mirror of https://github.com/gnss-sdr/gnss-sdr
241 lines
11 KiB
C++
241 lines
11 KiB
C++
/*!
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* \file GPS_L1_CA.h
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* \brief Defines system parameters for GPS L1 C/A signal and NAV data
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (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_GPS_L1_CA_H_
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#define GNSS_SDR_GPS_L1_CA_H_
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#include <complex>
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#include <vector>
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#include <utility> // std::pair
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#include <gnss_satellite.h>
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#include "MATH_CONSTANTS.h"
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// Physical constants
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const double GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
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const double GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
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const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
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const double GPS_TWO_PI = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
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const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
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const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
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const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
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// carrier and code frequencies
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const double GPS_L1_FREQ_HZ = 1.57542e9; //!< L1 [Hz]
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const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
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const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
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const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds]
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const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
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/*!
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* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
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*
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* According to the GPS orbit model described in [1] Pag. 32.
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* It should be taken into account to set the buffer size for the PRN start timestamp in the pseudoranges block.
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* [1] J. Bao-Yen Tsui, Fundamentals of Global Positioning System Receivers. A Software Approach, John Wiley & Sons,
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* Inc., Hoboken, NJ, 2nd edition, 2005.
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*/
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const double MAX_TOA_DELAY_MS = 20;
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//#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
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const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
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// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
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const int GPS_L1_CA_HISTORY_DEEP=100;
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// NAVIGATION MESSAGE DEMODULATION AND DECODING
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#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
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const int GPS_CA_PREAMBLE_LENGTH_BITS = 8;
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const int GPS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
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const int GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND*20; //!< NAV message bit rate [symbols/s]
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const int GPS_WORD_LENGTH = 4; //!< CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
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const int GPS_SUBFRAME_LENGTH = 40; //!< GPS_WORD_LENGTH x 10 = 40 bytes
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const int GPS_SUBFRAME_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
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const int GPS_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
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const int GPS_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
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// GPS NAVIGATION MESSAGE STRUCTURE
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// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix II)
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// SUBFRAME 1-5 (TLM and HOW)
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const std::vector<std::pair<int,int> > TOW( { {31,17} } );
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const std::vector<std::pair<int,int> > INTEGRITY_STATUS_FLAG({{23,1}});
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const std::vector<std::pair<int,int> > ALERT_FLAG({{48,1}});
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const std::vector<std::pair<int,int> > ANTI_SPOOFING_FLAG({{49,1}});
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const std::vector<std::pair<int,int> > SUBFRAME_ID({{50,3}});
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// SUBFRAME 1
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const std::vector<std::pair<int,int>> GPS_WEEK({{61,10}});
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const std::vector<std::pair<int,int>> CA_OR_P_ON_L2({{71,2}}); //*
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const std::vector<std::pair<int,int>> SV_ACCURACY({{73,4}});
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const std::vector<std::pair<int,int>> SV_HEALTH ({{77,6}});
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const std::vector<std::pair<int,int>> L2_P_DATA_FLAG ({{91,1}});
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const std::vector<std::pair<int,int>> T_GD({{197,8}});
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const double T_GD_LSB = TWO_N31;
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const std::vector<std::pair<int,int>> IODC({{83,2},{211,8}});
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const std::vector<std::pair<int,int>> T_OC({{219,16}});
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const double T_OC_LSB = TWO_P4;
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const std::vector<std::pair<int,int>> A_F2({{241,8}});
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const double A_F2_LSB = TWO_N55;
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const std::vector<std::pair<int,int>> A_F1({{249,16}});
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const double A_F1_LSB = TWO_N43;
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const std::vector<std::pair<int,int>> A_F0({{271,22}});
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const double A_F0_LSB = TWO_N31;
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// SUBFRAME 2
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const std::vector<std::pair<int,int>> IODE_SF2({{61,8}});
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const std::vector<std::pair<int,int>> C_RS({{69,16}});
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const double C_RS_LSB = TWO_N5;
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const std::vector<std::pair<int,int>> DELTA_N({{91,16}});
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const double DELTA_N_LSB = PI_TWO_N43;
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const std::vector<std::pair<int,int>> M_0({{107,8},{121,24}});
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const double M_0_LSB = PI_TWO_N31;
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const std::vector<std::pair<int,int>> C_UC({{151,16}});
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const double C_UC_LSB = TWO_N29;
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const std::vector<std::pair<int,int>> E({{167,8},{181,24}});
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const double E_LSB = TWO_N33;
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const std::vector<std::pair<int,int>> C_US({{211,16}});
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const double C_US_LSB = TWO_N29;
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const std::vector<std::pair<int,int>> SQRT_A({{227,8},{241,24}});
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const double SQRT_A_LSB = TWO_N19;
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const std::vector<std::pair<int,int>> T_OE({{271,16}});
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const double T_OE_LSB = TWO_P4;
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const std::vector<std::pair<int,int>> FIT_INTERVAL_FLAG({{271,1}});
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const std::vector<std::pair<int,int>> AODO({{272,5}});
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const int AODO_LSB = 900;
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// SUBFRAME 3
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const std::vector<std::pair<int,int>> C_IC({{61,16}});
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const double C_IC_LSB = TWO_N29;
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const std::vector<std::pair<int,int>> OMEGA_0({{77,8},{91,24}});
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const double OMEGA_0_LSB = PI_TWO_N31;
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const std::vector<std::pair<int,int>> C_IS({{121,16}});
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const double C_IS_LSB = TWO_N29;
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const std::vector<std::pair<int,int>> I_0({{137,8},{151,24}});
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const double I_0_LSB = PI_TWO_N31;
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const std::vector<std::pair<int,int>> C_RC({{181,16}});
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const double C_RC_LSB = TWO_N5;
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const std::vector<std::pair<int,int>> OMEGA({{197,8},{211,24}});
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const double OMEGA_LSB = PI_TWO_N31;
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const std::vector<std::pair<int,int>> OMEGA_DOT({{241,24}});
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const double OMEGA_DOT_LSB = PI_TWO_N43;
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const std::vector<std::pair<int,int>> IODE_SF3({{271,8}});
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const std::vector<std::pair<int,int>> I_DOT({{279,14}});
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const double I_DOT_LSB = PI_TWO_N43;
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// SUBFRAME 4-5
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const std::vector<std::pair<int,int>> SV_DATA_ID({{61,2}});
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const std::vector<std::pair<int,int>> SV_PAGE({{63,6}});
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// SUBFRAME 4
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//! \todo read all pages of subframe 4
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// Page 18 - Ionospheric and UTC data
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const std::vector<std::pair<int,int>> ALPHA_0({{69,8}});
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const double ALPHA_0_LSB = TWO_N30;
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const std::vector<std::pair<int,int>> ALPHA_1({{77,8}});
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const double ALPHA_1_LSB = TWO_N27;
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const std::vector<std::pair<int,int>> ALPHA_2({{91,8}});
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const double ALPHA_2_LSB = TWO_N24;
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const std::vector<std::pair<int,int>> ALPHA_3({{99,8}});
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const double ALPHA_3_LSB = TWO_N24;
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const std::vector<std::pair<int,int>> BETA_0({{107,8}});
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const double BETA_0_LSB = TWO_P11;
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const std::vector<std::pair<int,int>> BETA_1({{121,8}});
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const double BETA_1_LSB = TWO_P14;
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const std::vector<std::pair<int,int>> BETA_2({{129,8}});
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const double BETA_2_LSB = TWO_P16;
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const std::vector<std::pair<int,int>> BETA_3({{137,8}});
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const double BETA_3_LSB = TWO_P16;
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const std::vector<std::pair<int,int>> A_1({{151,24}});
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const double A_1_LSB = TWO_N50;
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const std::vector<std::pair<int,int>> A_0({{181,24},{211,8}});
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const double A_0_LSB = TWO_N30;
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const std::vector<std::pair<int,int>> T_OT({{219,8}});
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const double T_OT_LSB = TWO_P12;
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const std::vector<std::pair<int,int>> WN_T({{227,8}});
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const double WN_T_LSB = 1;
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const std::vector<std::pair<int,int>> DELTAT_LS({{241,8}});
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const double DELTAT_LS_LSB = 1;
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const std::vector<std::pair<int,int>> WN_LSF({{249,8}});
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const double WN_LSF_LSB = 1;
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const std::vector<std::pair<int,int>> DN({{257,8}});
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const double DN_LSB = 1;
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const std::vector<std::pair<int,int>> DELTAT_LSF({{271,8}});
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const double DELTAT_LSF_LSB = 1;
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// Page 25 - Antispoofing, SV config and SV health (PRN 25 -32)
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const std::vector<std::pair<int,int>> HEALTH_SV25({{229,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV26({{241,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV27({{247,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV28({{253,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV29({{259,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV30({{271,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV31({{277,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV32({{283,6}});
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// SUBFRAME 5
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//! \todo read all pages of subframe 5
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// page 25 - Health (PRN 1 - 24)
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const std::vector<std::pair<int,int>> T_OA({{69,8}});
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const double T_OA_LSB = TWO_P12;
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const std::vector<std::pair<int,int>> WN_A({{77,8}});
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const std::vector<std::pair<int,int>> HEALTH_SV1({{91,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV2({{97,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV3({{103,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV4({{109,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV5({{121,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV6({{127,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV7({{133,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV8({{139,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV9({{151,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV10({{157,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV11({{163,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV12({{169,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV13({{181,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV14({{187,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV15({{193,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV16({{199,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV17({{211,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV18({{217,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV19({{223,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV20({{229,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV21({{241,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV22({{247,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV23({{253,6}});
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const std::vector<std::pair<int,int>> HEALTH_SV24({{259,6}});
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#endif /* GNSS_SDR_GPS_L1_CA_H_ */
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