1 | //------------------------------------------------------------------------------
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2 | //
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3 | // RTCM2.cpp
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4 | //
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5 | // Purpose:
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6 | //
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7 | // Module for extraction of RTCM2 messages
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8 | //
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9 | // Notes:
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10 | //
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11 | // - The host computer is assumed to use little endian (Intel) byte order
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12 | //
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13 | // Last modified:
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14 | //
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15 | // 2006/09/17 OMO Created
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16 | // 2006/09/19 OMO Fixed getHeader() methods
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17 | // 2006/09/21 OMO Reduced phase ambiguity to 2^23 cycles
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18 | //
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19 | // (c) DLR/GSOC
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20 | //
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21 | //------------------------------------------------------------------------------
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22 |
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23 | #include <cmath>
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24 | #include <fstream>
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25 | #include <iomanip>
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26 | #include <iostream>
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27 | #include <string>
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28 | #include <vector>
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29 |
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30 | #include "RTCM2.h"
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31 |
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32 | using namespace std;
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33 |
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34 |
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35 | // GPS constants
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36 |
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37 | const double c_light = 299792458.0; // Speed of light [m/s]; IAU 1976
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38 | const double f_L1 = 1575.42e6; // L1 frequency [Hz] (10.23MHz*154)
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39 | const double f_L2 = 1227.60e6; // L2 frequency [Hz] (10.23MHz*120)
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40 |
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41 | const double lambda_L1 = c_light/f_L1; // L1 wavelength [m] (0.1903m)
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42 | const double lambda_L2 = c_light/f_L2; // L2 wavelength [m]
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43 |
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44 | //
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45 | // Bits for message availability checks
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46 | //
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47 |
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48 | const int bit_L1rngGPS = 0;
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49 | const int bit_L2rngGPS = 1;
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50 | const int bit_L1cphGPS = 2;
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51 | const int bit_L2cphGPS = 3;
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52 | const int bit_L1rngGLO = 4;
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53 | const int bit_L2rngGLO = 5;
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54 | const int bit_L1cphGLO = 6;
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55 | const int bit_L2cphGLO = 7;
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56 |
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57 |
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58 | //
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59 | // namespace rtcm2
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60 | //
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61 |
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62 | namespace rtcm2 {
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63 |
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64 |
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65 | //------------------------------------------------------------------------------
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66 | //
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67 | // class ThirtyBitWord (implementation)
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68 | //
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69 | // Purpose:
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70 | //
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71 | // Handling of RTCM2 30bit words
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72 | //
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73 | //------------------------------------------------------------------------------
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74 |
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75 | // Constructor
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76 |
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77 | ThirtyBitWord::ThirtyBitWord() : W(0) {
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78 | };
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79 |
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80 | // Clear entire 30-bit word and 2-bit parity from previous word
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81 |
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82 | void ThirtyBitWord::clear() {
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83 | W = 0;
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84 | };
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85 |
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86 | // Failure indicator for input operations
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87 |
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88 | bool ThirtyBitWord::fail() const {
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89 | return failure;
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90 | };
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91 |
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92 | // Parity check
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93 |
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94 | bool ThirtyBitWord::validParity() const {
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95 |
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96 | // Parity stuff
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97 |
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98 | static const unsigned int PARITY_25 = 0xBB1F3480;
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99 | static const unsigned int PARITY_26 = 0x5D8F9A40;
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100 | static const unsigned int PARITY_27 = 0xAEC7CD00;
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101 | static const unsigned int PARITY_28 = 0x5763E680;
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102 | static const unsigned int PARITY_29 = 0x6BB1F340;
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103 | static const unsigned int PARITY_30 = 0x8B7A89C0;
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104 |
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105 | // Look-up table for parity of eight bit bytes
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106 | // (parity=0 if the number of 0s and 1s is equal, else parity=1)
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107 | static unsigned char byteParity[] = {
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108 | 0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
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109 | 1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
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110 | 1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
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111 | 0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
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112 | 1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
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113 | 0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
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114 | 0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
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115 | 1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0
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116 | };
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117 |
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118 | // Local variables
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119 |
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120 | unsigned int t, w, p;
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121 |
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122 | // The sign of the data is determined by the D30* parity bit
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123 | // of the previous data word. If D30* is set, invert the data
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124 | // bits D01..D24 to obtain the d01..d24 (but leave all other
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125 | // bits untouched).
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126 |
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127 | w = W;
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128 | if ( w & 0x40000000 ) w ^= 0x3FFFFFC0;
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129 |
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130 | // Compute the parity of the sign corrected data bits d01..d24
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131 | // as described in the ICD-GPS-200
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132 |
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133 | t = w & PARITY_25;
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134 | p = ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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135 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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136 |
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137 | t = w & PARITY_26;
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138 | p = (p<<1) |
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139 | ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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140 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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141 |
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142 | t = w & PARITY_27;
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143 | p = (p<<1) |
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144 | ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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145 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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146 |
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147 | t = w & PARITY_28;
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148 | p = (p<<1) |
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149 | ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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150 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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151 |
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152 | t = w & PARITY_29;
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153 | p = (p<<1) |
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154 | ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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155 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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156 |
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157 | t = w & PARITY_30;
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158 | p = (p<<1) |
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159 | ( byteParity[t &0xff] ^ byteParity[(t>> 8)&0xff] ^
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160 | byteParity[(t>>16)&0xff] ^ byteParity[(t>>24) ] );
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161 |
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162 | return ( (W!=0) && ((W &0x3f) == p));
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163 |
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164 | };
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165 |
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166 |
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167 | // Check preamble
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168 |
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169 | bool ThirtyBitWord::isHeader() const {
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170 |
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171 | const unsigned char Preamble = 0x66;
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172 |
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173 | unsigned char b = (value()>>22) & 0xFF;
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174 |
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175 | return ( b==Preamble );
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176 |
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177 | };
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178 |
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179 |
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180 | // Return entire 32-bit (current word and previous parity)
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181 |
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182 | unsigned int ThirtyBitWord::all() const {
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183 | return W;
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184 | };
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185 |
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186 |
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187 | // Return sign-corrected 30-bit (or zero if parity mismatch)
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188 |
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189 | unsigned int ThirtyBitWord::value() const {
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190 |
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191 | unsigned int w = W;
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192 |
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193 | if (validParity()) {
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194 | // Return data and current parity bits. Invert data bits if D30*
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195 | // is set and discard old parity bits.
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196 | if ( w & 0x40000000 ) w ^= 0x3FFFFFC0;
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197 | return (w & 0x3FFFFFFF);
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198 | }
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199 | else {
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200 | // Error; invalid parity
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201 | return 0;
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202 | };
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203 |
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204 | };
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205 |
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206 |
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207 |
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208 | // Append a byte with six data bits
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209 |
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210 | void ThirtyBitWord::append(unsigned char b) {
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211 |
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212 | // Look up table for swap (left-right) of 6 data bits
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213 | static const unsigned char
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214 | swap[] = {
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215 | 0,32,16,48, 8,40,24,56, 4,36,20,52,12,44,28,60,
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216 | 2,34,18,50,10,42,26,58, 6,38,22,54,14,46,30,62,
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217 | 1,33,17,49, 9,41,25,57, 5,37,21,53,13,45,29,61,
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218 | 3,35,19,51,11,43,27,59, 7,39,23,55,15,47,31,63
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219 | };
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220 |
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221 | // Bits 7 and 6 (of 0..7) must be "01" for valid data bytes
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222 | if ( (b & 0x40) != 0x40 ) {
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223 | failure = true;
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224 | return;
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225 | };
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226 |
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227 | // Swap bits 0..5 to restore proper bit order for 30bit words
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228 | b = swap[ b & 0x3f];
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229 |
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230 | // Fill word
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231 | W = ( (W <<6) | (b & 0x3f) ) ;
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232 |
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233 | };
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234 |
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235 |
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236 | // Get next 30bit word from string
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237 |
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238 | void ThirtyBitWord::get(string& buf) {
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239 |
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240 | // Check if string is long enough
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241 |
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242 | if (buf.size()<5) {
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243 | failure = true;
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244 | return;
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245 | };
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246 |
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247 | // Process 5 bytes and remove them from the input
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248 |
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249 | for (int i=0; i<5; i++) append(buf[i]);
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250 | buf.erase(0,5);
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251 |
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252 | failure = false;
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253 |
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254 | };
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255 |
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256 | // Get next 30bit word from file
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257 |
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258 | void ThirtyBitWord::get(istream& inp) {
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259 |
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260 | unsigned char b;
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261 |
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262 | for (int i=0; i<5; i++) {
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263 | inp >> b;
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264 | if (inp.fail()) { clear(); return; };
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265 | append(b);
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266 | };
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267 |
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268 | failure = false;
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269 |
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270 | };
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271 |
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272 | // Get next header word from string
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273 |
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274 | void ThirtyBitWord::getHeader(string& buf) {
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275 |
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276 | unsigned int W_old = W;
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277 | unsigned int i;
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278 |
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279 | i=0;
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280 | while (!isHeader() || i<5 ) {
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281 | // Check if string is long enough; if not restore old word and exit
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282 | if (buf.size()-1<i) {
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283 | W = W_old;
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284 | failure = true;
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285 | return;
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286 | };
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287 | // Process byte
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288 | append(buf[i]); i++;
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289 | };
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290 |
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291 | // Remove processed bytes from buffer
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292 |
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293 | buf.erase(0,i);
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294 |
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295 | failure = false;
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296 |
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297 | };
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298 |
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299 | // Get next header word from file
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300 |
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301 | void ThirtyBitWord::getHeader(istream& inp) {
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302 |
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303 | unsigned char b;
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304 | unsigned int i;
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305 |
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306 | i=0;
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307 | while ( !isHeader() || i<5 ) {
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308 | inp >> b;
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309 | if (inp.fail()) { clear(); return; };
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310 | append(b); i++;
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311 | };
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312 |
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313 | failure = false;
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314 |
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315 | };
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316 |
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317 |
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318 | //------------------------------------------------------------------------------
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319 | //
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320 | // RTCM2packet (class implementation)
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321 | //
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322 | // Purpose:
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323 | //
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324 | // A class for handling RTCM2 data packets
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325 | //
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326 | //------------------------------------------------------------------------------
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327 |
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328 | // Constructor
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329 |
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330 | RTCM2packet::RTCM2packet() {
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331 | clear();
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332 | };
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333 |
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334 | // Initialization
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335 |
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336 | void RTCM2packet::clear() {
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337 |
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338 | W.clear();
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339 |
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340 | H1=0;
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341 | H2=0;
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342 |
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343 | DW.resize(0,0);
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344 |
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345 | };
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346 |
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347 | // Complete packet, valid parity
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348 |
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349 | bool RTCM2packet::valid() const {
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350 |
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351 | // The methods for creating a packet (get,">>") ensure
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352 | // that a packet has a consistent number of data words
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353 | // and a valid parity in all header and data words.
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354 | // Therefore a packet is either empty or valid.
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355 |
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356 | return (H1!=0);
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357 |
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358 | };
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359 |
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360 |
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361 | //
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362 | // Gets the next packet from the buffer
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363 | //
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364 |
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365 | void RTCM2packet::getPacket(std::string& buf) {
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366 |
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367 | int n;
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368 | ThirtyBitWord W_old = W;
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369 | string buf_old = buf;
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370 |
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371 | // Try to read a full packet. If the input buffer is too short
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372 | // clear all data and restore the latest 30-bit word prior to
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373 | // the getPacket call. The empty header word will indicate
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374 | // an invalid message, which signals an unsuccessful getPacket()
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375 | // call.
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376 |
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377 | W.getHeader(buf);
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378 | H1 = W.value();
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379 | if (W.fail()) { clear(); W=W_old; buf=buf_old; return; }
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380 |
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381 | W.get(buf);
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382 | H2 = W.value();
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383 | if (W.fail()) { clear(); W=W_old; buf=buf_old; return; }
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384 |
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385 | n = nDataWords();
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386 | DW.resize(n);
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387 | for (int i=0; i<n; i++) {
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388 | W.get(buf);
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389 | DW[i] = W.value();
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390 | if (W.fail()) { clear(); W=W_old; buf=buf_old; return; }
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391 | };
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392 |
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393 | return;
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394 |
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395 | };
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396 |
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397 |
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398 | //
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399 | // Gets the next packet from the input stream
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400 | //
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401 |
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402 | void RTCM2packet::getPacket(std::istream& inp) {
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403 |
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404 | int n;
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405 |
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406 | W.getHeader(inp);
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407 | H1 = W.value();
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408 | if (W.fail()) { clear(); return; }
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409 |
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410 | W.get(inp);
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411 | H2 = W.value();
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412 | if (W.fail()) { clear(); return; }
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413 |
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414 | n = nDataWords();
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415 | DW.resize(n);
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416 | for (int i=0; i<n; i++) {
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417 | W.get(inp);
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418 | DW[i] = W.value();
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419 | if (W.fail()) { clear(); return; }
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420 | };
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421 |
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422 | return;
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423 |
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424 | };
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425 |
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426 | //
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427 | // Input operator
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428 | //
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429 | // Reads an RTCM3 packet from the input stream.
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430 | //
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431 |
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432 | istream& operator >> (istream& is, RTCM2packet& p) {
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433 |
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434 | p.getPacket(is);
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435 |
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436 | return is;
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437 |
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438 | };
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439 |
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440 | // Access methods
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441 |
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442 | unsigned int RTCM2packet::header1() const {
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443 | return H1;
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444 | };
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445 |
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446 | unsigned int RTCM2packet::header2() const {
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447 | return H2;
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448 | };
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449 |
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450 | unsigned int RTCM2packet::dataWord(int i) const {
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451 | if ( (unsigned int)i < DW.size() ) {
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452 | return DW[i];
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453 | }
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454 | else {
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455 | return 0;
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456 | }
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457 | };
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458 |
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459 | unsigned int RTCM2packet::msgType() const {
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460 | return ( H1>>16 & 0x003F );
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461 | };
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462 |
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463 | unsigned int RTCM2packet::stationID() const {
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464 | return ( H1>> 6 & 0x03FF );
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465 | };
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466 |
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467 | unsigned int RTCM2packet::modZCount() const {
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468 | return ( H2>>17 & 0x01FFF );
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469 | };
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470 |
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471 | unsigned int RTCM2packet::seqNumber() const {
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472 | return ( H2>>14 & 0x0007 );
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473 | };
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474 |
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475 | unsigned int RTCM2packet::nDataWords() const {
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476 | return ( H2>> 9 & 0x001F );
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477 | };
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478 |
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479 | unsigned int RTCM2packet::staHealth() const {
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480 | return ( H2>> 6 & 0x0003 );
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481 | };
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482 |
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483 |
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484 | //
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485 | // Get unsigned bit field
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486 | //
|
---|
487 | // Bits are numbered from left (msb) to right (lsb) starting at bit 0
|
---|
488 | //
|
---|
489 |
|
---|
490 | unsigned int RTCM2packet::getUnsignedBits ( unsigned int start,
|
---|
491 | unsigned int n ) const {
|
---|
492 |
|
---|
493 | unsigned int iFirst = start/24; // Index of first data word
|
---|
494 | unsigned int iLast = (start+n-1)/24; // Index of last data word
|
---|
495 | unsigned int bitField = 0;
|
---|
496 | unsigned int tmp;
|
---|
497 |
|
---|
498 | // Checks
|
---|
499 |
|
---|
500 | if (n>32) {
|
---|
501 | cerr << "Error: can't handle >32 bits in RTCM2packet::getUnsignedBits"
|
---|
502 | << endl;
|
---|
503 | /// exit(-1);
|
---|
504 | return 0;
|
---|
505 | };
|
---|
506 |
|
---|
507 | if ( 24*DW.size() < start+n-1 ) {
|
---|
508 | cerr << "Error: Packet too short in RTCM2packet::getUnsignedBits" << endl;
|
---|
509 | //// exit(-1);
|
---|
510 | return 0;
|
---|
511 | }
|
---|
512 |
|
---|
513 | // Handle initial data word
|
---|
514 | // Get all data bits. Strip parity and unwanted leading bits.
|
---|
515 | // Store result in 24 lsb bits of tmp.
|
---|
516 |
|
---|
517 | tmp = (DW[iFirst]>>6) & 0xFFFFFF;
|
---|
518 | tmp = ( ( tmp << start%24) & 0xFFFFFF ) >> start%24 ;
|
---|
519 |
|
---|
520 | // Handle central data word
|
---|
521 |
|
---|
522 | if ( iFirst<iLast ) {
|
---|
523 | bitField = tmp;
|
---|
524 | for (unsigned int iWord=iFirst+1; iWord<iLast; iWord++) {
|
---|
525 | tmp = (DW[iWord]>>6) & 0xFFFFFF;
|
---|
526 | bitField = (bitField << 24) | tmp;
|
---|
527 | };
|
---|
528 | tmp = (DW[iLast]>>6) & 0xFFFFFF;
|
---|
529 | };
|
---|
530 |
|
---|
531 | // Handle last data word
|
---|
532 |
|
---|
533 | tmp = tmp >> (23-(start+n-1)%24);
|
---|
534 | bitField = (bitField << ((start+n-1)%24+1)) | tmp;
|
---|
535 |
|
---|
536 | // Done
|
---|
537 |
|
---|
538 | return bitField;
|
---|
539 |
|
---|
540 | };
|
---|
541 |
|
---|
542 | //
|
---|
543 | // Get signed bit field
|
---|
544 | //
|
---|
545 | // Bits are numbered from left (msb) to right (lsb) starting at bit 0
|
---|
546 | //
|
---|
547 |
|
---|
548 | int RTCM2packet::getBits ( unsigned int start,
|
---|
549 | unsigned int n ) const {
|
---|
550 |
|
---|
551 |
|
---|
552 | // Checks
|
---|
553 |
|
---|
554 | if (n>32) {
|
---|
555 | cerr << "Error: can't handle >32 bits in RTCM2packet::getBits"
|
---|
556 | << endl;
|
---|
557 | //// exit(-1);
|
---|
558 | return 0;
|
---|
559 | };
|
---|
560 |
|
---|
561 | if ( 24*DW.size() < start+n-1 ) {
|
---|
562 | cerr << "Error: Packet too short in RTCM2packet::getBits" << endl;
|
---|
563 | return 0;
|
---|
564 | }
|
---|
565 |
|
---|
566 | return ((int)(getUnsignedBits(start,n)<<(32-n))>>(32-n));
|
---|
567 |
|
---|
568 | };
|
---|
569 |
|
---|
570 |
|
---|
571 | //------------------------------------------------------------------------------
|
---|
572 | //
|
---|
573 | // RTCM2_03 (class implementation)
|
---|
574 | //
|
---|
575 | // Purpose:
|
---|
576 | //
|
---|
577 | // A class for handling RTCM 2 GPS Reference Station Parameters messages
|
---|
578 | //
|
---|
579 | //------------------------------------------------------------------------------
|
---|
580 |
|
---|
581 | void RTCM2_03::extract(const RTCM2packet& P) {
|
---|
582 |
|
---|
583 | // Check validity and packet type
|
---|
584 |
|
---|
585 | validMsg = (P.valid());
|
---|
586 | if (!validMsg) return;
|
---|
587 |
|
---|
588 | validMsg = (P.ID()==03);
|
---|
589 | if (!validMsg) return;
|
---|
590 |
|
---|
591 | // Antenna reference point coordinates
|
---|
592 |
|
---|
593 | x = P.getBits( 0,32)*0.01; // X [m]
|
---|
594 | y = P.getBits(32,32)*0.01; // Y [m]
|
---|
595 | z = P.getBits(64,32)*0.01; // Z [m]
|
---|
596 |
|
---|
597 | };
|
---|
598 |
|
---|
599 | //------------------------------------------------------------------------------
|
---|
600 | //
|
---|
601 | // RTCM2_23 (class implementation)
|
---|
602 | //
|
---|
603 | // Purpose:
|
---|
604 | //
|
---|
605 | // A class for handling RTCM 2 Antenna Type Definition messages
|
---|
606 | //
|
---|
607 | //------------------------------------------------------------------------------
|
---|
608 |
|
---|
609 | void RTCM2_23::extract(const RTCM2packet& P) {
|
---|
610 |
|
---|
611 | int nad, nas;
|
---|
612 |
|
---|
613 | // Check validity and packet type
|
---|
614 |
|
---|
615 | validMsg = (P.valid());
|
---|
616 | if (!validMsg) return;
|
---|
617 |
|
---|
618 | validMsg = (P.ID()==23);
|
---|
619 | if (!validMsg) return;
|
---|
620 |
|
---|
621 | // Antenna descriptor
|
---|
622 | antType = "";
|
---|
623 | nad = P.getUnsignedBits(3,5);
|
---|
624 | for (int i=0;i<nad;i++)
|
---|
625 | antType += (char)P.getUnsignedBits(8+i*8,8);
|
---|
626 |
|
---|
627 | // Optional antenna serial numbers
|
---|
628 | if (P.getUnsignedBits(2,1)==1) {
|
---|
629 | nas = P.getUnsignedBits(19+8*nad,5);
|
---|
630 | antSN = "";
|
---|
631 | for (int i=0;i<nas;i++)
|
---|
632 | antSN += (char)P.getUnsignedBits(24+8*nas+i*8,8);
|
---|
633 | };
|
---|
634 |
|
---|
635 | };
|
---|
636 |
|
---|
637 |
|
---|
638 | //------------------------------------------------------------------------------
|
---|
639 | //
|
---|
640 | // RTCM2_24 (class implementation)
|
---|
641 | //
|
---|
642 | // Purpose:
|
---|
643 | //
|
---|
644 | // A class for handling RTCM 2 Reference Station Antenna
|
---|
645 | // Reference Point Parameter messages
|
---|
646 | //
|
---|
647 | //------------------------------------------------------------------------------
|
---|
648 |
|
---|
649 | void RTCM2_24::extract(const RTCM2packet& P) {
|
---|
650 |
|
---|
651 | double dx,dy,dz;
|
---|
652 |
|
---|
653 | // Check validity and packet type
|
---|
654 |
|
---|
655 | validMsg = (P.valid());
|
---|
656 | if (!validMsg) return;
|
---|
657 |
|
---|
658 | validMsg = (P.ID()==24);
|
---|
659 | if (!validMsg) return;
|
---|
660 |
|
---|
661 | // System indicator
|
---|
662 |
|
---|
663 | isGPS = (P.getUnsignedBits(118,1)==0);
|
---|
664 | isGLONASS = (P.getUnsignedBits(118,1)==1);
|
---|
665 |
|
---|
666 | // Antenna reference point coordinates
|
---|
667 |
|
---|
668 | x = 64.0*P.getBits( 0,32);
|
---|
669 | y = 64.0*P.getBits(40,32);
|
---|
670 | z = 64.0*P.getBits(80,32);
|
---|
671 | dx = P.getUnsignedBits( 32,6);
|
---|
672 | dy = P.getUnsignedBits( 72,6);
|
---|
673 | dz = P.getUnsignedBits(112,6);
|
---|
674 | x = 0.0001*( x + (x<0? -dx:+dx) );
|
---|
675 | y = 0.0001*( y + (y<0? -dy:+dy) );
|
---|
676 | z = 0.0001*( z + (z<0? -dz:+dz) );
|
---|
677 |
|
---|
678 | // Antenna Height
|
---|
679 |
|
---|
680 | if (P.getUnsignedBits(119,1)==1) {
|
---|
681 | h= P.getUnsignedBits(120,18)*0.0001;
|
---|
682 | };
|
---|
683 |
|
---|
684 |
|
---|
685 | };
|
---|
686 |
|
---|
687 |
|
---|
688 | //------------------------------------------------------------------------------
|
---|
689 | //
|
---|
690 | // RTCM2_Obs (class definition)
|
---|
691 | //
|
---|
692 | // Purpose:
|
---|
693 | //
|
---|
694 | // A class for handling blocks of RTCM2 18 & 19 packets that need to be
|
---|
695 | // combined to get a complete set of measurements
|
---|
696 | //
|
---|
697 | // Notes:
|
---|
698 | //
|
---|
699 | // The class collects L1/L2 code and phase measurements for GPS and GLONASS.
|
---|
700 | // Since the Multiple Message Indicator is inconsistently handled by various
|
---|
701 | // receivers we simply require code and phase on L1 and L2 for a complete
|
---|
702 | // set ob observations at a given epoch. GLONASS observations are optional,
|
---|
703 | // but all four types (code+phase,L1+L2) must be provided, if at least one
|
---|
704 | // is given. Also, the GLONASS message must follow the corresponding GPS
|
---|
705 | // message.
|
---|
706 | //
|
---|
707 | //------------------------------------------------------------------------------
|
---|
708 |
|
---|
709 | // Constructor
|
---|
710 |
|
---|
711 | RTCM2_Obs::RTCM2_Obs() {
|
---|
712 |
|
---|
713 | clear();
|
---|
714 |
|
---|
715 | };
|
---|
716 |
|
---|
717 | // Reset entire block
|
---|
718 |
|
---|
719 | void RTCM2_Obs::clear() {
|
---|
720 |
|
---|
721 | secs=0.0; // Seconds of hour (GPS time)
|
---|
722 | nSat=0; // Number of space vehicles
|
---|
723 | PRN.resize(0); // Pseudorange [m]
|
---|
724 | rng_C1.resize(0); // Pseudorange [m]
|
---|
725 | rng_P1.resize(0); // Pseudorange [m]
|
---|
726 | rng_P2.resize(0); // Pseudorange [m]
|
---|
727 | cph_L1.resize(0); // Carrier phase [m]
|
---|
728 | cph_L2.resize(0); // Carrier phase [m]
|
---|
729 |
|
---|
730 | availability.reset(); // Message status flags
|
---|
731 | pendingMsg = true; // Multiple message indicator
|
---|
732 |
|
---|
733 | };
|
---|
734 |
|
---|
735 | // Availability checks
|
---|
736 |
|
---|
737 | bool RTCM2_Obs::anyGPS() {
|
---|
738 |
|
---|
739 | return availability.test(bit_L1rngGPS) ||
|
---|
740 | availability.test(bit_L2rngGPS) ||
|
---|
741 | availability.test(bit_L1cphGPS) ||
|
---|
742 | availability.test(bit_L2cphGPS);
|
---|
743 |
|
---|
744 | };
|
---|
745 |
|
---|
746 | bool RTCM2_Obs::anyGLONASS() {
|
---|
747 |
|
---|
748 | return availability.test(bit_L1rngGLO) ||
|
---|
749 | availability.test(bit_L2rngGLO) ||
|
---|
750 | availability.test(bit_L1cphGLO) ||
|
---|
751 | availability.test(bit_L2cphGLO);
|
---|
752 |
|
---|
753 | };
|
---|
754 |
|
---|
755 | bool RTCM2_Obs::allGPS() {
|
---|
756 |
|
---|
757 | return availability.test(bit_L1rngGPS) &&
|
---|
758 | availability.test(bit_L2rngGPS) &&
|
---|
759 | availability.test(bit_L1cphGPS) &&
|
---|
760 | availability.test(bit_L2cphGPS);
|
---|
761 |
|
---|
762 | };
|
---|
763 |
|
---|
764 | bool RTCM2_Obs::allGLONASS() {
|
---|
765 |
|
---|
766 | return availability.test(bit_L1rngGLO) &&
|
---|
767 | availability.test(bit_L2rngGLO) &&
|
---|
768 | availability.test(bit_L1cphGLO) &&
|
---|
769 | availability.test(bit_L2cphGLO);
|
---|
770 |
|
---|
771 | };
|
---|
772 |
|
---|
773 | // Validity
|
---|
774 |
|
---|
775 | bool RTCM2_Obs::valid() {
|
---|
776 |
|
---|
777 | return ( allGPS() && (allGLONASS() || !anyGLONASS()) && !pendingMsg );
|
---|
778 |
|
---|
779 | };
|
---|
780 |
|
---|
781 |
|
---|
782 | //
|
---|
783 | // Extract RTCM2 18 & 19 messages and store relevant data for future use
|
---|
784 | //
|
---|
785 |
|
---|
786 | void RTCM2_Obs::extract(const RTCM2packet& P) {
|
---|
787 |
|
---|
788 | bool isGPS,isCAcode,isL1,isOth;
|
---|
789 | int NSat,idx;
|
---|
790 | int sid,prn;
|
---|
791 | double t,rng,cph;
|
---|
792 |
|
---|
793 | // Check validity and packet type
|
---|
794 |
|
---|
795 | if (!P.valid()) return;
|
---|
796 |
|
---|
797 | // Clear previous data if block was already complete
|
---|
798 |
|
---|
799 | if (valid()) clear();
|
---|
800 |
|
---|
801 | // Process carrier phase message
|
---|
802 |
|
---|
803 | if ( P.ID()==18 ) {
|
---|
804 |
|
---|
805 | // Number of satellites in current message
|
---|
806 | NSat = (P.nDataWords()-1)/2;
|
---|
807 |
|
---|
808 | // Current epoch (mod 3600 sec)
|
---|
809 | t = 0.6*P.modZCount()
|
---|
810 | + P.getUnsignedBits(4,20)*1.0e-6;
|
---|
811 |
|
---|
812 | // Frequency (exit if neither L1 nor L2)
|
---|
813 | isL1 = ( P.getUnsignedBits(0,1)==0 );
|
---|
814 | isOth = ( P.getUnsignedBits(1,1)==1 );
|
---|
815 | if (isOth) return;
|
---|
816 |
|
---|
817 | // Constellation (for first satellite in message)
|
---|
818 | isGPS = ( P.getUnsignedBits(26,1)==0 );
|
---|
819 |
|
---|
820 | // Multiple Message Indicator (only checked for first satellite)
|
---|
821 | pendingMsg = ( P.getUnsignedBits(24,1)==1 );
|
---|
822 |
|
---|
823 | // Handle epoch: store epoch of first GPS message and
|
---|
824 | // check consistency of subsequent messages. GLONASS time tags
|
---|
825 | // are different and have to be ignored
|
---|
826 | if (isGPS) {
|
---|
827 | if ( nSat==0 ) {
|
---|
828 | secs = t; // Store epoch
|
---|
829 | }
|
---|
830 | else if (t!=secs) {
|
---|
831 | clear(); secs = t; // Clear all data, then store epoch
|
---|
832 | };
|
---|
833 | };
|
---|
834 |
|
---|
835 | // Discard GLONASS obseravtions if no prior GPS observations
|
---|
836 | // are available
|
---|
837 | if (!isGPS && !anyGPS() ) return;
|
---|
838 |
|
---|
839 | // Set availability flags
|
---|
840 |
|
---|
841 | if ( isL1 && isGPS) availability.set(bit_L1cphGPS);
|
---|
842 | if (!isL1 && isGPS) availability.set(bit_L2cphGPS);
|
---|
843 | if ( isL1 && !isGPS) availability.set(bit_L1cphGLO);
|
---|
844 | if (!isL1 && !isGPS) availability.set(bit_L2cphGLO);
|
---|
845 |
|
---|
846 | // Process all satellites
|
---|
847 |
|
---|
848 | for (int iSat=0;iSat<NSat;iSat++){
|
---|
849 |
|
---|
850 | // Code type
|
---|
851 | isCAcode = ( P.getUnsignedBits(iSat*48+25,1)==0 );
|
---|
852 |
|
---|
853 | // Satellite
|
---|
854 | sid = P.getUnsignedBits(iSat*48+27,5);
|
---|
855 | prn = (isGPS? sid : sid+200 );
|
---|
856 |
|
---|
857 | // Carrier phase measurement (mod 2^23 [cy]; sign matched to range)
|
---|
858 | cph = -P.getBits(iSat*48+40,32)/256.0;
|
---|
859 |
|
---|
860 | // Is this a new PRN?
|
---|
861 | idx=-1;
|
---|
862 | for (unsigned int i=0;i<PRN.size();i++) {
|
---|
863 | if (PRN[i]==prn) { idx=i; break; };
|
---|
864 | };
|
---|
865 | if (idx==-1) {
|
---|
866 | // Insert new sat at end of list
|
---|
867 | nSat++; idx = nSat-1;
|
---|
868 | PRN.push_back(prn);
|
---|
869 | rng_C1.push_back(0.0);
|
---|
870 | rng_P1.push_back(0.0);
|
---|
871 | rng_P2.push_back(0.0);
|
---|
872 | cph_L1.push_back(0.0);
|
---|
873 | cph_L2.push_back(0.0);
|
---|
874 | };
|
---|
875 |
|
---|
876 | // Store measurement
|
---|
877 | if (isL1) {
|
---|
878 | cph_L1[idx] = cph;
|
---|
879 | }
|
---|
880 | else {
|
---|
881 | cph_L2[idx] = cph;
|
---|
882 | };
|
---|
883 |
|
---|
884 | };
|
---|
885 |
|
---|
886 | };
|
---|
887 |
|
---|
888 |
|
---|
889 | // Process pseudorange message
|
---|
890 |
|
---|
891 | if ( P.ID()==19 ) {
|
---|
892 |
|
---|
893 | // Number of satellites in current message
|
---|
894 | NSat = (P.nDataWords()-1)/2;
|
---|
895 |
|
---|
896 | // Current epoch (mod 3600 sec)
|
---|
897 | t = 0.6*P.modZCount()
|
---|
898 | + P.getUnsignedBits(4,20)*1.0e-6;
|
---|
899 |
|
---|
900 | // Frequency (exit if neither L1 nor L2)
|
---|
901 | isL1 = ( P.getUnsignedBits(0,1)==0 );
|
---|
902 | isOth = ( P.getUnsignedBits(1,1)==1 );
|
---|
903 | if (isOth) return;
|
---|
904 |
|
---|
905 | // Constellation (for first satellite in message)
|
---|
906 | isGPS = ( P.getUnsignedBits(26,1)==0 );
|
---|
907 |
|
---|
908 | // Multiple Message Indicator (only checked for first satellite)
|
---|
909 | pendingMsg = ( P.getUnsignedBits(24,1)==1 );
|
---|
910 |
|
---|
911 | // Handle epoch: store epoch of first GPS message and
|
---|
912 | // check consistency of subsequent messages. GLONASS time tags
|
---|
913 | // are different and have to be ignored
|
---|
914 | if (isGPS) {
|
---|
915 | if ( nSat==0 ) {
|
---|
916 | secs = t; // Store epoch
|
---|
917 | }
|
---|
918 | else if (t!=secs) {
|
---|
919 | clear(); secs = t; // Clear all data, then store epoch
|
---|
920 | };
|
---|
921 | };
|
---|
922 |
|
---|
923 | // Discard GLONASS obseravtions if nor prior GPS observations
|
---|
924 | // are available
|
---|
925 | if (!isGPS && !anyGPS() ) return;
|
---|
926 |
|
---|
927 | // Set availability flags
|
---|
928 | if ( isL1 && isGPS) availability.set(bit_L1rngGPS);
|
---|
929 | if (!isL1 && isGPS) availability.set(bit_L2rngGPS);
|
---|
930 | if ( isL1 && !isGPS) availability.set(bit_L1rngGLO);
|
---|
931 | if (!isL1 && !isGPS) availability.set(bit_L2rngGLO);
|
---|
932 |
|
---|
933 | // Process all satellites
|
---|
934 |
|
---|
935 | for (int iSat=0;iSat<NSat;iSat++){
|
---|
936 |
|
---|
937 | // Code type
|
---|
938 | isCAcode = ( P.getUnsignedBits(iSat*48+25,1)==0 );
|
---|
939 |
|
---|
940 | // Satellite
|
---|
941 | sid = P.getUnsignedBits(iSat*48+27,5);
|
---|
942 | prn = (isGPS? sid : sid+200 );
|
---|
943 |
|
---|
944 | // Pseudorange measurement [m]
|
---|
945 | rng = P.getUnsignedBits(iSat*48+40,32)*0.02;
|
---|
946 |
|
---|
947 | // Is this a new PRN?
|
---|
948 | idx=-1;
|
---|
949 | for (unsigned int i=0;i<PRN.size();i++) {
|
---|
950 | if (PRN[i]==prn) { idx=i; break; };
|
---|
951 | };
|
---|
952 | if (idx==-1) {
|
---|
953 | // Insert new sat at end of list
|
---|
954 | nSat++; idx = nSat-1;
|
---|
955 | PRN.push_back(prn);
|
---|
956 | rng_C1.push_back(0.0);
|
---|
957 | rng_P1.push_back(0.0);
|
---|
958 | rng_P2.push_back(0.0);
|
---|
959 | cph_L1.push_back(0.0);
|
---|
960 | cph_L2.push_back(0.0);
|
---|
961 | };
|
---|
962 |
|
---|
963 | // Store measurement
|
---|
964 | if (isL1) {
|
---|
965 | if (isCAcode) rng_C1[idx] = rng;
|
---|
966 | rng_P1[idx] = rng;
|
---|
967 | }
|
---|
968 | else {
|
---|
969 | rng_P2[idx] = rng;
|
---|
970 | };
|
---|
971 |
|
---|
972 | };
|
---|
973 |
|
---|
974 | };
|
---|
975 |
|
---|
976 | };
|
---|
977 |
|
---|
978 | //
|
---|
979 | // Resolution of 2^24 cy carrier phase ambiguity
|
---|
980 | // caused by 32-bit data field restrictions
|
---|
981 | //
|
---|
982 | // Note: the RTCM standard specifies an ambiguity of +/-2^23 cy.
|
---|
983 | // However, numerous receivers generate data in the +/-2^22 cy range.
|
---|
984 | // A reduced ambiguity of 2^23 cy appears compatible with both cases.
|
---|
985 | //
|
---|
986 |
|
---|
987 | double RTCM2_Obs::resolvedPhase_L1(int i){
|
---|
988 |
|
---|
989 | //const double ambig = pow(2.0,24); // as per RTCM2 spec
|
---|
990 | const double ambig = pow(2.0,23); // used by many receivers
|
---|
991 |
|
---|
992 | double rng;
|
---|
993 | double n;
|
---|
994 |
|
---|
995 | if (!valid() || i<0 || i>nSat-1) return 0.0;
|
---|
996 |
|
---|
997 | rng = rng_C1[i];
|
---|
998 | if (rng==0.0) rng = rng_P1[i];
|
---|
999 | if (rng==0.0) return 0.0;
|
---|
1000 |
|
---|
1001 | n = floor( (rng/lambda_L1-cph_L1[i]) / ambig + 0.5 );
|
---|
1002 |
|
---|
1003 | return cph_L1[i] + n*ambig;
|
---|
1004 |
|
---|
1005 | };
|
---|
1006 |
|
---|
1007 | double RTCM2_Obs::resolvedPhase_L2(int i){
|
---|
1008 |
|
---|
1009 | //const double ambig = pow(2.0,24); // as per RTCM2 spec
|
---|
1010 | const double ambig = pow(2.0,23); // used by many receivers
|
---|
1011 |
|
---|
1012 | double rng;
|
---|
1013 | double n;
|
---|
1014 |
|
---|
1015 | if (!valid() || i<0 || i>nSat-1) return 0.0;
|
---|
1016 |
|
---|
1017 | rng = rng_C1[i];
|
---|
1018 | if (rng==0.0) rng = rng_P1[i];
|
---|
1019 | if (rng==0.0) return 0.0;
|
---|
1020 |
|
---|
1021 | n = floor( (rng/lambda_L2-cph_L2[i]) / ambig + 0.5 );
|
---|
1022 |
|
---|
1023 | return cph_L2[i] + n*ambig;
|
---|
1024 |
|
---|
1025 | };
|
---|
1026 |
|
---|
1027 | //
|
---|
1028 | // Resolution of epoch using reference date (GPS week and secs)
|
---|
1029 | //
|
---|
1030 |
|
---|
1031 | void RTCM2_Obs::resolveEpoch (int refWeek, double refSecs,
|
---|
1032 | int& epochWeek, double& epochSecs ) {
|
---|
1033 |
|
---|
1034 | const double secsPerWeek = 604800.0;
|
---|
1035 |
|
---|
1036 | epochWeek = refWeek;
|
---|
1037 | epochSecs = secs + 3600.0*(floor((refSecs-secs)/3600.0+0.5));
|
---|
1038 |
|
---|
1039 | if (epochSecs<0 ) { epochWeek--; epochSecs+=secsPerWeek; };
|
---|
1040 | if (epochSecs>secsPerWeek) { epochWeek++; epochSecs-=secsPerWeek; };
|
---|
1041 |
|
---|
1042 | };
|
---|
1043 |
|
---|
1044 | }; // End of namespace rtcm2
|
---|
1045 |
|
---|
1046 | // ---------------- begin added by LM --------------------------------------
|
---|
1047 |
|
---|
1048 | #include "../bncutils.h"
|
---|
1049 |
|
---|
1050 | // Constructor
|
---|
1051 | ////////////////////////////////////////////////////////////////////////////
|
---|
1052 | RTCM2::RTCM2() {
|
---|
1053 |
|
---|
1054 | }
|
---|
1055 |
|
---|
1056 | // Destructor
|
---|
1057 | ////////////////////////////////////////////////////////////////////////////
|
---|
1058 | RTCM2::~RTCM2() {
|
---|
1059 |
|
---|
1060 | }
|
---|
1061 |
|
---|
1062 | //
|
---|
1063 | ////////////////////////////////////////////////////////////////////////////
|
---|
1064 | void RTCM2::Decode(char* buffer, int bufLen) {
|
---|
1065 |
|
---|
1066 | _buffer.append(buffer, bufLen);
|
---|
1067 | int refWeek;
|
---|
1068 | double refSecs;
|
---|
1069 | currentGPSWeeks(refWeek, refSecs);
|
---|
1070 |
|
---|
1071 | while(true) {
|
---|
1072 | _PP.getPacket(_buffer);
|
---|
1073 | if (!_PP.valid()) {
|
---|
1074 | return;
|
---|
1075 | }
|
---|
1076 |
|
---|
1077 | if ( _PP.ID()==18 || _PP.ID()==19 ) {
|
---|
1078 |
|
---|
1079 | _ObsBlock.extract(_PP);
|
---|
1080 |
|
---|
1081 | if (_ObsBlock.valid()) {
|
---|
1082 |
|
---|
1083 | int epochWeek;
|
---|
1084 | double epochSecs;
|
---|
1085 | _ObsBlock.resolveEpoch(refWeek, refSecs, epochWeek, epochSecs);
|
---|
1086 |
|
---|
1087 | for (int iSat=0; iSat < _ObsBlock.nSat; iSat++) {
|
---|
1088 | //// if (_ObsBlock.PRN[iSat] > 32) continue; // Glonass not (yet) wanted
|
---|
1089 | Observation* obs = new Observation();
|
---|
1090 |
|
---|
1091 | obs->SVPRN = _ObsBlock.PRN[iSat];
|
---|
1092 | obs->GPSWeek = epochWeek;
|
---|
1093 | obs->GPSWeeks = epochSecs;
|
---|
1094 | obs->C1 = _ObsBlock.rng_C1[iSat];
|
---|
1095 | obs->P1 = _ObsBlock.rng_P1[iSat];
|
---|
1096 | obs->P2 = _ObsBlock.rng_P2[iSat];
|
---|
1097 | obs->L1 = _ObsBlock.resolvedPhase_L1(iSat);
|
---|
1098 | obs->L2 = _ObsBlock.resolvedPhase_L2(iSat);
|
---|
1099 |
|
---|
1100 | _obsList.push_back(obs);
|
---|
1101 | }
|
---|
1102 | _ObsBlock.clear();
|
---|
1103 | }
|
---|
1104 | }
|
---|
1105 | }
|
---|
1106 | }
|
---|
1107 |
|
---|
1108 | // ----------------- end added by LM ---------------------------------------
|
---|