[297] | 1 | // Part of BNC, a utility for retrieving decoding and
|
---|
[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
[297] | 3 | //
|
---|
[464] | 4 | // Copyright (C) 2007
|
---|
[297] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
| 6 | // http://www.bkg.bund.de
|
---|
[464] | 7 | // Czech Technical University Prague, Department of Geodesy
|
---|
[297] | 8 | // http://www.fsv.cvut.cz
|
---|
| 9 | //
|
---|
| 10 | // Email: euref-ip@bkg.bund.de
|
---|
| 11 | //
|
---|
| 12 | // This program is free software; you can redistribute it and/or
|
---|
| 13 | // modify it under the terms of the GNU General Public License
|
---|
| 14 | // as published by the Free Software Foundation, version 2.
|
---|
| 15 | //
|
---|
| 16 | // This program is distributed in the hope that it will be useful,
|
---|
| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
| 19 | // GNU General Public License for more details.
|
---|
| 20 | //
|
---|
| 21 | // You should have received a copy of the GNU General Public License
|
---|
| 22 | // along with this program; if not, write to the Free Software
|
---|
| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
[296] | 24 |
|
---|
| 25 | /* -------------------------------------------------------------------------
|
---|
| 26 | * BKG NTRIP Client
|
---|
| 27 | * -------------------------------------------------------------------------
|
---|
| 28 | *
|
---|
| 29 | * Class: RTCM3Decoder
|
---|
| 30 | *
|
---|
| 31 | * Purpose: RTCM3 Decoder
|
---|
| 32 | *
|
---|
| 33 | * Author: L. Mervart
|
---|
| 34 | *
|
---|
| 35 | * Created: 24-Aug-2006
|
---|
| 36 | *
|
---|
| 37 | * Changes:
|
---|
| 38 | *
|
---|
| 39 | * -----------------------------------------------------------------------*/
|
---|
| 40 |
|
---|
| 41 | #include <iostream>
|
---|
[1807] | 42 | #include <iomanip>
|
---|
| 43 | #include <sstream>
|
---|
[296] | 44 | #include <math.h>
|
---|
[585] | 45 | #include <string.h>
|
---|
[296] | 46 |
|
---|
| 47 | #include "RTCM3Decoder.h"
|
---|
[1807] | 48 | #include "../RTCM/rtcm_utils.h"
|
---|
[296] | 49 | #include "bncconst.h"
|
---|
[511] | 50 | #include "bncapp.h"
|
---|
[1535] | 51 | #include "bncutils.h"
|
---|
| 52 | #include "bncsettings.h"
|
---|
[296] | 53 |
|
---|
| 54 | using namespace std;
|
---|
| 55 |
|
---|
| 56 | #ifndef isinf
|
---|
| 57 | # define isinf(x) 0
|
---|
| 58 | #endif
|
---|
| 59 |
|
---|
[320] | 60 | // Error Handling
|
---|
| 61 | ////////////////////////////////////////////////////////////////////////////
|
---|
[504] | 62 | void RTCM3Error(const char*, ...) {
|
---|
[505] | 63 | }
|
---|
[320] | 64 |
|
---|
[296] | 65 | // Constructor
|
---|
| 66 | ////////////////////////////////////////////////////////////////////////////
|
---|
[2527] | 67 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
|
---|
[2387] | 68 | GPSDecoder() {
|
---|
[505] | 69 |
|
---|
[2527] | 70 | _staID = staID;
|
---|
| 71 | _rawFile = rawFile;
|
---|
[2387] | 72 |
|
---|
[1535] | 73 | bncSettings settings;
|
---|
[1580] | 74 | _checkMountPoint = settings.value("miscMount").toString();
|
---|
[1022] | 75 |
|
---|
[939] | 76 | connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
|
---|
[2585] | 77 | (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
|
---|
[939] | 78 | connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
|
---|
[2585] | 79 | (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
|
---|
[939] | 80 |
|
---|
[880] | 81 | // Sub-Decoder for Clock and Orbit Corrections
|
---|
| 82 | // -------------------------------------------
|
---|
[970] | 83 | _coDecoder = new RTCM3coDecoder(staID);
|
---|
[1021] | 84 |
|
---|
| 85 | // Mode can be either observations or corrections
|
---|
| 86 | // ----------------------------------------------
|
---|
| 87 | _mode = unknown;
|
---|
[1807] | 88 |
|
---|
| 89 | // Antenna position (used for decoding of message 1003)
|
---|
| 90 | // ----------------------------------------------------
|
---|
| 91 | _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
|
---|
| 92 |
|
---|
[296] | 93 | }
|
---|
| 94 |
|
---|
| 95 | // Destructor
|
---|
| 96 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 97 | RTCM3Decoder::~RTCM3Decoder() {
|
---|
[880] | 98 | delete _coDecoder;
|
---|
[296] | 99 | }
|
---|
| 100 |
|
---|
| 101 | //
|
---|
| 102 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1218] | 103 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
|
---|
[508] | 104 |
|
---|
[1218] | 105 | errmsg.clear();
|
---|
| 106 |
|
---|
[913] | 107 | bool decoded = false;
|
---|
| 108 |
|
---|
[2551] | 109 | // If read from file, we set the mode according to staID
|
---|
| 110 | // -----------------------------------------------------
|
---|
| 111 | if (!_staID_corrections.isEmpty() && _rawFile) {
|
---|
| 112 | if (_rawFile->staID() == _staID_corrections) {
|
---|
| 113 | _mode = corrections;
|
---|
| 114 | }
|
---|
| 115 | else {
|
---|
| 116 | _mode = observations;
|
---|
| 117 | }
|
---|
| 118 | }
|
---|
| 119 |
|
---|
[880] | 120 | // Try to decode Clock and Orbit Corrections
|
---|
| 121 | // -----------------------------------------
|
---|
[1021] | 122 | if (_mode == unknown || _mode == corrections) {
|
---|
[1218] | 123 | if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
|
---|
[1021] | 124 | decoded = true;
|
---|
[2551] | 125 | if (_mode == unknown) {
|
---|
| 126 | if (_rawFile) {
|
---|
| 127 | _staID_corrections = _rawFile->staID();
|
---|
| 128 | }
|
---|
| 129 | else {
|
---|
| 130 | _mode = corrections;
|
---|
| 131 | }
|
---|
[1021] | 132 | }
|
---|
| 133 | }
|
---|
[913] | 134 | }
|
---|
[880] | 135 |
|
---|
[2527] | 136 | // Find the corresponding parser
|
---|
| 137 | // -----------------------------
|
---|
| 138 | QByteArray staID("default");
|
---|
| 139 | if (_rawFile) {
|
---|
| 140 | staID = _rawFile->staID();
|
---|
| 141 | }
|
---|
| 142 |
|
---|
| 143 | bool newParser = !_parsers.contains(staID);
|
---|
| 144 |
|
---|
| 145 | RTCM3ParserData& parser = _parsers[staID];
|
---|
| 146 |
|
---|
[2672] | 147 | // Get Glonass Slot Numbers from Global Array
|
---|
| 148 | // ------------------------------------------
|
---|
| 149 | bncApp* app = (bncApp*) qApp;
|
---|
| 150 | app->getGlonassSlotNums(parser.GLOFreq);
|
---|
| 151 |
|
---|
[2527] | 152 | // Initialize a new parser
|
---|
| 153 | // -----------------------
|
---|
| 154 | if (newParser) {
|
---|
| 155 | parser.rinex3 = 0;
|
---|
| 156 | memset(&parser, 0, sizeof(parser));
|
---|
| 157 | double secGPS;
|
---|
| 158 | currentGPSWeeks(parser.GPSWeek, secGPS);
|
---|
| 159 | parser.GPSTOW = int(secGPS);
|
---|
| 160 | }
|
---|
| 161 |
|
---|
[880] | 162 | // Remaining part decodes the Observations
|
---|
| 163 | // ---------------------------------------
|
---|
[1033] | 164 | if (_mode == unknown || _mode == observations || _checkMountPoint == _staID || _checkMountPoint == "ALL") {
|
---|
[1127] | 165 |
|
---|
[1021] | 166 | for (int ii = 0; ii < bufLen; ii++) {
|
---|
[2527] | 167 | parser.Message[parser.MessageSize++] = buffer[ii];
|
---|
[1127] | 168 |
|
---|
[2527] | 169 | if (parser.MessageSize >= parser.NeedBytes) {
|
---|
[1185] | 170 |
|
---|
[2527] | 171 | while(int rr = RTCM3Parser(&parser)) {
|
---|
[1130] | 172 |
|
---|
[1239] | 173 | // RTCMv3 message types
|
---|
| 174 | // --------------------
|
---|
[2527] | 175 | _typeList.push_back(parser.blocktype);
|
---|
[1185] | 176 |
|
---|
[1239] | 177 | // RTCMv3 antenna descriptor
|
---|
| 178 | // -------------------------
|
---|
| 179 | if(rr == 1007 || rr == 1008 || rr == 1033)
|
---|
| 180 | {
|
---|
[2527] | 181 | _antType.push_back(parser.antenna); /* correct ? */
|
---|
[1239] | 182 | }
|
---|
[1185] | 183 |
|
---|
[1239] | 184 | // RTCMv3 antenna XYZ
|
---|
| 185 | // ------------------
|
---|
| 186 | else if(rr == 1005)
|
---|
| 187 | {
|
---|
[1268] | 188 | _antList.push_back(t_antInfo());
|
---|
| 189 | _antList.back().type = t_antInfo::ARP;
|
---|
[2527] | 190 | _antList.back().xx = parser.antX * 1e-4;
|
---|
| 191 | _antList.back().yy = parser.antY * 1e-4;
|
---|
| 192 | _antList.back().zz = parser.antZ * 1e-4;
|
---|
[1268] | 193 | _antList.back().message = rr;
|
---|
[1807] | 194 |
|
---|
| 195 | // Remember station position for 1003 message decoding
|
---|
[2527] | 196 | _antXYZ[0] = parser.antX * 1e-4;
|
---|
| 197 | _antXYZ[1] = parser.antY * 1e-4;
|
---|
| 198 | _antXYZ[2] = parser.antZ * 1e-4;
|
---|
[1239] | 199 | }
|
---|
[1033] | 200 |
|
---|
[1239] | 201 | // RTCMv3 antenna XYZ-H
|
---|
| 202 | // --------------------
|
---|
| 203 | else if(rr == 1006)
|
---|
| 204 | {
|
---|
[1268] | 205 | _antList.push_back(t_antInfo());
|
---|
| 206 | _antList.back().type = t_antInfo::ARP;
|
---|
[2527] | 207 | _antList.back().xx = parser.antX * 1e-4;
|
---|
| 208 | _antList.back().yy = parser.antY * 1e-4;
|
---|
| 209 | _antList.back().zz = parser.antZ * 1e-4;
|
---|
| 210 | _antList.back().height = parser.antH * 1e-4;
|
---|
[1268] | 211 | _antList.back().height_f = true;
|
---|
| 212 | _antList.back().message = rr;
|
---|
[1807] | 213 |
|
---|
| 214 | // Remember station position for 1003 message decoding
|
---|
[2527] | 215 | _antXYZ[0] = parser.antX * 1e-4;
|
---|
| 216 | _antXYZ[1] = parser.antY * 1e-4;
|
---|
| 217 | _antXYZ[2] = parser.antZ * 1e-4;
|
---|
[1239] | 218 | }
|
---|
| 219 |
|
---|
[1021] | 220 | // GNSS Observations
|
---|
| 221 | // -----------------
|
---|
[1239] | 222 | else if (rr == 1 || rr == 2) {
|
---|
[1127] | 223 | decoded = true;
|
---|
[1021] | 224 |
|
---|
[2527] | 225 | if (!parser.init) {
|
---|
| 226 | HandleHeader(&parser);
|
---|
| 227 | parser.init = 1;
|
---|
[1021] | 228 | }
|
---|
| 229 |
|
---|
[1807] | 230 | // apply "GPS Integer L1 Pseudorange Modulus Ambiguity"
|
---|
| 231 | bool applyModulusAmb = false;
|
---|
| 232 | ///if (rr == 2) {
|
---|
| 233 | /// applyModulusAmb = true;
|
---|
| 234 | ///}
|
---|
| 235 |
|
---|
[1021] | 236 | if (rr == 2) {
|
---|
[1299] | 237 | emit(newMessage( (_staID + ": No valid RINEX! All values are modulo 299792.458!").toAscii(), true));
|
---|
[1021] | 238 | }
|
---|
| 239 |
|
---|
[2527] | 240 | for (int ii = 0; ii < parser.Data.numsats; ii++) {
|
---|
[2674] | 241 | p_obs obs = new t_obs();
|
---|
| 242 | int satID = parser.Data.satellites[ii];
|
---|
| 243 |
|
---|
| 244 | // GPS
|
---|
| 245 | // ---
|
---|
| 246 | if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
|
---|
[1021] | 247 | obs->_o.satSys = 'G';
|
---|
[2674] | 248 | obs->_o.satNum = satID;
|
---|
[366] | 249 | }
|
---|
[2674] | 250 |
|
---|
| 251 | // Glonass
|
---|
| 252 | // -------
|
---|
| 253 | else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
|
---|
[1021] | 254 | obs->_o.satSys = 'R';
|
---|
[2674] | 255 | obs->_o.satNum = satID - PRN_GLONASS_START + 1;
|
---|
[2669] | 256 | if (obs->_o.satNum <= PRN_GLONASS_NUM &&
|
---|
| 257 | parser.GLOFreq[obs->_o.satNum-1] != 0) {
|
---|
| 258 | obs->_o.slotNum = parser.GLOFreq[obs->_o.satNum-1] - 100;
|
---|
| 259 | }
|
---|
| 260 | else {
|
---|
| 261 | delete obs;
|
---|
| 262 | obs = 0;
|
---|
| 263 | }
|
---|
[1021] | 264 | }
|
---|
[2674] | 265 |
|
---|
| 266 | // Galileo
|
---|
| 267 | // -------
|
---|
| 268 | else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
|
---|
| 269 | obs->_o.satSys = 'E';
|
---|
| 270 | obs->_o.satNum = satID - PRN_GALILEO_START + 1;
|
---|
| 271 | }
|
---|
| 272 |
|
---|
| 273 | // WAAS
|
---|
| 274 | // ----
|
---|
| 275 | else if (satID >= PRN_WAAS_START && satID <= PRN_WAAS_END) {
|
---|
[1021] | 276 | obs->_o.satSys = 'S';
|
---|
[2674] | 277 | obs->_o.satNum = satID - PRN_WAAS_START + 20;
|
---|
[1021] | 278 | }
|
---|
[2669] | 279 |
|
---|
[2674] | 280 | // Giove A and B
|
---|
| 281 | // -------------
|
---|
| 282 | else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
|
---|
| 283 | obs->_o.satSys = 'E';
|
---|
| 284 | obs->_o.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
|
---|
| 285 | }
|
---|
| 286 |
|
---|
| 287 | // Unknown System
|
---|
| 288 | // --------------
|
---|
| 289 | else {
|
---|
| 290 | delete obs;
|
---|
| 291 | obs = 0;
|
---|
| 292 | }
|
---|
| 293 |
|
---|
[2669] | 294 | if (obs) {
|
---|
| 295 | _obsList.push_back(obs);
|
---|
| 296 | }
|
---|
| 297 | else {
|
---|
| 298 | continue;
|
---|
| 299 | }
|
---|
| 300 |
|
---|
[2527] | 301 | obs->_o.GPSWeek = parser.Data.week;
|
---|
| 302 | obs->_o.GPSWeeks = parser.Data.timeofweek / 1000.0;
|
---|
[1807] | 303 |
|
---|
| 304 | // Estimate "GPS Integer L1 Pseudorange Modulus Ambiguity"
|
---|
| 305 | // -------------------------------------------------------
|
---|
| 306 | double modulusAmb = 0;
|
---|
| 307 | if (applyModulusAmb) {
|
---|
| 308 | // Missing antenna coordinates: skip all data
|
---|
| 309 | if ( !_antXYZ[0] && !_antXYZ[1] && !_antXYZ[2] ) {
|
---|
| 310 | continue;
|
---|
| 311 | }
|
---|
| 312 |
|
---|
| 313 | ostringstream prns;
|
---|
| 314 | prns << obs->_o.satSys << setfill('0') << setw(2) << obs->_o.satNum;
|
---|
| 315 |
|
---|
| 316 | string prn = prns.str();
|
---|
| 317 |
|
---|
| 318 | // Missing ephemerides, skip satellite
|
---|
| 319 | if (_ephList.find(prn) == _ephList.end()) {
|
---|
| 320 | continue;
|
---|
| 321 | }
|
---|
| 322 |
|
---|
| 323 | const t_eph* eph = &(_ephList.find(prn)->second);
|
---|
| 324 |
|
---|
| 325 | double rho, xSat, ySat, zSat, clkSat, GPSWeeks_tot;
|
---|
| 326 | int GPSWeek_tot;
|
---|
| 327 | cmpRho(eph, _antXYZ[0], _antXYZ[1], _antXYZ[2],
|
---|
| 328 | obs->_o.GPSWeek, obs->_o.GPSWeeks,
|
---|
| 329 | rho, GPSWeek_tot, GPSWeeks_tot,
|
---|
| 330 | xSat, ySat, zSat, clkSat);
|
---|
| 331 |
|
---|
| 332 | const double CC = 299792458.0;
|
---|
| 333 |
|
---|
| 334 | int nn = static_cast<int>(rho / (CC * 0.001));
|
---|
| 335 |
|
---|
| 336 | modulusAmb = nn * CC * 0.001;
|
---|
| 337 | }
|
---|
[1021] | 338 |
|
---|
[1807] | 339 | // Loop over all data types
|
---|
| 340 | // ------------------------
|
---|
[2527] | 341 | for (int jj = 0; jj < parser.numdatatypesGPS; jj++) {
|
---|
[1021] | 342 | int v = 0;
|
---|
| 343 | // sepearated declaration and initalization of df and pos. Perlt
|
---|
| 344 | int df;
|
---|
| 345 | int pos;
|
---|
[2527] | 346 | df = parser.dataflag[jj];
|
---|
| 347 | pos = parser.datapos[jj];
|
---|
| 348 | if ( (parser.Data.dataflags[ii] & df)
|
---|
| 349 | && !isnan(parser.Data.measdata[ii][pos])
|
---|
| 350 | && !isinf(parser.Data.measdata[ii][pos])) {
|
---|
[1021] | 351 | v = 1;
|
---|
[511] | 352 | }
|
---|
[1021] | 353 | else {
|
---|
[2527] | 354 | df = parser.dataflagGPS[jj];
|
---|
| 355 | pos = parser.dataposGPS[jj];
|
---|
| 356 | if ( (parser.Data.dataflags[ii] & df)
|
---|
| 357 | && !isnan(parser.Data.measdata[ii][pos])
|
---|
| 358 | && !isinf(parser.Data.measdata[ii][pos])) {
|
---|
[1126] | 359 | v = 1;
|
---|
[1021] | 360 | }
|
---|
[627] | 361 | }
|
---|
[1021] | 362 | if (!v) {
|
---|
| 363 | continue;
|
---|
[627] | 364 | }
|
---|
[1021] | 365 | else
|
---|
| 366 | {
|
---|
[2527] | 367 | int isat = (parser.Data.satellites[ii] < 120
|
---|
| 368 | ? parser.Data.satellites[ii]
|
---|
| 369 | : parser.Data.satellites[ii] - 80);
|
---|
[1126] | 370 |
|
---|
[1021] | 371 | // variables df and pos are used consequently. Perlt
|
---|
| 372 | if (df & GNSSDF_C1DATA) {
|
---|
[2527] | 373 | obs->_o.C1 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
[1021] | 374 | }
|
---|
| 375 | else if (df & GNSSDF_C2DATA) {
|
---|
[2527] | 376 | obs->_o.C2 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
[1021] | 377 | }
|
---|
| 378 | else if (df & GNSSDF_P1DATA) {
|
---|
[2527] | 379 | obs->_o.P1 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
[1021] | 380 | }
|
---|
| 381 | else if (df & GNSSDF_P2DATA) {
|
---|
[2527] | 382 | obs->_o.P2 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
[1021] | 383 | }
|
---|
| 384 | else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
|
---|
[2527] | 385 | obs->_o.L1 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
| 386 | obs->_o.SNR1 = parser.Data.snrL1[ii];
|
---|
| 387 | obs->_o.lock_timei_L1 = parser.lastlockGPSl1[isat];
|
---|
[1021] | 388 | }
|
---|
| 389 | else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
|
---|
[2527] | 390 | obs->_o.L2 = parser.Data.measdata[ii][pos] + modulusAmb;
|
---|
| 391 | obs->_o.SNR2 = parser.Data.snrL2[ii];
|
---|
| 392 | obs->_o.lock_timei_L2 = parser.lastlockGPSl2[isat];
|
---|
[1021] | 393 | }
|
---|
| 394 | else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
|
---|
[2527] | 395 | obs->_o.S1 = parser.Data.measdata[ii][pos];
|
---|
[1021] | 396 | }
|
---|
| 397 | else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
|
---|
[2527] | 398 | obs->_o.S2 = parser.Data.measdata[ii][pos];
|
---|
[1021] | 399 | }
|
---|
[627] | 400 | }
|
---|
[511] | 401 | }
|
---|
[366] | 402 | }
|
---|
[296] | 403 | }
|
---|
[1021] | 404 |
|
---|
| 405 | // GPS Ephemeris
|
---|
| 406 | // -------------
|
---|
| 407 | else if (rr == 1019) {
|
---|
| 408 | decoded = true;
|
---|
[2527] | 409 | gpsephemeris* ep = new gpsephemeris(parser.ephemerisGPS);
|
---|
[1021] | 410 | emit newGPSEph(ep);
|
---|
| 411 | }
|
---|
| 412 |
|
---|
| 413 | // GLONASS Ephemeris
|
---|
| 414 | // -----------------
|
---|
| 415 | else if (rr == 1020) {
|
---|
| 416 | decoded = true;
|
---|
[2527] | 417 | glonassephemeris* ep = new glonassephemeris(parser.ephemerisGLONASS);
|
---|
[1021] | 418 | emit newGlonassEph(ep);
|
---|
| 419 | }
|
---|
[296] | 420 | }
|
---|
| 421 | }
|
---|
| 422 | }
|
---|
[2527] | 423 | if (!_rawFile && _mode == unknown && decoded) {
|
---|
[2387] | 424 | _mode = observations;
|
---|
[1021] | 425 | }
|
---|
[296] | 426 | }
|
---|
[1021] | 427 |
|
---|
| 428 | if (decoded) {
|
---|
[2672] | 429 | app->storeGlonassSlotNums(parser.GLOFreq);
|
---|
[1021] | 430 | return success;
|
---|
[658] | 431 | }
|
---|
| 432 | else {
|
---|
[1021] | 433 | return failure;
|
---|
[658] | 434 | }
|
---|
[296] | 435 | }
|
---|
[1807] | 436 |
|
---|
| 437 | // Store ephemerides
|
---|
| 438 | ////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 439 | bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
|
---|
| 440 | t_ephGPS eph; eph.set(&gpseph);
|
---|
| 441 |
|
---|
| 442 | return storeEph(eph);
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 |
|
---|
| 446 | bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
|
---|
[2463] | 447 | const double secPerWeek = 7.0 * 24.0 * 3600.0;
|
---|
[1807] | 448 | double weekold = 0.0;
|
---|
[2463] | 449 | double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
|
---|
[1807] | 450 | if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
|
---|
| 451 | weekold = _ephList.find(gpseph.prn())->second.GPSweek()
|
---|
[2463] | 452 | + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
|
---|
[1807] | 453 | }
|
---|
| 454 |
|
---|
[2463] | 455 | if ( weeknew - weekold > 1.0/secPerWeek ) {
|
---|
[1807] | 456 | _ephList[gpseph.prn()] = gpseph;
|
---|
| 457 |
|
---|
| 458 | return true;
|
---|
| 459 | }
|
---|
| 460 |
|
---|
| 461 | return false;
|
---|
| 462 | }
|
---|