source: ntrip/trunk/BNC/RTCM3/RTCM3Decoder.cpp@ 2681

Last change on this file since 2681 was 2681, checked in by mervart, 13 years ago
File size: 13.1 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
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.
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>
42#include <iomanip>
43#include <sstream>
44#include <math.h>
45#include <string.h>
46
47#include "RTCM3Decoder.h"
48#include "../RTCM/rtcm_utils.h"
49#include "bncconst.h"
50#include "bncapp.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56#ifndef isinf
57# define isinf(x) 0
58#endif
59
60// Error Handling
61////////////////////////////////////////////////////////////////////////////
62void RTCM3Error(const char*, ...) {
63}
64
65// Constructor
66////////////////////////////////////////////////////////////////////////////
67RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
68 GPSDecoder() {
69
70 _staID = staID;
71 _rawFile = rawFile;
72
73 bncSettings settings;
74 _checkMountPoint = settings.value("miscMount").toString();
75
76 connect(this, SIGNAL(newGPSEph(gpsephemeris*)),
77 (bncApp*) qApp, SLOT(slotNewGPSEph(gpsephemeris*)));
78 connect(this, SIGNAL(newGlonassEph(glonassephemeris*)),
79 (bncApp*) qApp, SLOT(slotNewGlonassEph(glonassephemeris*)));
80
81 // Sub-Decoder for Clock and Orbit Corrections
82 // -------------------------------------------
83 _coDecoder = new RTCM3coDecoder(staID);
84
85 // Mode can be either observations or corrections
86 // ----------------------------------------------
87 _mode = unknown;
88
89 // Antenna position (used for decoding of message 1003)
90 // ----------------------------------------------------
91 _antXYZ[0] = _antXYZ[1] = _antXYZ[2] = 0;
92
93}
94
95// Destructor
96////////////////////////////////////////////////////////////////////////////
97RTCM3Decoder::~RTCM3Decoder() {
98 delete _coDecoder;
99}
100
101//
102////////////////////////////////////////////////////////////////////////////
103t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
104
105 errmsg.clear();
106
107 bool decoded = false;
108
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
120 // Try to decode Clock and Orbit Corrections
121 // -----------------------------------------
122 if (_mode == unknown || _mode == corrections) {
123 if ( _coDecoder->Decode(buffer, bufLen, errmsg) == success ) {
124 decoded = true;
125 if (_mode == unknown) {
126 if (_rawFile) {
127 _staID_corrections = _rawFile->staID();
128 }
129 else {
130 _mode = corrections;
131 }
132 }
133 }
134 }
135
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
147 // Get Glonass Slot Numbers from Global Array
148 // ------------------------------------------
149 bncApp* app = (bncApp*) qApp;
150 app->getGlonassSlotNums(parser.GLOFreq);
151
152 // Initialize a new parser
153 // -----------------------
154 if (newParser) {
155 memset(&parser, 0, sizeof(parser));
156 parser.rinex3 = 0;
157 double secGPS;
158 currentGPSWeeks(parser.GPSWeek, secGPS);
159 parser.GPSTOW = int(secGPS);
160 }
161
162 // Remaining part decodes the Observations
163 // ---------------------------------------
164 if (_mode == unknown || _mode == observations ||
165 _checkMountPoint == _staID || _checkMountPoint == "ALL") {
166
167 for (int iByte = 0; iByte < bufLen; iByte++) {
168
169 parser.Message[parser.MessageSize++] = buffer[iByte];
170
171 if (parser.MessageSize >= parser.NeedBytes) {
172
173 while (int rr = RTCM3Parser(&parser)) {
174
175 // RTCMv3 message types
176 // --------------------
177 _typeList.push_back(parser.blocktype);
178
179 // RTCMv3 antenna descriptor
180 // -------------------------
181 if (rr == 1007 || rr == 1008 || rr == 1033) {
182 _antType.push_back(parser.antenna);
183 }
184
185 // RTCMv3 antenna XYZ
186 // ------------------
187 else if (rr == 1005) {
188 _antList.push_back(t_antInfo());
189 _antList.back().type = t_antInfo::ARP;
190 _antList.back().xx = parser.antX * 1e-4;
191 _antList.back().yy = parser.antY * 1e-4;
192 _antList.back().zz = parser.antZ * 1e-4;
193 _antList.back().message = rr;
194
195 // Remember station position for 1003 message decoding
196 _antXYZ[0] = parser.antX * 1e-4;
197 _antXYZ[1] = parser.antY * 1e-4;
198 _antXYZ[2] = parser.antZ * 1e-4;
199 }
200
201 // RTCMv3 antenna XYZ-H
202 // --------------------
203 else if(rr == 1006) {
204 _antList.push_back(t_antInfo());
205 _antList.back().type = t_antInfo::ARP;
206 _antList.back().xx = parser.antX * 1e-4;
207 _antList.back().yy = parser.antY * 1e-4;
208 _antList.back().zz = parser.antZ * 1e-4;
209 _antList.back().height = parser.antH * 1e-4;
210 _antList.back().height_f = true;
211 _antList.back().message = rr;
212
213 // Remember station position for 1003 message decoding
214 _antXYZ[0] = parser.antX * 1e-4;
215 _antXYZ[1] = parser.antY * 1e-4;
216 _antXYZ[2] = parser.antZ * 1e-4;
217 }
218
219 // GNSS Observations
220 // -----------------
221 else if (rr == 1 || rr == 2) {
222 decoded = true;
223
224 if (!parser.init) {
225 HandleHeader(&parser);
226 parser.init = 1;
227 }
228
229 if (rr == 2) {
230 emit(newMessage( (_staID +
231 ": No valid RINEX! All values are modulo 299792.458!").toAscii(),
232 true));
233 }
234
235 for (int iSat = 0; iSat < parser.Data.numsats; iSat++) {
236
237 p_obs obs = new t_obs();
238 int satID = parser.Data.satellites[iSat];
239
240 // GPS
241 // ---
242 if (satID >= PRN_GPS_START && satID <= PRN_GPS_END) {
243 obs->_o.satSys = 'G';
244 obs->_o.satNum = satID;
245 }
246
247 // Glonass
248 // -------
249 else if (satID >= PRN_GLONASS_START && satID <= PRN_GLONASS_END) {
250 obs->_o.satSys = 'R';
251 obs->_o.satNum = satID - PRN_GLONASS_START + 1;
252 if (obs->_o.satNum <= PRN_GLONASS_NUM &&
253 parser.GLOFreq[obs->_o.satNum-1] != 0) {
254 obs->_o.slotNum = parser.GLOFreq[obs->_o.satNum-1] - 100;
255 }
256 else {
257 delete obs;
258 obs = 0;
259 }
260 }
261
262 // Galileo
263 // -------
264 else if (satID >= PRN_GALILEO_START && satID <= PRN_GALILEO_END) {
265 obs->_o.satSys = 'E';
266 obs->_o.satNum = satID - PRN_GALILEO_START + 1;
267 }
268
269 // WAAS
270 // ----
271 else if (satID >= PRN_WAAS_START && satID <= PRN_WAAS_END) {
272 obs->_o.satSys = 'S';
273 obs->_o.satNum = satID - PRN_WAAS_START + 20;
274 }
275
276 // Giove A and B
277 // -------------
278 else if (satID >= PRN_GIOVE_START && satID <= PRN_GIOVE_END) {
279 obs->_o.satSys = 'E';
280 obs->_o.satNum = satID - PRN_GIOVE_START + PRN_GIOVE_OFFSET;
281 }
282
283 // Unknown System
284 // --------------
285 else {
286 delete obs;
287 obs = 0;
288 }
289
290 if (obs) {
291 _obsList.push_back(obs);
292 }
293 else {
294 continue;
295 }
296
297 obs->_o.GPSWeek = parser.Data.week;
298 obs->_o.GPSWeeks = parser.Data.timeofweek / 1000.0;
299
300 // Loop over all data types
301 // ------------------------
302 for (int iType = 0; iType < parser.numdatatypesGPS; ++iType) {
303
304 bool obsPresent = false;
305
306 int df = parser.dataflag[iType];
307 int pos = parser.datapos[iType];
308 if ( (parser.Data.dataflags[iSat] & df)
309 && !isnan(parser.Data.measdata[iSat][pos])
310 && !isinf(parser.Data.measdata[iSat][pos])) {
311 obsPresent = true;;
312 }
313 else {
314 df = parser.dataflagGPS[iType];
315 pos = parser.dataposGPS[iType];
316 if ( (parser.Data.dataflags[iSat] & df)
317 && !isnan(parser.Data.measdata[iSat][pos])
318 && !isinf(parser.Data.measdata[iSat][pos])) {
319 obsPresent = true;
320 }
321 }
322 if (!obsPresent) {
323 continue;
324 }
325
326 if (df & GNSSDF_C1DATA) {
327 obs->_o.C1 = parser.Data.measdata[iSat][pos];
328 }
329 else if (df & GNSSDF_C2DATA) {
330 obs->_o.C2 = parser.Data.measdata[iSat][pos];
331 }
332 else if (df & GNSSDF_P1DATA) {
333 obs->_o.P1 = parser.Data.measdata[iSat][pos];
334 }
335 else if (df & GNSSDF_P2DATA) {
336 obs->_o.P2 = parser.Data.measdata[iSat][pos];
337 }
338 else if (df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) {
339 obs->_o.L1 = parser.Data.measdata[iSat][pos];
340 obs->_o.SNR1 = parser.Data.snrL1[iSat];
341 }
342 else if (df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) {
343 obs->_o.L2 = parser.Data.measdata[iSat][pos];
344 obs->_o.SNR2 = parser.Data.snrL2[iSat];
345 }
346 else if (df & (GNSSDF_S1CDATA|GNSSDF_S1PDATA)) {
347 obs->_o.S1 = parser.Data.measdata[iSat][pos];
348 }
349 else if (df & (GNSSDF_S2CDATA|GNSSDF_S2PDATA)) {
350 obs->_o.S2 = parser.Data.measdata[iSat][pos];
351 }
352
353 // New Carriers
354 // ------------
355 else if (df & GNSSDF_C5DATA) {
356 obs->_o.C5 = parser.Data.measdata[iSat][pos];
357 }
358 else if (df & GNSSDF_L5DATA) {
359 obs->_o.L5 = parser.Data.measdata[iSat][pos];
360 }
361 else if (df & GNSSDF_S5DATA) {
362 obs->_o.S5 = parser.Data.measdata[iSat][pos];
363 }
364 }
365 }
366 }
367
368 // GPS Ephemeris
369 // -------------
370 else if (rr == 1019) {
371 decoded = true;
372 emit newGPSEph(new gpsephemeris(parser.ephemerisGPS));
373 }
374
375 // GLONASS Ephemeris
376 // -----------------
377 else if (rr == 1020) {
378 decoded = true;
379 emit newGlonassEph(new glonassephemeris(parser.ephemerisGLONASS));
380 }
381 }
382 }
383 }
384 if (!_rawFile && _mode == unknown && decoded) {
385 _mode = observations;
386 }
387 }
388
389 if (decoded) {
390 app->storeGlonassSlotNums(parser.GLOFreq);
391 return success;
392 }
393 else {
394 return failure;
395 }
396}
397
398// Store ephemerides
399//////////////////////////////////////////////////////////////////////////////
400bool RTCM3Decoder::storeEph(const gpsephemeris& gpseph) {
401 t_ephGPS eph; eph.set(&gpseph);
402
403 return storeEph(eph);
404}
405
406
407bool RTCM3Decoder::storeEph(const t_ephGPS& gpseph) {
408 const double secPerWeek = 7.0 * 24.0 * 3600.0;
409 double weekold = 0.0;
410 double weeknew = gpseph.GPSweek() + gpseph.GPSweeks() / secPerWeek;
411 if ( _ephList.find(gpseph.prn()) != _ephList.end() ) {
412 weekold = _ephList.find(gpseph.prn())->second.GPSweek()
413 + _ephList.find(gpseph.prn())->second.GPSweeks() / secPerWeek;
414 }
415
416 if ( weeknew - weekold > 1.0/secPerWeek ) {
417 _ephList[gpseph.prn()] = gpseph;
418
419 return true;
420 }
421
422 return false;
423}
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