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https://github.com/gnss-sdr/gnss-sdr
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806af3e98f
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@422 64b25241-fba3-4117-9849-534c7e92360d
312 lines
11 KiB
C++
312 lines
11 KiB
C++
/*!
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* \file galileo_navigation_message.h
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* \brief Implementation of a Galileo NAV Data message decoder as described in Galileo ICD
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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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* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H_
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#define GNSS_SDR_GALILEO_NAVIGATION_MESSAGE_H_
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#include <iostream>
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#include <map>
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#include <vector>
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#include <string>
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#include <algorithm>
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#include <bitset>
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#include <boost/assign.hpp>
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#include <boost/cstdint.hpp> // for boost::uint16_t
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#include <cmath>
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#include <utility>
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// Galileo Navigation Message structures
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#include "galileo_ephemeris.h"
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#include "galileo_iono.h"
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#include "galileo_almanac.h"
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#include "galileo_utc_model.h"
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#include "Galileo_E1.h"
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#include "galileo_ephemeris.h"
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#include "galileo_iono.h"
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#include "galileo_utc_model.h"
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class Galileo_Navigation_Message {
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private:
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bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
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bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
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//void print_galileo_word_bytes(unsigned int GPS_word);
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unsigned long int read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector< std::pair<int,int> > parameter);
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unsigned long int read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector< std::pair<int,int> > parameter);
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signed long int read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int,int> > parameter);
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int x,y;
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public:
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int Page_type_time_stamp;
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int flag_even_word;
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bool flag_CRC_test;
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bool flag_all_ephemeris; // flag indicating that all words containing ephemeris have been received
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bool flag_ephemeris_1; // flag indicating that ephemeris 1/4 (word 1) have been received
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bool flag_ephemeris_2; // flag indicating that ephemeris 2/4 (word 2) have been received
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bool flag_ephemeris_3; // flag indicating that ephemeris 3/4 (word 3) have been received
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bool flag_ephemeris_4; // flag indicating that ephemeris 4/4 (word 4) have been received
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bool flag_iono_and_GST; // flag indicating that ionospheric and GST parameters (word 5) have been received
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bool flag_TOW_5;
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bool flag_TOW_6;
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bool flag_TOW_set; // it is true when page 5 or page 6 arrives
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bool flag_utc_model; // flag indicating that utc model parameters (word 6) have been received
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bool flag_all_almanac; // flag indicating that all almanac have been received
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bool flag_almanac_1; // flag indicating that almanac 1/4 (word 7) have been received
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bool flag_almanac_2; // flag indicating that almanac 2/4 (word 8) have been received
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bool flag_almanac_3; // flag indicating that almanac 3/4 (word 9) have been received
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bool flag_almanac_4; // flag indicating that almanac 4/4 (word 10) have been received
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int IOD_ephemeris;
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/*Word type 1: Ephemeris (1/4)*/
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int IOD_nav_1; // IOD_nav page 1
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double t0e_1; // Ephemeris reference time [s]
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double M0_1; // Mean anomaly at reference time [semi-circles]
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double e_1; // Eccentricity
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double A_1; // Square root of the semi-major axis [metres^1/2]
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/*Word type 2: Ephemeris (2/4)*/
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int IOD_nav_2; // IOD_nav page 2
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double OMEGA_0_2; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
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double i_0_2; // Inclination angle at reference time [semi-circles]
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double omega_2; // Argument of perigee [semi-circles]
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double iDot_2; // Rate of inclination angle [semi-circles/sec]
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/*Word type 3: Ephemeris (3/4) and SISA*/
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int IOD_nav_3; //
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double OMEGA_dot_3; // Rate of right ascension [semi-circles/sec]
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double delta_n_3; // Mean motion difference from computed value [semi-circles/sec]
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double C_uc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
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double C_us_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
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double C_rc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
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double C_rs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
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double SISA_3; //
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/*Word type 4: Ephemeris (4/4) and Clock correction parameters*/
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int IOD_nav_4; //
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int SV_ID_PRN_4; //
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double C_ic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
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double C_is_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
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/*Clock correction parameters*/
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double t0c_4; //Clock correction data reference Time of Week [sec]
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double af0_4; //SV clock bias correction coefficient [s]
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double af1_4; //SV clock drift correction coefficient [s/s]
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double af2_4; //SV clock drift rate correction coefficient [s/s^2]
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double spare_4;
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/*Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST*/
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/*Ionospheric correction*/
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/*Az*/
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double ai0_5; //Effective Ionisation Level 1st order parameter [sfu]
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double ai1_5; //Effective Ionisation Level 2st order parameter [sfu/degree]
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double ai2_5; //Effective Ionisation Level 3st order parameter [sfu/degree]
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/*Ionospheric disturbance flag*/
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bool Region1_flag_5; // Ionospheric Disturbance Flag for region 1
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bool Region2_flag_5; // Ionospheric Disturbance Flag for region 2
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bool Region3_flag_5; // Ionospheric Disturbance Flag for region 3
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bool Region4_flag_5; // Ionospheric Disturbance Flag for region 4
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bool Region5_flag_5; // Ionospheric Disturbance Flag for region 5
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double BGD_E1E5a_5; //E1-E5a Broadcast Group Delay [s]
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double BGD_E1E5b_5; //E1-E5b Broadcast Group Delay [s]
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double E5b_HS_5; //
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double E1B_HS_5; //
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double E5b_DVS_5; //
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double E1B_DVS_5; //
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/*GST*/
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double WN_5;
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double TOW_5;
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double spare_5;
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/*Word type 6: GST-UTC conversion parameters*/
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double A0_6;
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double A1_6;
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double Delta_tLS_6;
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double t0t_6;
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double WNot_6;
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double WN_LSF_6;
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double DN_6;
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double Delta_tLSF_6;
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double TOW_6;
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/*Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
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int IOD_a_7;
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double WN_a_7;
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double t0a_7;
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int SVID1_7;
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double DELTA_A_7;
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double e_7;
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double omega_7;
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double delta_i_7;
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double Omega0_7;
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double Omega_dot_7;
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double M0_7;
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/*Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
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int IOD_a_8;
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double af0_8;
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double af1_8;
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double E5b_HS_8;
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double E1B_HS_8;
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int SVID2_8;
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double DELTA_A_8;
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double e_8;
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double omega_8;
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double delta_i_8;
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double Omega0_8;
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double Omega_dot_8;
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/*Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
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int IOD_a_9;
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double WN_a_9;
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double t0a_9;
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double M0_9;
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double af0_9;
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double af1_9;
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double E5b_HS_9;
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double E1B_HS_9;
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int SVID3_9;
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double DELTA_A_9;
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double e_9;
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double omega_9;
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double delta_i_9;
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/*Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters*/
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int IOD_a_10;
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double Omega0_10;
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double Omega_dot_10;
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double M0_10;
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double af0_10;
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double af1_10;
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double E5b_HS_10;
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double E1B_HS_10;
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// GST-GPS conversion
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double A_0G_10; //constant term of the offset Δt systems
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double A_1G_10; //rate of change of the offset Δt systems
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double t_0G_10; //reference time for GGTO data
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double WN_0G_10; //Week Number of GGTO reference
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/*Word type 0: I/NAV Spare Word*/
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double Time_0;
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double WN_0;
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double TOW_0;
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double Galileo_satClkDrift;
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double Galileo_dtr; // relativistic clock correction term
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// satellite positions
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double galileo_satpos_X; //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
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double galileo_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
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double galileo_satpos_Z; //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
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// Satellite velocity
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double galileo_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite [m]
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double galileo_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite [m]
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double galileo_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite [m]
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/*
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* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
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*/
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void split_page(const char *page, int flag_even_word);
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/*
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* \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
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*/
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int page_jk_decoder(const char *data_jk); /* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
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void reset();
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/*
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* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_ephemeris();
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/*
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* \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_iono_and_GST();
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/*
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* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_utc_model();
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/*
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* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
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*/
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bool have_new_almanac();
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/*
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* \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
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*/
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Galileo_Ephemeris get_ephemeris();
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/*
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* \brief Returns a Galileo_Iono object filled with the latest navigation data received
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*/
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Galileo_Iono get_iono();
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/*
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* \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received
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*/
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Galileo_Utc_Model get_utc_model();
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/*
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* \brief Returns a Galileo_Almanac object filled with the latest navigation data received
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*/
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Galileo_Almanac get_almanac();
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void satellitePosition(double transmitTime);
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double Galileo_System_Time(double WN, double TOW); // Galileo System Time (GST), ICD paragraph 5.1.2
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double sv_clock_drift(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
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double sv_clock_relativistic_term(double transmitTime); //Satellite Time Correction Algorithm, ICD 5.1.4
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double GST_to_UTC_time(double t_e, int WN); //GST-UTC Conversion Algorithm and Parameters
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Galileo_Navigation_Message();
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};
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#endif /* GALILEO_NAVIGATION_MESSAGE_H_ */
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