source: ntrip/trunk/BNC/RTCM/RTCM2.h@ 527

Last change on this file since 527 was 332, checked in by mervart, 19 years ago

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Line 
1//------------------------------------------------------------------------------
2//
3// RTCM2.h
4//
5// Purpose:
6//
7// Module for extraction of RTCM2 messages
8//
9// References:
10//
11// RTCM 10402.3 Recommended Standards for Differential GNSS (Global
12// Navigation Satellite Systems) Service; RTCM Paper 136-2001/SC104-STD,
13// Version 2.3, 20 Aug. 2001; Radio Technical Commission For Maritime
14// Services, Alexandria, Virgina (2001).
15// ICD-GPS-200; Navstar GPS Space Segment / Navigation User Interfaces;
16// Revison C; 25 Sept. 1997; Arinc Research Corp., El Segundo (1997).
17// Jensen M.; RTCM2ASC Documentation;
18// URL http://kom.aau.dk/~borre/masters/receiver/rtcm2asc.htm;
19// last accessed 17 Sep. 2006
20// Sager J.; Decoder for RTCM SC-104 data from a DGPS beacon receiver;
21// URL http://www.wsrcc.com/wolfgang/ftp/rtcm-0.3.tar.gz;
22// last accessed 17 Sep. 2006
23//
24// Last modified:
25//
26// 2006/09/17 OMO Created
27// 2006/10/05 OMO Specified const'ness of various member functions
28// 2006/10/17 OMO Removed obsolete check of multiple message indicator
29// 2006/11/25 OMO Revised check for presence of GLONASS data
30//
31// (c) DLR/GSOC
32//
33//------------------------------------------------------------------------------
34
35#ifndef INC_RTCM2_H
36#define INC_RTCM2_H
37
38#include <bitset>
39#include <fstream>
40#include <string>
41#include <vector>
42
43//
44// namespace rtcm2
45//
46
47namespace rtcm2 {
48
49
50//------------------------------------------------------------------------------
51//
52// class thirtyBitWord (specification)
53//
54// Purpose:
55//
56// Handling of RTCM2 30bit words
57//
58//------------------------------------------------------------------------------
59
60class ThirtyBitWord {
61
62 public:
63
64 // Constructor and initialization
65
66 ThirtyBitWord();
67
68 void clear();
69
70 // Status queries
71
72 bool fail() const;
73 bool validParity() const;
74 bool isHeader() const;
75
76 // Access methods
77
78 unsigned int all() const;
79 unsigned int value() const;
80
81 // Input
82
83 void get(std::string& buf);
84 void get(std::istream& inp);
85 void getHeader(std::string& buf);
86 void getHeader(std::istream& inp);
87
88 private:
89
90 // Input
91
92 void append(unsigned char c);
93
94 private:
95
96 bool failure;
97
98 //
99 // A 32-bit integer is used to store the 30-bit RTCM word as well as 2
100 // parity bits retained from the previous word
101 //
102 // Bits 31..30 (from left to right) hold the parity bits D29*..D30* of
103 // the previous 30-bit word
104 // Bits 29..06 (from left to right) hold the current data bits D01..D24
105 // Bits 05..00 (from left to right) hold the current parity bits D25..D30
106 //
107
108 unsigned int W;
109
110};
111
112
113
114//------------------------------------------------------------------------------
115//
116// RTCM2packet (class definition)
117//
118// Purpose:
119//
120// A class for handling RTCM2 data packets
121//
122//------------------------------------------------------------------------------
123
124class RTCM2packet {
125
126 public:
127
128 // Constructor and initialization
129
130 RTCM2packet();
131
132 void clear();
133
134 // Status queries
135
136 bool valid() const;
137
138 // Input
139
140 void getPacket(std::string& buf);
141 void getPacket(std::istream& inp);
142 friend std::istream& operator >> (std::istream& is, RTCM2packet& p);
143
144 //
145 // Access methods
146 //
147
148 // Header and data words contents (parity corrected)
149
150 unsigned int header1() const;
151 unsigned int header2() const;
152 unsigned int dataWord(int i) const;
153
154 // Header information
155
156 unsigned int msgType() const;
157 unsigned int ID() const { return msgType(); };
158 unsigned int stationID() const;
159 unsigned int modZCount() const;
160 unsigned int seqNumber() const;
161 unsigned int nDataWords() const;
162 unsigned int staHealth() const;
163
164 // Data access
165
166 unsigned int getUnsignedBits (unsigned int start,
167 unsigned int n ) const;
168 int getBits (unsigned int start,
169 unsigned int n ) const;
170
171 private:
172
173 // All input of RTCM data uses a single instance, W, of a 30-bit word
174 // to maintain parity bits between consecutive inputs.
175
176 ThirtyBitWord W;
177
178 // Two 30-bit words make up the header of an RTCM2 message
179 // (parity corrected)
180
181 unsigned int H1;
182 unsigned int H2;
183
184 // Data words (parity corrected)
185
186 std::vector<unsigned int> DW;
187
188};
189
190
191//------------------------------------------------------------------------------
192//
193// RTCM2_03 (class definition)
194//
195// Purpose:
196//
197// A class for handling RTCM 2 GPS Reference Station Parameters messages
198//
199//------------------------------------------------------------------------------
200
201class RTCM2_03 {
202
203 public:
204
205 void extract(const RTCM2packet& P);
206
207 public:
208
209 bool validMsg; // Validity flag
210 double x,y,z; // Station coordinates
211
212};
213
214
215//------------------------------------------------------------------------------
216//
217// RTCM2_23 (class definition)
218//
219// Purpose:
220//
221// A class for handling RTCM 2 Antenna Type Definition messages
222//
223//------------------------------------------------------------------------------
224
225class RTCM2_23 {
226
227 public:
228
229 void extract(const RTCM2packet& P);
230
231 public:
232
233 bool validMsg; // Validity flag
234 std::string antType; // Antenna descriptor
235 std::string antSN ; // Antenna Serial Number
236
237};
238
239
240//------------------------------------------------------------------------------
241//
242// RTCM2_24 (class definition)
243//
244// Purpose:
245//
246// A class for handling RTCM 2 Reference Station Antenna
247// Reference Point Parameter messages
248//
249//------------------------------------------------------------------------------
250
251class RTCM2_24 {
252
253 public:
254
255 void extract(const RTCM2packet& P);
256
257 public:
258
259 bool validMsg; // Validity flag
260 bool isGPS; // Flag for GPS supporting station
261 bool isGLONASS; // Flag for GLONASS supporting station
262 double x,y,z; // Station coordinates (ECEF,[m])
263 double h; // Antenna height [m]
264
265};
266
267
268
269//------------------------------------------------------------------------------
270//
271// RTCM2_Obs (class definition)
272//
273// Purpose:
274//
275// A class for handling blocks of RTCM2 18 & 19 packets that need to be
276// combined to get a complete set of measurements
277//
278//------------------------------------------------------------------------------
279
280class RTCM2_Obs {
281
282 public:
283
284 RTCM2_Obs(); // Constructor
285
286 void extract(const RTCM2packet& P); // Packet handler
287 void clear(); // Initialization
288 bool valid() const; // Check for complete obs block
289
290 double resolvedPhase_L1(int i) const; // L1 & L2 carrier phase of i-th sat
291 double resolvedPhase_L2(int i) const; // with resolved 2^24 cy ambiguity
292 // (based on rng_C1)
293
294 void resolveEpoch (int refWeek, // Resolve epoch using reference
295 double refSecs, // epoch (GPS week and secs)
296 int& epochWeek,
297 double& epochSecs ) const;
298
299
300 public:
301
302 double secs; // Seconds of hour (GPS time)
303 int nSat; // Number of space vehicles
304 std::vector<int> PRN; // PRN (satellite number)
305 std::vector<double> rng_C1; // C/A code pseudorange on L1 [m]
306 std::vector<double> rng_P1; // P(Y) code pseudorange on L1 [m]
307 std::vector<double> rng_P2; // Pseudorange on L2 [m]
308 std::vector<double> cph_L1; // Carrier phase on L1 [cy]
309 std::vector<double> cph_L2; // Carrier phase on L2 [cy]
310
311 private:
312
313 bool anyGPS() const;
314 bool anyGLONASS() const;
315 bool allGPS() const;
316 bool allGLONASS() const;
317
318 private:
319
320 typedef std::bitset<8> msgflags;
321
322 msgflags availability; // Msg availability flags
323 bool GPSonly; // Flag for GPS-only station
324
325};
326
327
328}; // End of namespace rtcm2
329
330#endif // include blocker
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