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gnss-sdr/src/algorithms/libs/rtklib/rtklib_sbas.h
Carles Fernandez 52f3eaa373 Add rtkpos and its dependencies
2017-04-25 00:48:13 +02:00

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/*!
* \file rtklib_sbas.h
* \brief sbas functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
* References :
* [1] RTCA/DO-229C, Minimum operational performanc standards for global
* positioning system/wide area augmentation system airborne equipment,
* RTCA inc, November 28, 2001
* [2] IS-QZSS v.1.1, Quasi-Zenith Satellite System Navigation Service
* Interface Specification for QZSS, Japan Aerospace Exploration Agency,
* July 31, 2009
*
*----------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_SBAS_H_
#define GNSS_SDR_RTKLIB_SBAS_H_
#include "rtklib.h"
/* constants -----------------------------------------------------------------*/
const int WEEKOFFSET = 1024; /* gps week offset for NovAtel OEM-3 */
/* sbas igp definition -------------------------------------------------------*/
static const short
x1[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75, 85},
x2[] = {-55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30,
35, 40, 45, 50, 55},
x3[] = {-75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15, 20,
25, 30, 35, 40, 45, 50, 55, 65, 75},
x4[] = {-85, -75, -65, -55, -50, -45, -40, -35, -30, -25, -20, -15, -10, - 5, 0, 5, 10, 15,
20, 25, 30, 35, 40, 45, 50, 55, 65, 75},
x5[] = {-180, -175, -170, -165, -160, -155, -150, -145, -140, -135, -130, -125, -120, -115,
-110, -105, -100, - 95, - 90, - 85, - 80, - 75, - 70, - 65, - 60, - 55, - 50, - 45,
- 40, - 35, - 30, - 25, - 20, - 15, - 10, - 5, 0, 5, 10, 15, 20, 25,
30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95,
100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155, 160, 165,
170, 175},
x6[] = {-180, -170, -160, -150, -140, -130, -120, -110, -100, - 90, - 80, - 70, - 60, - 50,
- 40, - 30, - 20, - 10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90,
100, 110, 120, 130, 140, 150, 160, 170},
x7[] = {-180, -150, -120, - 90, - 60, - 30, 0, 30, 60, 90, 120, 150},
x8[] = {-170, -140, -110, - 80, - 50, - 20, 10, 40, 70, 100, 130, 160};
const sbsigpband_t igpband1[9][8] = { /* band 0-8 */
{{-180, x1, 1, 28}, {-175, x2, 29, 51}, {-170, x3, 52, 78}, {-165, x2, 79, 101},
{-160, x3, 102, 128}, {-155, x2, 129, 151}, {-150, x3, 152, 178}, {-145, x2, 179, 201}},
{{-140, x4, 1, 28}, {-135, x2, 29, 51}, {-130, x3, 52, 78}, {-125, x2, 79, 101},
{-120, x3, 102, 128}, {-115, x2, 129, 151}, {-110, x3, 152, 178}, {-105, x2, 179, 201}},
{{-100, x3, 1, 27}, {- 95,x2, 28, 50},{- 90, x1, 51, 78}, {- 85, x2, 79, 101},
{- 80, x3, 102, 128}, {- 75, x2, 129, 151}, {- 70, x3, 152, 178}, {- 65, x2,179, 201}},
{{- 60, x3, 1, 27}, {- 55, x2, 28, 50}, {- 50,x4, 51, 78}, {- 45, x2, 79, 101},
{- 40, x3, 102, 128}, {- 35, x2, 129, 151}, {- 30, x3, 152, 178}, {- 25, x2, 179, 201}},
{{- 20, x3, 1, 27}, {- 15, x2, 28, 50}, {- 10, x3, 51, 77}, {- 5, x2, 78, 100},
{ 0, x1, 101, 128}, { 5, x2, 129, 151}, { 10, x3, 152, 178}, { 15, x2, 179, 201}},
{{ 20, x3, 1, 27}, { 25, x2, 28, 50}, { 30, x3, 51, 77}, { 35, x2, 78, 100},
{ 40, x4, 101, 128}, { 45, x2, 129, 151},{ 50, x3, 152, 178}, { 55, x2, 179, 201}},
{{ 60, x3, 1, 27}, { 65, x2, 28, 50}, { 70, x3, 51, 77}, { 75, x2, 78, 100},
{ 80, x3, 101, 127}, { 85, x2, 128, 150}, { 90,x1, 151, 178}, { 95, x2, 179, 201}},
{{ 100, x3, 1, 27}, { 105, x2, 28, 50}, { 110, x3, 51, 77}, { 115, x2, 78 ,100},
{ 120, x3, 101, 127}, { 125, x2, 128, 150}, { 130, x4, 151, 178}, { 135, x2, 179, 201}},
{{ 140, x3, 1, 27}, { 145, x2, 28, 50}, { 150, x3, 51, 77}, { 155, x2, 78, 100},
{ 160, x3, 101, 127}, { 165, x2,128, 150}, { 170, x3,151,177}, { 175, x2, 178, 200}}
};
const sbsigpband_t igpband2[2][5] = { /* band 9-10 */
{{ 60, x5, 1, 72}, { 65, x6, 73, 108}, { 70, x6, 109, 144}, { 75, x6, 145, 180},
{ 85, x7, 181, 192}},
{{- 60, x5, 1, 72}, {- 65, x6, 73, 108}, {- 70, x6, 109, 144}, {- 75 ,x6, 145, 180},
{- 85, x8, 181, 192}}
};
char *getfield(char *p, int pos);
double varfcorr(int udre);
double varicorr(int give);
double degfcorr(int ai);
int decode_sbstype1(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav);
int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion);
int decode_longcorr0(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat);
int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype25(const sbsmsg_t *msg, sbssat_t *sbssat);
int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion);
int sbsupdatecorr(const sbsmsg_t *msg, nav_t *nav);
void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,sbs_t *sbs);
int cmpmsgs(const void *p1, const void *p2);
int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
sbs_t *sbs);
int sbsreadmsg(const char *file, int sel, sbs_t *sbs);
void sbsoutmsg(FILE *fp, sbsmsg_t *sbsmsg);
void searchigp(gtime_t time, const double *pos, const sbsion_t *ion,
const sbsigp_t **igp, double *x, double *y);
int sbsioncorr(gtime_t time, const nav_t *nav, const double *pos,
const double *azel, double *delay, double *var);
void getmet(double lat, double *met);
double sbstropcorr(gtime_t time, const double *pos, const double *azel,
double *var);
int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *drs, double *ddts);
int sbsfastcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *prc, double *var);
int sbssatcorr(gtime_t time, int sat, const nav_t *nav, double *rs,
double *dts, double *var);
int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
sbsmsg_t *sbsmsg);
#endif /* GNSS_SDR_RTKLIB_SBAS_H_ */
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