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, 4 years ago

BDS and QZSS SSR signal and tracking mode is adapted with respect to RTCM SSR proposal version 08
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File size: 12.3 KB
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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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