|
|
|
|
Galileo_Ephemeris eph = ced.compute_eph();
|
|
|
|
return eph;
|
|
}
|
|
|
|
|
|
void Galileo_Inav_Message::read_page_1(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
|
|
{
|
|
IOD_nav_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_1_BIT));
|
|
DLOG(INFO) << "IOD_nav_1= " << IOD_nav_1;
|
|
t0e_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, T0_E_1_BIT));
|
|
t0e_1 = t0e_1 * T0E_1_LSB;
|
|
DLOG(INFO) << "t0e_1= " << t0e_1;
|
|
M0_1 = static_cast<double>(read_navigation_signed(data_bits, M0_1_BIT));
|
|
M0_1 = M0_1 * M0_1_LSB;
|
|
DLOG(INFO) << "M0_1= " << M0_1;
|
|
e_1 = static_cast<double>(read_navigation_unsigned(data_bits, E_1_BIT));
|
|
e_1 = e_1 * E_1_LSB;
|
|
DLOG(INFO) << "e_1= " << e_1;
|
|
A_1 = static_cast<double>(read_navigation_unsigned(data_bits, A_1_BIT));
|
|
A_1 = A_1 * A_1_LSB_GAL;
|
|
DLOG(INFO) << "A_1= " << A_1;
|
|
flag_ephemeris_1 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
}
|
|
|
|
|
|
void Galileo_Inav_Message::read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
|
|
{
|
|
IOD_nav_2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_2_BIT));
|
|
DLOG(INFO) << "IOD_nav_2= " << IOD_nav_2;
|
|
OMEGA_0_2 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_0_2_BIT));
|
|
OMEGA_0_2 = OMEGA_0_2 * OMEGA_0_2_LSB;
|
|
DLOG(INFO) << "OMEGA_0_2= " << OMEGA_0_2;
|
|
i_0_2 = static_cast<double>(read_navigation_signed(data_bits, I_0_2_BIT));
|
|
i_0_2 = i_0_2 * I_0_2_LSB;
|
|
DLOG(INFO) << "i_0_2= " << i_0_2;
|
|
omega_2 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_2_BIT));
|
|
omega_2 = omega_2 * OMEGA_2_LSB;
|
|
DLOG(INFO) << "omega_2= " << omega_2;
|
|
iDot_2 = static_cast<double>(read_navigation_signed(data_bits, I_DOT_2_BIT));
|
|
iDot_2 = iDot_2 * I_DOT_2_LSB;
|
|
DLOG(INFO) << "iDot_2= " << iDot_2;
|
|
flag_ephemeris_2 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
}
|
|
|
|
|
|
void Galileo_Inav_Message::read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
|
|
{
|
|
IOD_nav_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_3_BIT));
|
|
DLOG(INFO) << "IOD_nav_3= " << IOD_nav_3;
|
|
OMEGA_dot_3 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_DOT_3_BIT));
|
|
OMEGA_dot_3 = OMEGA_dot_3 * OMEGA_DOT_3_LSB;
|
|
DLOG(INFO) << "OMEGA_dot_3= " << OMEGA_dot_3;
|
|
delta_n_3 = static_cast<double>(read_navigation_signed(data_bits, DELTA_N_3_BIT));
|
|
delta_n_3 = delta_n_3 * DELTA_N_3_LSB;
|
|
DLOG(INFO) << "delta_n_3= " << delta_n_3;
|
|
C_uc_3 = static_cast<double>(read_navigation_signed(data_bits, C_UC_3_BIT));
|
|
C_uc_3 = C_uc_3 * C_UC_3_LSB;
|
|
DLOG(INFO) << "C_uc_3= " << C_uc_3;
|
|
C_us_3 = static_cast<double>(read_navigation_signed(data_bits, C_US_3_BIT));
|
|
C_us_3 = C_us_3 * C_US_3_LSB;
|
|
DLOG(INFO) << "C_us_3= " << C_us_3;
|
|
C_rc_3 = static_cast<double>(read_navigation_signed(data_bits, C_RC_3_BIT));
|
|
C_rc_3 = C_rc_3 * C_RC_3_LSB;
|
|
DLOG(INFO) << "C_rc_3= " << C_rc_3;
|
|
C_rs_3 = static_cast<double>(read_navigation_signed(data_bits, C_RS_3_BIT));
|
|
C_rs_3 = C_rs_3 * C_RS_3_LSB;
|
|
DLOG(INFO) << "C_rs_3= " << C_rs_3;
|
|
SISA_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, SISA_3_BIT));
|
|
DLOG(INFO) << "SISA_3= " << SISA_3;
|
|
flag_ephemeris_3 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
}
|
|
|
|
|
|
void Galileo_Inav_Message::read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
|
|
{
|
|
IOD_nav_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_4_BIT));
|
|
DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4;
|
|
SV_ID_PRN_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, SV_ID_PRN_4_BIT));
|
|
DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4;
|
|
C_ic_4 = static_cast<double>(read_navigation_signed(data_bits, C_IC_4_BIT));
|
|
C_ic_4 = C_ic_4 * C_IC_4_LSB;
|
|
DLOG(INFO) << "C_ic_4= " << C_ic_4;
|
|
C_is_4 = static_cast<double>(read_navigation_signed(data_bits, C_IS_4_BIT));
|
|
C_is_4 = C_is_4 * C_IS_4_LSB;
|
|
DLOG(INFO) << "C_is_4= " << C_is_4;
|
|
// Clock correction parameters
|
|
t0c_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, T0C_4_BIT));
|
|
t0c_4 = t0c_4 * T0C_4_LSB;
|
|
DLOG(INFO) << "t0c_4= " << t0c_4;
|
|
af0_4 = static_cast<double>(read_navigation_signed(data_bits, AF0_4_BIT));
|
|
af0_4 = af0_4 * AF0_4_LSB;
|
|
DLOG(INFO) << "af0_4 = " << af0_4;
|
|
af1_4 = static_cast<double>(read_navigation_signed(data_bits, AF1_4_BIT));
|
|
af1_4 = af1_4 * AF1_4_LSB;
|
|
DLOG(INFO) << "af1_4 = " << af1_4;
|
|
af2_4 = static_cast<double>(read_navigation_signed(data_bits, AF2_4_BIT));
|
|
af2_4 = af2_4 * AF2_4_LSB;
|
|
DLOG(INFO) << "af2_4 = " << af2_4;
|
|
spare_4 = static_cast<double>(read_navigation_unsigned(data_bits, SPARE_4_BIT));
|
|
DLOG(INFO) << "spare_4 = " << spare_4;
|
|
flag_ephemeris_4 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
}
|
|
|
|
|
|
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_1(const std::vector<uint8_t>& decoded) const
|
|
{
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
|
// Set page type to 1
|
|
data_bits.set(5);
|
|
std::bitset<8> c0(decoded[0]);
|
|
std::bitset<8> c1(decoded[1]);
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
data_bits[6 + i] = c1[8 - i - 1];
|
|
}
|
|
data_bits[14] = c0[1];
|
|
data_bits[15] = c0[0];
|
|
for (int k = 2; k < 16; k++)
|
|
{
|
|
std::bitset<8> octet(decoded[k]);
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
data_bits[i + k * 8] = octet[8 - i - 1];
|
|
}
|
|
}
|
|
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
|
|
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
|
|
{
|
|
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
|
|
}
|
|
return data_bits_reversed;
|
|
}
|
|
|
|
|
|
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_2(const std::vector<uint8_t>& decoded) const
|
|
{
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
|
// Set page type to 2
|
|
data_bits.set(4);
|
|
|
|
std::bitset<10> iodnav(current_IODnav);
|
|
|
|
for (int i = 0; i < 10; i++)
|
|
{
|
|
data_bits[6 + i] = iodnav[10 - i - 1];
|
|
}
|
|
for (int k = 0; k < 14; k++)
|
|
{
|
|
std::bitset<8> octet(decoded[k + 16]);
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
data_bits[16 + i + k * 8] = octet[8 - i - 1];
|
|
}
|
|
}
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
|
|
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
|
|
{
|
|
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
|
|
}
|
|
return data_bits_reversed;
|
|
}
|
|
|
|
|
|
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_3(const std::vector<uint8_t>& decoded) const
|
|
{
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
|
// Set page type to 3
|
|
data_bits.set(4);
|
|
data_bits.set(5);
|
|
|
|
std::bitset<10> iodnav(current_IODnav);
|
|
|
|
for (int i = 0; i < 10; i++)
|
|
{
|
|
data_bits[6 + i] = iodnav[10 - i - 1];
|
|
}
|
|
for (int k = 0; k < 14; k++)
|
|
{
|
|
std::bitset<8> octet(decoded[k + 30]);
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
data_bits[16 + i + k * 8] = octet[8 - i - 1];
|
|
}
|
|
}
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
|
|
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
|
|
{
|
|
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
|
|
}
|
|
return data_bits_reversed;
|
|
}
|
|
|
|
|
|
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_4(const std::vector<uint8_t>& decoded) const
|
|
{
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
|
// Set page type to 4
|
|
data_bits.set(3);
|
|
|
|
std::bitset<10> iodnav(current_IODnav);
|
|
|
|
for (int i = 0; i < 10; i++)
|
|
{
|
|
data_bits[6 + i] = iodnav[10 - i - 1];
|
|
}
|
|
for (int k = 0; k < 14; k++)
|
|
{
|
|
std::bitset<8> octet(decoded[k + 44]);
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
data_bits[16 + i + k * 8] = octet[8 - i - 1];
|
|
}
|
|
}
|
|
std::bitset<GALILEO_DATA_JK_BITS> data_bits_reversed;
|
|
for (int i = 0; i < GALILEO_DATA_JK_BITS; i++)
|
|
{
|
|
data_bits_reversed[GALILEO_DATA_JK_BITS - i - 1] = data_bits[i];
|
|
}
|
|
return data_bits_reversed;
|
|
}
|
|
|
|
|
|
int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
|
{
|
|
const std::string data_jk_string = data_jk;
|
|
const std::bitset<GALILEO_DATA_JK_BITS> data_jk_bits(data_jk_string);
|
|
|
|
const auto page_number = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, PAGE_TYPE_BIT));
|
|
DLOG(INFO) << "Page number = " << page_number;
|
|
|
|
switch (page_number)
|
|
{
|
|
case 1: // Word type 1: Ephemeris (1/4)
|
|
{
|
|
read_page_1(data_jk_bits);
|
|
if (enable_rs)
|
|
{
|
|
if (current_IODnav == 0)
|
|
{
|
|
current_IODnav = IOD_nav_1;
|
|
}
|
|
if (current_IODnav != IOD_nav_1)
|
|
{
|
|
// IODnav changed, reset buffer
|
|
current_IODnav = IOD_nav_1;
|
|
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
|
// Reed-Solomon data is invalid
|
|
inav_rs_pages = std::vector<int>(8, 0);
|
|
}
|
|
|
|
// Store RS information vector C_{RS,0}
|
|
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{1, 6}, {15, 2}});
|
|
rs_buffer[0] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
info_octet_bits = std::vector<std::pair<int32_t, int32_t>>({{7, BITS_IN_OCTET}});
|
|
rs_buffer[1] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 2; i < 16; i++)
|
|
{
|
|
info_octet_bits = std::vector<std::pair<int32_t, int32_t>>({{start_bit, BITS_IN_OCTET}});
|
|
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[0] = 1;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case 2: // Word type 2: Ephemeris (2/4)
|
|
{
|
|
read_page_2(data_jk_bits);
|
|
if (enable_rs)
|
|
{
|
|
if (current_IODnav == 0)
|
|
{
|
|
current_IODnav = IOD_nav_2;
|
|
}
|
|
if (current_IODnav != IOD_nav_2)
|
|
{
|
|
// IODnav changed, reset buffer
|
|
current_IODnav = IOD_nav_2;
|
|
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
|
// Reed-Solomon data is invalid
|
|
inav_rs_pages = std::vector<int>(8, 0);
|
|
}
|
|
|
|
// Store RS information vector C_{RS,1}
|
|
rs_buffer[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 16; i < 30; i++)
|
|
{
|
|
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
|
|
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[1] = 1;
|
|
}
|
|
break;
|
|
}
|
|
case 3: // Word type 3: Ephemeris (3/4) and SISA
|
|
{
|
|
read_page_3(data_jk_bits);
|
|
if (enable_rs)
|
|
{
|
|
if (current_IODnav == 0)
|
|
{
|
|
current_IODnav = IOD_nav_3;
|
|
}
|
|
if (current_IODnav != IOD_nav_3)
|
|
{
|
|
// IODnav changed, reset buffer
|
|
current_IODnav = IOD_nav_3;
|
|
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
|
// Reed-Solomon data is invalid
|
|
inav_rs_pages = std::vector<int>(8, 0);
|
|
}
|
|
|
|
// Store RS information vector C_{RS,2}
|
|
rs_buffer[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 30; i < 44; i++)
|
|
{
|
|
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
|
|
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[2] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 4: // Word type 4: Ephemeris (4/4) and Clock correction parameters
|
|
{
|
|
read_page_4(data_jk_bits);
|
|
if (enable_rs)
|
|
{
|
|
if (current_IODnav == 0)
|
|
{
|
|
current_IODnav = IOD_nav_4;
|
|
}
|
|
if (current_IODnav != IOD_nav_4)
|
|
{
|
|
// IODnav changed, reset buffer
|
|
current_IODnav = IOD_nav_4;
|
|
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
|
// Reed-Solomon data is invalid
|
|
inav_rs_pages = std::vector<int>(8, 0);
|
|
}
|
|
|
|
// Store RS information vector C_{RS,3}
|
|
rs_buffer[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 44; i < INAV_RS_INFO_VECTOR_LENGTH; i++)
|
|
{
|
|
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
|
|
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[3] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 5: // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST
|
|
// Ionospheric correction
|
|
ai0_5 = static_cast<double>(read_navigation_unsigned(data_jk_bits, AI0_5_BIT));
|
|
ai0_5 = ai0_5 * AI0_5_LSB;
|
|
DLOG(INFO) << "ai0_5= " << ai0_5;
|
|
ai1_5 = static_cast<double>(read_navigation_signed(data_jk_bits, AI1_5_BIT));
|
|
ai1_5 = ai1_5 * AI1_5_LSB;
|
|
DLOG(INFO) << "ai1_5= " << ai1_5;
|
|
ai2_5 = static_cast<double>(read_navigation_signed(data_jk_bits, AI2_5_BIT));
|
|
ai2_5 = ai2_5 * AI2_5_LSB;
|
|
DLOG(INFO) << "ai2_5= " << ai2_5;
|
|
// Ionospheric disturbance flag
|
|
Region1_flag_5 = read_navigation_bool(data_jk_bits, REGION1_5_BIT);
|
|
DLOG(INFO) << "Region1_flag_5= " << Region1_flag_5;
|
|
Region2_flag_5 = read_navigation_bool(data_jk_bits, REGION2_5_BIT);
|
|
DLOG(INFO) << "Region2_flag_5= " << Region2_flag_5;
|
|
Region3_flag_5 = read_navigation_bool(data_jk_bits, REGION3_5_BIT);
|
|
DLOG(INFO) << "Region3_flag_5= " << Region3_flag_5;
|
|
Region4_flag_5 = read_navigation_bool(data_jk_bits, REGION4_5_BIT);
|
|
DLOG(INFO) << "Region4_flag_5= " << Region4_flag_5;
|
|
Region5_flag_5 = read_navigation_bool(data_jk_bits, REGION5_5_BIT);
|
|
DLOG(INFO) << "Region5_flag_5= " << Region5_flag_5;
|
|
BGD_E1E5a_5 = static_cast<double>(read_navigation_signed(data_jk_bits, BGD_E1_E5A_5_BIT));
|
|
BGD_E1E5a_5 = BGD_E1E5a_5 * BGD_E1_E5A_5_LSB;
|
|
DLOG(INFO) << "BGD_E1E5a_5= " << BGD_E1E5a_5;
|
|
BGD_E1E5b_5 = static_cast<double>(read_navigation_signed(data_jk_bits, BGD_E1_E5B_5_BIT));
|
|
BGD_E1E5b_5 = BGD_E1E5b_5 * BGD_E1_E5B_5_LSB;
|
|
DLOG(INFO) << "BGD_E1E5b_5= " << BGD_E1E5b_5;
|
|
E5b_HS_5 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E5B_HS_5_BIT));
|
|
DLOG(INFO) << "E5b_HS_5= " << E5b_HS_5;
|
|
E1B_HS_5 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E1_B_HS_5_BIT));
|
|
DLOG(INFO) << "E1B_HS_5= " << E1B_HS_5;
|
|
E5b_DVS_5 = static_cast<bool>(read_navigation_unsigned(data_jk_bits, E5B_DVS_5_BIT));
|
|
DLOG(INFO) << "E5b_DVS_5= " << E5b_DVS_5;
|
|
E1B_DVS_5 = static_cast<bool>(read_navigation_unsigned(data_jk_bits, E1_B_DVS_5_BIT));
|
|
DLOG(INFO) << "E1B_DVS_5= " << E1B_DVS_5;
|
|
// GST
|
|
WN_5 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_5_BIT));
|
|
WN_0 = WN_5;
|
|
DLOG(INFO) << "WN_5= " << WN_5;
|
|
TOW_5 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_5_BIT));
|
|
DLOG(INFO) << "TOW_5= " << TOW_5;
|
|
flag_TOW_5 = true; // set to false externally
|
|
spare_5 = static_cast<double>(read_navigation_unsigned(data_jk_bits, SPARE_5_BIT));
|
|
DLOG(INFO) << "spare_5= " << spare_5;
|
|
flag_iono_and_GST = true; // set to false externally
|
|
flag_TOW_set = true; // set to false externally
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 6: // Word type 6: GST-UTC conversion parameters
|
|
A0_6 = static_cast<double>(read_navigation_signed(data_jk_bits, A0_6_BIT));
|
|
A0_6 = A0_6 * A0_6_LSB;
|
|
DLOG(INFO) << "A0_6= " << A0_6;
|
|
A1_6 = static_cast<double>(read_navigation_signed(data_jk_bits, A1_6_BIT));
|
|
A1_6 = A1_6 * A1_6_LSB;
|
|
DLOG(INFO) << "A1_6= " << A1_6;
|
|
Delta_tLS_6 = static_cast<int32_t>(read_navigation_signed(data_jk_bits, DELTA_T_LS_6_BIT));
|
|
DLOG(INFO) << "Delta_tLS_6= " << Delta_tLS_6;
|
|
t0t_6 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T0T_6_BIT));
|
|
t0t_6 = t0t_6 * T0T_6_LSB;
|
|
DLOG(INFO) << "t0t_6= " << t0t_6;
|
|
WNot_6 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, W_NOT_6_BIT));
|
|
DLOG(INFO) << "WNot_6= " << WNot_6;
|
|
WN_LSF_6 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_LSF_6_BIT));
|
|
DLOG(INFO) << "WN_LSF_6= " << WN_LSF_6;
|
|
DN_6 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, DN_6_BIT));
|
|
DLOG(INFO) << "DN_6= " << DN_6;
|
|
Delta_tLSF_6 = static_cast<int32_t>(read_navigation_signed(data_jk_bits, DELTA_T_LSF_6_BIT));
|
|
DLOG(INFO) << "Delta_tLSF_6= " << Delta_tLSF_6;
|
|
TOW_6 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_6_BIT));
|
|
DLOG(INFO) << "TOW_6= " << TOW_6;
|
|
flag_TOW_6 = true; // set to false externally
|
|
flag_utc_model = true; // set to false externally
|
|
flag_TOW_set = true; // set to false externally
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 7: // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
|
|
IOD_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_7_BIT));
|
|
DLOG(INFO) << "IOD_a_7= " << IOD_a_7;
|
|
WN_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_7_BIT));
|
|
DLOG(INFO) << "WN_a_7= " << WN_a_7;
|
|
t0a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T0A_7_BIT));
|
|
t0a_7 = t0a_7 * T0A_7_LSB;
|
|
DLOG(INFO) << "t0a_7= " << t0a_7;
|
|
SVID1_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, SVI_D1_7_BIT));
|
|
DLOG(INFO) << "SVID1_7= " << SVID1_7;
|
|
DELTA_A_7 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_A_7_BIT));
|
|
DELTA_A_7 = DELTA_A_7 * DELTA_A_7_LSB;
|
|
DLOG(INFO) << "DELTA_A_7= " << DELTA_A_7;
|
|
e_7 = static_cast<double>(read_navigation_unsigned(data_jk_bits, E_7_BIT));
|
|
e_7 = e_7 * E_7_LSB;
|
|
DLOG(INFO) << "e_7= " << e_7;
|
|
omega_7 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_7_BIT));
|
|
omega_7 = omega_7 * OMEGA_7_LSB;
|
|
DLOG(INFO) << "omega_7= " << omega_7;
|
|
delta_i_7 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_I_7_BIT));
|
|
delta_i_7 = delta_i_7 * DELTA_I_7_LSB;
|
|
DLOG(INFO) << "delta_i_7= " << delta_i_7;
|
|
Omega0_7 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA0_7_BIT));
|
|
Omega0_7 = Omega0_7 * OMEGA0_7_LSB;
|
|
DLOG(INFO) << "Omega0_7= " << Omega0_7;
|
|
Omega_dot_7 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_DOT_7_BIT));
|
|
Omega_dot_7 = Omega_dot_7 * OMEGA_DOT_7_LSB;
|
|
DLOG(INFO) << "Omega_dot_7= " << Omega_dot_7;
|
|
M0_7 = static_cast<double>(read_navigation_signed(data_jk_bits, M0_7_BIT));
|
|
M0_7 = M0_7 * M0_7_LSB;
|
|
DLOG(INFO) << "M0_7= " << M0_7;
|
|
flag_almanac_1 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 8: // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
|
|
IOD_a_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_8_BIT));
|
|
DLOG(INFO) << "IOD_a_8= " << IOD_a_8;
|
|
af0_8 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_8_BIT));
|
|
af0_8 = af0_8 * AF0_8_LSB;
|
|
DLOG(INFO) << "af0_8= " << af0_8;
|
|
af1_8 = static_cast<double>(read_navigation_signed(data_jk_bits, AF1_8_BIT));
|
|
af1_8 = af1_8 * AF1_8_LSB;
|
|
DLOG(INFO) << "af1_8= " << af1_8;
|
|
E5b_HS_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E5B_HS_8_BIT));
|
|
DLOG(INFO) << "E5b_HS_8= " << E5b_HS_8;
|
|
E1B_HS_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E1_B_HS_8_BIT));
|
|
DLOG(INFO) << "E1B_HS_8= " << E1B_HS_8;
|
|
SVID2_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, SVI_D2_8_BIT));
|
|
DLOG(INFO) << "SVID2_8= " << SVID2_8;
|
|
DELTA_A_8 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_A_8_BIT));
|
|
DELTA_A_8 = DELTA_A_8 * DELTA_A_8_LSB;
|
|
DLOG(INFO) << "DELTA_A_8= " << DELTA_A_8;
|
|
e_8 = static_cast<double>(read_navigation_unsigned(data_jk_bits, E_8_BIT));
|
|
e_8 = e_8 * E_8_LSB;
|
|
DLOG(INFO) << "e_8= " << e_8;
|
|
omega_8 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_8_BIT));
|
|
omega_8 = omega_8 * OMEGA_8_LSB;
|
|
DLOG(INFO) << "omega_8= " << omega_8;
|
|
delta_i_8 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_I_8_BIT));
|
|
delta_i_8 = delta_i_8 * DELTA_I_8_LSB;
|
|
DLOG(INFO) << "delta_i_8= " << delta_i_8;
|
|
Omega0_8 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA0_8_BIT));
|
|
Omega0_8 = Omega0_8 * OMEGA0_8_LSB;
|
|
DLOG(INFO) << "Omega0_8= " << Omega0_8;
|
|
Omega_dot_8 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_DOT_8_BIT));
|
|
Omega_dot_8 = Omega_dot_8 * OMEGA_DOT_8_LSB;
|
|
DLOG(INFO) << "Omega_dot_8= " << Omega_dot_8;
|
|
flag_almanac_2 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 9: // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
|
|
IOD_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_9_BIT));
|
|
DLOG(INFO) << "IOD_a_9= " << IOD_a_9;
|
|
WN_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_9_BIT));
|
|
DLOG(INFO) << "WN_a_9= " << WN_a_9;
|
|
t0a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T0A_9_BIT));
|
|
t0a_9 = t0a_9 * T0A_9_LSB;
|
|
DLOG(INFO) << "t0a_9= " << t0a_9;
|
|
M0_9 = static_cast<double>(read_navigation_signed(data_jk_bits, M0_9_BIT));
|
|
M0_9 = M0_9 * M0_9_LSB;
|
|
DLOG(INFO) << "M0_9= " << M0_9;
|
|
af0_9 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_9_BIT));
|
|
af0_9 = af0_9 * AF0_9_LSB;
|
|
DLOG(INFO) << "af0_9= " << af0_9;
|
|
af1_9 = static_cast<double>(read_navigation_signed(data_jk_bits, AF1_9_BIT));
|
|
af1_9 = af1_9 * AF1_9_LSB;
|
|
DLOG(INFO) << "af1_9= " << af1_9;
|
|
E5b_HS_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E5B_HS_9_BIT));
|
|
DLOG(INFO) << "E5b_HS_9= " << E5b_HS_9;
|
|
E1B_HS_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E1_B_HS_9_BIT));
|
|
DLOG(INFO) << "E1B_HS_9= " << E1B_HS_9;
|
|
SVID3_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, SVI_D3_9_BIT));
|
|
DLOG(INFO) << "SVID3_9= " << SVID3_9;
|
|
DELTA_A_9 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_A_9_BIT));
|
|
DELTA_A_9 = DELTA_A_9 * DELTA_A_9_LSB;
|
|
DLOG(INFO) << "DELTA_A_9= " << DELTA_A_9;
|
|
e_9 = static_cast<double>(read_navigation_unsigned(data_jk_bits, E_9_BIT));
|
|
e_9 = e_9 * E_9_LSB;
|
|
DLOG(INFO) << "e_9= " << e_9;
|
|
omega_9 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_9_BIT));
|
|
omega_9 = omega_9 * OMEGA_9_LSB;
|
|
DLOG(INFO) << "omega_9= " << omega_9;
|
|
delta_i_9 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_I_9_BIT));
|
|
delta_i_9 = delta_i_9 * DELTA_I_9_LSB;
|
|
DLOG(INFO) << "delta_i_9= " << delta_i_9;
|
|
flag_almanac_3 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 10: // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters
|
|
IOD_a_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_10_BIT));
|
|
DLOG(INFO) << "IOD_a_10= " << IOD_a_10;
|
|
Omega0_10 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA0_10_BIT));
|
|
Omega0_10 = Omega0_10 * OMEGA0_10_LSB;
|
|
DLOG(INFO) << "Omega0_10= " << Omega0_10;
|
|
Omega_dot_10 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_DOT_10_BIT));
|
|
Omega_dot_10 = Omega_dot_10 * OMEGA_DOT_10_LSB;
|
|
DLOG(INFO) << "Omega_dot_10= " << Omega_dot_10;
|
|
M0_10 = static_cast<double>(read_navigation_signed(data_jk_bits, M0_10_BIT));
|
|
M0_10 = M0_10 * M0_10_LSB;
|
|
DLOG(INFO) << "M0_10= " << M0_10;
|
|
af0_10 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_10_BIT));
|
|
af0_10 = af0_10 * AF0_10_LSB;
|
|
DLOG(INFO) << "af0_10= " << af0_10;
|
|
af1_10 = static_cast<double>(read_navigation_signed(data_jk_bits, AF1_10_BIT));
|
|
af1_10 = af1_10 * AF1_10_LSB;
|
|
DLOG(INFO) << "af1_10= " << af1_10;
|
|
E5b_HS_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E5B_HS_10_BIT));
|
|
DLOG(INFO) << "E5b_HS_10= " << E5b_HS_10;
|
|
E1B_HS_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, E1_B_HS_10_BIT));
|
|
DLOG(INFO) << "E1B_HS_10= " << E1B_HS_10;
|
|
A_0G_10 = static_cast<double>(read_navigation_signed(data_jk_bits, A_0_G_10_BIT));
|
|
A_0G_10 = A_0G_10 * A_0G_10_LSB;
|
|
flag_GGTO_1 = true;
|
|
DLOG(INFO) << "A_0G_10= " << A_0G_10;
|
|
A_1G_10 = static_cast<double>(read_navigation_signed(data_jk_bits, A_1_G_10_BIT));
|
|
A_1G_10 = A_1G_10 * A_1G_10_LSB;
|
|
flag_GGTO_2 = true;
|
|
DLOG(INFO) << "A_1G_10= " << A_1G_10;
|
|
t_0G_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T_0_G_10_BIT));
|
|
t_0G_10 = t_0G_10 * T_0_G_10_LSB;
|
|
flag_GGTO_3 = true;
|
|
DLOG(INFO) << "t_0G_10= " << t_0G_10;
|
|
WN_0G_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_G_10_BIT));
|
|
flag_GGTO_4 = true;
|
|
DLOG(INFO) << "WN_0G_10= " << WN_0G_10;
|
|
flag_almanac_4 = true;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
break;
|
|
|
|
case 16: // Word type 16: Reduced Clock and Ephemeris Data (CED) parameters
|
|
DLOG(INFO) << "Word type 16 arrived";
|
|
ced_DeltaAred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_DeltaAred_BIT));
|
|
ced_DeltaAred = ced_DeltaAred * CED_DeltaAred_LSB;
|
|
DLOG(INFO) << "DeltaAred = " << ced_DeltaAred;
|
|
ced_exred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_exred_BIT));
|
|
ced_exred = ced_exred * CED_exred_LSB;
|
|
DLOG(INFO) << "exred = " << ced_exred;
|
|
ced_eyred = static_cast<double>(read_navigation_signed(data_jk_bits, CED_eyred_BIT));
|
|
ced_eyred = ced_eyred * CED_eyred_LSB;
|
|
DLOG(INFO) << "eyred = " << ced_eyred;
|
|
ced_Deltai0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_Deltai0red_BIT));
|
|
ced_Deltai0red = ced_Deltai0red * CED_Deltai0red_LSB;
|
|
DLOG(INFO) << "Deltai0red = " << ced_Deltai0red;
|
|
ced_Omega0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_Omega0red_BIT));
|
|
ced_Omega0red = ced_Omega0red * CED_Omega0red_LSB;
|
|
DLOG(INFO) << "Omega0red = " << ced_Omega0red;
|
|
ced_lambda0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_lambda0red_BIT));
|
|
ced_lambda0red = ced_lambda0red * CED_lambda0red_LSB;
|
|
DLOG(INFO) << "lambda0red = " << ced_lambda0red;
|
|
ced_af0red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_af0red_BIT));
|
|
ced_af0red = ced_af0red * CED_af0red_LSB;
|
|
DLOG(INFO) << "af0red = " << ced_af0red;
|
|
ced_af1red = static_cast<double>(read_navigation_signed(data_jk_bits, CED_af1red_BIT));
|
|
ced_af1red = ced_af1red * CED_af1red_LSB;
|
|
DLOG(INFO) << "af1red = " << ced_af1red;
|
|
flag_CED = true;
|
|
break;
|
|
|
|
case 17: // Word type 17: FEC2 Reed-Solomon for CED
|
|
{
|
|
if (enable_rs)
|
|
{
|
|
IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
|
DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
|
|
if (IODnav_LSB17 != static_cast<uint8_t>((current_IODnav % 4)))
|
|
{
|
|
// IODnav changed, information vector is invalid
|
|
inav_rs_pages[0] = 0;
|
|
inav_rs_pages[1] = 0;
|
|
inav_rs_pages[2] = 0;
|
|
inav_rs_pages[3] = 0;
|
|
}
|
|
// Store RS parity vector gamma_{RS,0}
|
|
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
|
|
{
|
|
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[4] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 18: // Word type 18: FEC2 Reed-Solomon for CED
|
|
{
|
|
if (enable_rs)
|
|
{
|
|
IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
|
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
|
|
if (IODnav_LSB18 != static_cast<uint8_t>((current_IODnav % 4)))
|
|
{
|
|
// IODnav changed, information vector is invalid
|
|
inav_rs_pages[0] = 0;
|
|
inav_rs_pages[1] = 0;
|
|
inav_rs_pages[2] = 0;
|
|
inav_rs_pages[3] = 0;
|
|
}
|
|
// Store RS parity vector gamma_{RS,1}
|
|
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = INAV_RS_SUBVECTOR_LENGTH + 1; i < 2 * INAV_RS_SUBVECTOR_LENGTH; i++)
|
|
{
|
|
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[5] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 19: // Word type 19: FEC2 Reed-Solomon for CED
|
|
{
|
|
if (enable_rs)
|
|
{
|
|
IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
|
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
|
|
if (IODnav_LSB19 != static_cast<uint8_t>((current_IODnav % 4)))
|
|
{
|
|
// IODnav changed, information vector is invalid
|
|
inav_rs_pages[0] = 0;
|
|
inav_rs_pages[1] = 0;
|
|
inav_rs_pages[2] = 0;
|
|
inav_rs_pages[3] = 0;
|
|
}
|
|
// Store RS parity vector gamma_{RS,2}
|
|
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 2 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 2 * INAV_RS_SUBVECTOR_LENGTH + 1; i < 3 * INAV_RS_SUBVECTOR_LENGTH; i++)
|
|
{
|
|
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[6] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 20: // Word type 20: FEC2 Reed-Solomon for CED
|
|
{
|
|
if (enable_rs)
|
|
{
|
|
IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
|
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
|
|
if (IODnav_LSB20 != static_cast<uint8_t>((current_IODnav % 4)))
|
|
{
|
|
// IODnav changed, information vector is invalid
|
|
inav_rs_pages[0] = 0;
|
|
inav_rs_pages[1] = 0;
|
|
inav_rs_pages[2] = 0;
|
|
inav_rs_pages[3] = 0;
|
|
}
|
|
// Store RS parity vector gamma_{RS,4}
|
|
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 3 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
|
|
for (size_t i = 3 * INAV_RS_SUBVECTOR_LENGTH + 1; i < 4 * INAV_RS_SUBVECTOR_LENGTH; i++)
|
|
{
|
|
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
|
|
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
|
start_bit += BITS_IN_OCTET;
|
|
}
|
|
inav_rs_pages[7] = 1;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 0: // Word type 0: I/NAV Spare Word
|
|
Time_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TIME_0_BIT));
|
|
DLOG(INFO) << "Time_0= " << Time_0;
|
|
if (Time_0 == 2) // valid data
|
|
{
|
|
WN_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_BIT));
|
|
WN_5 = WN_0;
|
|
DLOG(INFO) << "WN_0= " << WN_0;
|
|
TOW_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_0_BIT));
|
|
flag_TOW_set = true; // set to false externally
|
|
flag_TOW_0 = true; // set to false externally
|
|
DLOG(INFO) << "TOW_0= " << TOW_0;
|
|
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
return page_number;
|
|
}
|