mirror of https://github.com/gnss-sdr/gnss-sdr
164 lines
8.2 KiB
C
164 lines
8.2 KiB
C
/*!
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* \file rtklib_sbas.h
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* \brief sbas functions
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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* References :
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* [1] RTCA/DO-229C, Minimum operational performanc standards for global
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* positioning system/wide area augmentation system airborne equipment,
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* RTCA inc, November 28, 2001
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* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
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* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
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* July 31, 2009
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*
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*----------------------------------------------------------------------------*/
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#ifndef GNSS_SDR_RTKLIB_SBAS_H_
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#define GNSS_SDR_RTKLIB_SBAS_H_
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#include "rtklib.h"
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/* constants -----------------------------------------------------------------*/
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const int WEEKOFFSET = 1024; /* gps week offset for NovAtel OEM-3 */
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/* sbas igp definition -------------------------------------------------------*/
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static const short
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X1[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20,
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25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
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X2[] = {-55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30,
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35, 40, 45, 50, 55},
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X3[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20,
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25, 30, 35, 40, 45, 50, 55, 65, 75},
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X4[] = {-85, -75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15,
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20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
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X5[] = {-180, -175, -170, -165, -160, -155, -150, -145, -140, -135, -130, -125, -120, -115,
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-110, -105, -100, -95, -90, -85, -80, -75, -70, -65, -60, -55, -50, -45,
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-40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25,
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30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
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100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
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170, 175},
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X6[] = {-180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50,
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-40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
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100, 110, 120, 130, 140, 150, 160, 170},
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X7[] = {-180, -150, -120, -90, -60, -30, 0, 30, 60, 90, 120, 150},
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X8[] = {-170, -140, -110, -80, -50, -20, 10, 40, 70, 100, 130, 160};
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const sbsigpband_t IGPBAND1[9][8] = {/* band 0-8 */
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{{-180, X1, 1, 28}, {-175, X2, 29, 51}, {-170, X3, 52, 78}, {-165, X2, 79, 101},
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{-160, X3, 102, 128}, {-155, X2, 129, 151}, {-150, X3, 152, 178}, {-145, X2, 179, 201}},
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{{-140, X4, 1, 28}, {-135, X2, 29, 51}, {-130, X3, 52, 78}, {-125, X2, 79, 101},
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{-120, X3, 102, 128}, {-115, X2, 129, 151}, {-110, X3, 152, 178}, {-105, X2, 179, 201}},
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{{-100, X3, 1, 27}, {-95, X2, 28, 50}, {-90, X1, 51, 78}, {-85, X2, 79, 101},
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{-80, X3, 102, 128}, {-75, X2, 129, 151}, {-70, X3, 152, 178}, {-65, X2, 179, 201}},
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{{-60, X3, 1, 27}, {-55, X2, 28, 50}, {-50, X4, 51, 78}, {-45, X2, 79, 101},
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{-40, X3, 102, 128}, {-35, X2, 129, 151}, {-30, X3, 152, 178}, {-25, X2, 179, 201}},
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{{-20, X3, 1, 27}, {-15, X2, 28, 50}, {-10, X3, 51, 77}, {-5, X2, 78, 100},
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{0, X1, 101, 128}, {5, X2, 129, 151}, {10, X3, 152, 178}, {15, X2, 179, 201}},
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{{20, X3, 1, 27}, {25, X2, 28, 50}, {30, X3, 51, 77}, {35, X2, 78, 100},
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{40, X4, 101, 128}, {45, X2, 129, 151}, {50, X3, 152, 178}, {55, X2, 179, 201}},
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{{60, X3, 1, 27}, {65, X2, 28, 50}, {70, X3, 51, 77}, {75, X2, 78, 100},
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{80, X3, 101, 127}, {85, X2, 128, 150}, {90, X1, 151, 178}, {95, X2, 179, 201}},
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{{100, X3, 1, 27}, {105, X2, 28, 50}, {110, X3, 51, 77}, {115, X2, 78, 100},
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{120, X3, 101, 127}, {125, X2, 128, 150}, {130, X4, 151, 178}, {135, X2, 179, 201}},
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{{140, X3, 1, 27}, {145, X2, 28, 50}, {150, X3, 51, 77}, {155, X2, 78, 100},
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{160, X3, 101, 127}, {165, X2, 128, 150}, {170, X3, 151, 177}, {175, X2, 178, 200}}};
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const sbsigpband_t IGPBAND2[2][5] = {/* band 9-10 */
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{{60, X5, 1, 72}, {65, X6, 73, 108}, {70, X6, 109, 144}, {75, X6, 145, 180},
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{85, X7, 181, 192}},
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{{-60, X5, 1, 72}, {-65, X6, 73, 108}, {-70, X6, 109, 144}, {-75, X6, 145, 180},
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{-85, X8, 181, 192}}};
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char *getfield(char *p, int pos);
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double varfcorr(int udre);
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double varicorr(int give);
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double degfcorr(int ai);
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int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav);
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int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion);
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int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
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int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
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int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
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int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
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void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te, sbs_t *sbs);
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int cmpmsgs(const void *p1, const void *p2);
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int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
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sbs_t *sbs);
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int sbsreadmsg(const char *file, int sel, sbs_t *sbs);
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void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg);
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void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
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const sbsigp_t **igp, double *x, double *y);
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int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
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const double *azel, double *delay, double *var);
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void getmet(double lat, double *met);
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double sbstropcorr(gtime_t time, const double *pos, const double *azel,
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double *var);
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int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
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double *drs, double *ddts);
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int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
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double *prc, double *var);
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int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
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double *dts, double *var);
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int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
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sbsmsg_t *sbsmsg);
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#endif /* GNSS_SDR_RTKLIB_SBAS_H_ */
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