source: ntrip/branches/BNC_2.12/src/RTCM3/clock_and_orbit/clock_orbit_rtcm.h @ 8943

Last change on this file since 8943 was 8943, checked in by stuerze, 6 months ago

BDS and QZSS SSR signal and tracking mode is adapted with respect to RTCM SSR proposal version 08

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1#ifndef RTCM3_CLOCK_ORBIT_RTCM_H
2#define RTCM3_CLOCK_ORBIT_RTCM_H
3
4/* Programheader
5
6        Name:           clock_orbit_rtcm.h
7        Project:        RTCM3
8        Version:        $Id: clock_orbit_rtcm.h 8943 2020-06-08 14:50:04Z stuerze $
9        Authors:        Dirk Stöcker
10        Description:    state space approach for RTCM3
11*/
12
13#include <string.h>
14
15enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
16
17enum COR_BASE {
18  COBBASE_GPS = 1057,
19  COBBASE_GLONASS = 1063,
20  COBBASE_GALILEO = 1240,
21  COBBASE_QZSS = 1246,
22  COBBASE_SBAS = 1252,
23  COBBASE_BDS = 1258,
24};
25
26enum COR_OFFSET {
27  COBOFS_ORBIT = 0,
28  COBOFS_CLOCK,
29  COBOFS_BIAS,
30  COBOFS_COMBINED,
31  COBOFS_URA,
32  COBOFS_HR,
33  COBOFS_NUM
34};
35
36enum ClockOrbitType {
37  COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
38  COTYPE_GPSCLOCK,
39  COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
40  COTYPE_GPSURA,
41  COTYPE_GPSHR,
42
43  COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
44  COTYPE_GLONASSCLOCK,
45  COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
46  COTYPE_GLONASSURA,
47  COTYPE_GLONASSHR,
48
49  COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
50  COTYPE_GALILEOCLOCK,
51  COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
52  COTYPE_GALILEOURA,
53  COTYPE_GALILEOHR,
54
55  COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
56  COTYPE_QZSSCLOCK,
57  COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
58  COTYPE_QZSSURA,
59  COTYPE_QZSSHR,
60
61  COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
62  COTYPE_SBASCLOCK,
63  COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
64  COTYPE_SBASURA,
65  COTYPE_SBASHR,
66
67  COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
68  COTYPE_BDSCLOCK,
69  COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
70  COTYPE_BDSURA,
71  COTYPE_BDSHR,
72
73  COTYPE_AUTO = 0,
74};
75
76enum CodeBiasType {
77  BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS,
78  BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS,
79  BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS,
80  BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS,
81  BTYPE_SBAS = COBBASE_SBAS + COBOFS_BIAS,
82  BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS,
83  BTYPE_AUTO = 0
84};
85
86enum PhaseBiasType {
87  PBTYPE_BASE = 1265,
88  PBTYPE_GPS = PBTYPE_BASE,
89  PBTYPE_GLONASS,
90  PBTYPE_GALILEO,
91  PBTYPE_QZSS,
92  PBTYPE_SBAS,
93  PBTYPE_BDS,
94  PBTYPE_AUTO = 0
95};
96
97enum VTECType {
98  VTEC_BASE = 1264
99};
100
101/* if some systems aren't supported at all, change the following numbers to zero
102for these systems to save space */
103enum COR_CONSTANTS {
104  CLOCKORBIT_BUFFERSIZE=8192,
105  CLOCKORBIT_NUMGPS=32,
106  CLOCKORBIT_NUMGLONASS=26,
107  CLOCKORBIT_NUMGALILEO=36,
108  CLOCKORBIT_NUMQZSS=10,
109  CLOCKORBIT_NUMSBAS=38,
110  CLOCKORBIT_NUMBDS=65,
111  CLOCKORBIT_NUMBIAS=100,
112  CLOCKORBIT_NUMIONOLAYERS=4,
113  CLOCKORBIT_MAXIONOORDER=16,
114  CLOCKORBIT_MAXIONODEGREE=16
115};
116
117enum COR_SATSYSTEM {
118  CLOCKORBIT_SATGPS=0,
119  CLOCKORBIT_SATGLONASS,
120  CLOCKORBIT_SATGALILEO,
121  CLOCKORBIT_SATQZSS,
122  CLOCKORBIT_SATSBAS,
123  CLOCKORBIT_SATBDS,
124  CLOCKORBIT_SATNUM
125};
126
127enum COR_OFFSETS {
128  CLOCKORBIT_OFFSETGPS=0,
129  CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS,
130  CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS,
131  CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
132  +CLOCKORBIT_NUMGALILEO,
133  CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
134  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS,
135  CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
136  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS,
137  CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
138  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS
139  +CLOCKORBIT_NUMBDS
140};
141
142enum CodeType {
143  CODETYPEGPS_L1_CA          = 0,
144  CODETYPEGPS_L1_P           = 1,
145  CODETYPEGPS_L1_Z           = 2,
146  //CODETYPEGPS_L1_Y           = 3,
147  //CODETYPEGPS_L1_M           = 4,
148  CODETYPEGPS_L2_CA          = 5,
149  CODETYPEGPS_SEMI_CODELESS  = 6,
150  CODETYPEGPS_L2C_M          = 7,
151  CODETYPEGPS_L2C_L          = 8,
152  CODETYPEGPS_L2C_ML         = 9,
153  CODETYPEGPS_L2_P           = 10,
154  CODETYPEGPS_L2_Z           = 11,
155  //CODETYPEGPS_L2_Y           = 12,
156  //CODETYPEGPS_L2_M           = 13,
157  CODETYPEGPS_L5_I           = 14,
158  CODETYPEGPS_L5_Q           = 15,
159  CODETYPEGPS_L5_IQ          = 16,
160  CODETYPEGPS_L1C_D          = 17,
161  CODETYPEGPS_L1C_P          = 18,
162  CODETYPEGPS_L1C_DP         = 19,
163
164  CODETYPEGLONASS_L1_CA      = 0,
165  CODETYPEGLONASS_L1_P       = 1,
166  CODETYPEGLONASS_L2_CA      = 2,
167  CODETYPEGLONASS_L2_P       = 3,
168  CODETYPEGLONASS_L1a_OCd    = 4,
169  CODETYPEGLONASS_L1a_OCp    = 5,
170  CODETYPEGLONASS_L1a_OCdp   = 6,
171  CODETYPEGLONASS_L2a_CSI    = 7,
172  CODETYPEGLONASS_L2a_OCp    = 8,
173  CODETYPEGLONASS_L2a_CSIOCp = 9,
174  CODETYPEGLONASS_L3_I       = 10,
175  CODETYPEGLONASS_L3_Q       = 11,
176  CODETYPEGLONASS_L3_IQ      = 12,
177
178  CODETYPEGALILEO_E1_A       = 0,
179  CODETYPEGALILEO_E1_B       = 1,
180  CODETYPEGALILEO_E1_C       = 2,
181  CODETYPEGALILEO_E1_BC      = 3,
182  CODETYPEGALILEO_E1_ABC     = 4,
183  CODETYPEGALILEO_E5A_I      = 5,
184  CODETYPEGALILEO_E5A_Q      = 6,
185  CODETYPEGALILEO_E5A_IQ     = 7,
186  CODETYPEGALILEO_E5B_I      = 8,
187  CODETYPEGALILEO_E5B_Q      = 9,
188  CODETYPEGALILEO_E5B_IQ     = 10,
189  CODETYPEGALILEO_E5_I       = 11,
190  CODETYPEGALILEO_E5_Q       = 12,
191  CODETYPEGALILEO_E5_IQ      = 13,
192  CODETYPEGALILEO_E6_A       = 14,
193  CODETYPEGALILEO_E6_B       = 15,
194  CODETYPEGALILEO_E6_C       = 16,
195  CODETYPEGALILEO_E6_BC      = 17,
196  CODETYPEGALILEO_E6_ABC     = 18,
197
198  CODETYPEQZSS_L1_CA         = 0,
199  CODETYPEQZSS_L1C_D         = 1,
200  CODETYPEQZSS_L1C_P         = 2,
201  CODETYPEQZSS_L2C_M         = 3,
202  CODETYPEQZSS_L2C_L         = 4,
203  CODETYPEQZSS_L2C_ML        = 5,
204  CODETYPEQZSS_L5_I          = 6,
205  CODETYPEQZSS_L5_Q          = 7,
206  CODETYPEQZSS_L5_IQ         = 8,
207  CODETYPEQZSS_L6_D          = 9,
208  CODETYPEQZSS_L6_P          = 10,
209  CODETYPEQZSS_L6_DP         = 11,
210  CODETYPEQZSS_L1C_DP        = 12,
211  CODETYPEQZSS_L1_S          = 13,
212  CODETYPEQZSS_L5_D          = 14,
213  CODETYPEQZSS_L5_P          = 15,
214  CODETYPEQZSS_L5_DP         = 16,
215  CODETYPEQZSS_L6_E          = 17,
216  CODETYPEQZSS_L6_DE         = 18,
217
218  CODETYPE_SBAS_L1_CA        = 0,
219  CODETYPE_SBAS_L5_I         = 1,
220  CODETYPE_SBAS_L5_Q         = 2,
221  CODETYPE_SBAS_L5_IQ        = 3,
222  CODETYPE_BDS_B1_I          = 0,
223  CODETYPE_BDS_B1_Q          = 1,
224  CODETYPE_BDS_B1_IQ         = 2,
225  CODETYPE_BDS_B3_I          = 3,
226  CODETYPE_BDS_B3_Q          = 4,
227  CODETYPE_BDS_B3_IQ         = 5,
228  CODETYPE_BDS_B2_I          = 6,
229  CODETYPE_BDS_B2_Q          = 7,
230  CODETYPE_BDS_B2_IQ         = 8,
231  CODETYPE_BDS_B1a_D         = 9,
232  CODETYPE_BDS_B1a_P         = 10,
233  CODETYPE_BDS_B1a_DP        = 11,
234  CODETYPE_BDS_B2a_D         = 12,
235  CODETYPE_BDS_B2a_P         = 13,
236  CODETYPE_BDS_B2a_DP        = 14,
237
238  CODETYPE_IRNSS_S_SPS       = 8,
239  CODETYPE_IRNSS_L5_SPS      = 22
240};
241
242#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
243
244/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
245in the data structures. So first GLONASS satellite is at
246xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
247xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
248
249#ifdef COR_LEGACY
250/* old names */
251#define NumberOfGPSSat     NumberOfSat[CLOCKORBIT_SATGPS]
252#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
253#define GPSEpochTime       EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
254#define GLONASSEpochTime   EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
255#define ClockDataSupplied  Supplied[COBOFS_CLOCK]
256#define HRDataSupplied     Supplied[COBOFS_HR]
257#define OrbitDataSupplied  Supplied[COBOFS_ORBIT]
258#define URADataSupplied    Supplied[COBOFS_URA]
259#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
260#endif /* COR_LEGACY */
261
262/* latency check code, disabled by default */
263#ifdef COR_LATENCY
264#define COR_LATENCYCOUNT 100
265#endif
266
267struct ClockOrbit
268{
269  enum ClockOrbitType messageType;
270  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
271  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
272
273  unsigned int Supplied[COBOFS_NUM];           /* boolean */
274#ifdef COR_LATENCY
275  unsigned int epochGPS[COR_LATENCYCOUNT+1];   /* Weber, for latency */
276  unsigned int epochSize;                      /* Weber, for latency */
277#endif
278  unsigned int SSRIOD;
279  unsigned int SSRProviderID;
280  unsigned int SSRSolutionID;
281  unsigned int UpdateInterval;
282  enum SatelliteReferenceDatum SatRefDatum;
283  struct SatData {
284    unsigned int ID; /* all */
285    unsigned int IOD; /* all */
286    unsigned int toe; /* SBAS, BDS */
287    double UserRangeAccuracy; /* accuracy values in [m] */
288    double hrclock;
289    struct OrbitPart
290    {
291      double DeltaRadial;           /* m */
292      double DeltaAlongTrack;       /* m */
293      double DeltaCrossTrack;       /* m */
294      double DotDeltaRadial;        /* m/s */
295      double DotDeltaAlongTrack;    /* m/s */
296      double DotDeltaCrossTrack;    /* m/s */
297    } Orbit;
298    struct ClockPart
299    {
300      double DeltaA0;               /* m */
301      double DeltaA1;               /* m/s */
302      double DeltaA2;               /* m/ss */
303    } Clock;
304  } Sat[CLOCKORBIT_COUNTSAT];
305};
306
307struct CodeBias
308{
309  enum CodeBiasType messageType;
310  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
311  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
312  unsigned int UpdateInterval;
313  unsigned int SSRIOD;
314  unsigned int SSRProviderID;
315  unsigned int SSRSolutionID;
316  struct BiasSat
317  {
318    unsigned int ID; /* all */
319    unsigned int NumberOfCodeBiases;
320    struct CodeBiasEntry
321    {
322      enum CodeType Type;
323      float         Bias;           /* m */
324    } Biases[CLOCKORBIT_NUMBIAS];
325  } Sat[CLOCKORBIT_COUNTSAT];
326};
327
328struct PhaseBias
329{
330  enum PhaseBiasType messageType;
331  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
332  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
333  unsigned int UpdateInterval;
334  unsigned int SSRIOD;
335  unsigned int SSRProviderID;
336  unsigned int SSRSolutionID;
337  unsigned int DispersiveBiasConsistencyIndicator;
338  unsigned int MWConsistencyIndicator;
339  struct PhaseBiasSat
340  {
341    unsigned int ID; /* all */
342    unsigned int NumberOfPhaseBiases;
343    double YawAngle; /* radiant */
344    double YawRate;  /* radiant/s */
345    struct PhaseBiasEntry
346    {
347      enum CodeType Type;
348      unsigned int  SignalIntegerIndicator;
349      unsigned int  SignalsWideLaneIntegerIndicator;
350      unsigned int  SignalDiscontinuityCounter;
351      float         Bias;           /* m */
352    } Biases[CLOCKORBIT_NUMBIAS];
353  } Sat[CLOCKORBIT_COUNTSAT];
354};
355
356struct VTEC
357{
358  unsigned int EpochTime; /* GPS */
359  unsigned int UpdateInterval;
360  unsigned int SSRIOD;
361  unsigned int SSRProviderID;
362  unsigned int SSRSolutionID;
363  unsigned int NumLayers; /* 1-4 */
364  double Quality;
365  struct IonoLayers {
366    double       Height; /* m */
367    unsigned int Degree; /* 1-16 */
368    unsigned int Order; /* 1-16 */
369    double       Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
370    double       Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
371  } Layers[CLOCKORBIT_NUMIONOLAYERS];
372};
373
374/* return size of resulting data or 0 in case of an error */
375size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
376       int moremessagesfollow, char *buffer, size_t size);
377size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
378       int moremessagesfollow, char *buffer, size_t size);
379size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
380       int moremessagesfollow, char *buffer, size_t size);
381size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
382       size_t size);
383
384enum GCOB_RETURN {
385  /* all well */
386  GCOBR_MESSAGEFOLLOWS = 1,
387  GCOBR_OK = 0,
388  /* unknown data, a warning */
389  GCOBR_UNKNOWNTYPE = -1,
390  GCOBR_UNKNOWNDATA = -2,
391  GCOBR_CRCMISMATCH = -3,
392  GCOBR_SHORTMESSAGE = -4,
393  /* failed to do the work */
394  GCOBR_NOCLOCKORBITPARAMETER = -10,
395  GCOBR_NOCODEBIASPARAMETER = -11,
396  GCOBR_NOPHASEBIASPARAMETER = -12,
397  GCOBR_NOVTECPARAMETER = -13,
398  /* data mismatch - data in storage does not match new data */
399  GCOBR_TIMEMISMATCH = -20,
400  GCOBR_DATAMISMATCH = -21,
401  /* not enough data - can decode the block completely */
402  GCOBR_SHORTBUFFER = -30,
403  GCOBR_MESSAGEEXCEEDSBUFFER = -31};
404
405/* NOTE: When an error message has been emitted, the output structures may have been modified. Make a copy of the previous variant before calling the
406function to have a clean state. */
407
408/* buffer should point to a RTCM3 block */
409enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
410       struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
411
412#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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