[8970] | 1 | #ifndef RTCM3_CLOCK_ORBIT_IGS_H
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| 2 | #define RTCM3_CLOCK_ORBIT_IGS_H
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| 3 |
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| 4 | /* Programheader
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| 5 |
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| 6 | Name: clock_orbit_igs.h
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| 7 | Project: RTCM3
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| 8 | Version: $Id: clock_orbit_igs.h 8966 2020-07-01 07:48:35Z stuerze $
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| 9 | Authors: Dirk Stöcker, Andrea Stürze
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| 10 | Description: state space approach: IGS
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| 11 | */
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| 12 |
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| 13 | #include <string.h>
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| 14 |
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| 15 | enum SatelliteReferenceDatum {
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| 16 | DATUM_ITRF = 0,
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| 17 | DATUM_LOCAL = 1
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| 18 | };
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| 19 |
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| 20 | enum IGS_NUMBERS {
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| 21 | RTCM_MESSAGE_NUMBER_IGS = 4076,
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| 22 | IGS_SSR_VERSION = 3
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| 23 | };
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| 24 |
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| 25 | enum COR_BASE {// Orbit Correction
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| 26 | COBBASE_GPS = 21,
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| 27 | COBBASE_GLONASS = 41,
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| 28 | COBBASE_GALILEO = 61,
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| 29 | COBBASE_QZSS = 81,
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| 30 | COBBASE_BDS = 101,
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| 31 | COBBASE_SBAS = 121,
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| 32 | COBBASE_NUM
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| 33 | };
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| 34 |
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| 35 | enum COR_OFFSET { // sub-type message, for example:
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| 36 | COBOFS_ORBIT = 0, // GPS: IM21
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| 37 | COBOFS_CLOCK, // GPS: IM22
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| 38 | COBOFS_COMBINED, // GPS: IM23
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| 39 | COBOFS_HR, // GPS: IM24
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| 40 | COBOFS_CBIAS, // GPS: IM25
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| 41 | COBOFS_PBIAS, // GPS: IM26
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| 42 | COBOFS_URA, // GPS: IM27
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| 43 | COBOFS_NUM
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| 44 | };
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| 45 |
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| 46 | enum ClockOrbitType {
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| 47 | COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
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| 48 | COTYPE_GPSCLOCK,
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| 49 | COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
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| 50 | COTYPE_GPSHR,
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| 51 | COTYPE_GPSURA = COBBASE_GPS + COBOFS_URA,
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| 52 |
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| 53 | COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
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| 54 | COTYPE_GLONASSCLOCK,
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| 55 | COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
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| 56 | COTYPE_GLONASSHR,
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| 57 | COTYPE_GLONASSURA = COBBASE_GLONASS + COBOFS_URA,
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| 58 |
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| 59 | COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
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| 60 | COTYPE_GALILEOCLOCK,
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| 61 | COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
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| 62 | COTYPE_GALILEOHR,
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| 63 | COTYPE_GALILEOURA = COBBASE_GALILEO + COBOFS_URA,
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| 64 |
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| 65 | COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
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| 66 | COTYPE_QZSSCLOCK,
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| 67 | COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
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| 68 | COTYPE_QZSSHR,
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| 69 | COTYPE_QZSSURA = COBBASE_QZSS + COBOFS_URA,
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| 70 |
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| 71 | COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
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| 72 | COTYPE_BDSCLOCK,
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| 73 | COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
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| 74 | COTYPE_BDSHR,
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| 75 | COTYPE_BDSURA = COBBASE_BDS + COBOFS_URA,
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| 76 |
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| 77 | COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
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| 78 | COTYPE_SBASCLOCK,
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| 79 | COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
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| 80 | COTYPE_SBASHR,
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| 81 | COTYPE_SBASURA = COBBASE_SBAS + COBOFS_URA,
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| 82 |
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| 83 | COTYPE_AUTO = 0,
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| 84 | };
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| 85 |
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| 86 | enum CodeBiasType {
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| 87 | CBTYPE_GPS = COBBASE_GPS + COBOFS_CBIAS,
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| 88 | CBTYPE_GLONASS = COBBASE_GLONASS + COBOFS_CBIAS,
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| 89 | CBTYPE_GALILEO = COBBASE_GALILEO + COBOFS_CBIAS,
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| 90 | CBTYPE_QZSS = COBBASE_QZSS + COBOFS_CBIAS,
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| 91 | CBTYPE_BDS = COBBASE_BDS + COBOFS_CBIAS,
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| 92 | CBTYPE_SBAS = COBBASE_SBAS + COBOFS_CBIAS,
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| 93 | CBTYPE_AUTO = 0
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| 94 | };
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| 95 |
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| 96 | enum PhaseBiasType {
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| 97 | PBTYPE_GPS = COBBASE_GPS + COBOFS_PBIAS,
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| 98 | PBTYPE_GLONASS = COBBASE_GLONASS + COBOFS_PBIAS,
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| 99 | PBTYPE_GALILEO = COBBASE_GALILEO + COBOFS_PBIAS,
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| 100 | PBTYPE_QZSS = COBBASE_QZSS + COBOFS_PBIAS,
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| 101 | PBTYPE_BDS = COBBASE_BDS + COBOFS_PBIAS,
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| 102 | PBTYPE_SBAS = COBBASE_SBAS + COBOFS_PBIAS,
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| 103 | PBTYPE_AUTO = 0
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| 104 | };
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| 105 |
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| 106 | enum VTECType {
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| 107 | VTEC_BASE = 201
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| 108 | };
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| 109 |
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| 110 | /* if some systems aren't supported at all, change the following numbers to zero
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| 111 | for these systems to save space */
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| 112 | enum COR_CONSTANTS {
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| 113 | CLOCKORBIT_BUFFERSIZE = 8192,
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| 114 | CLOCKORBIT_NUMGPS = 32,
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| 115 | CLOCKORBIT_NUMGLONASS = 26,
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| 116 | CLOCKORBIT_NUMGALILEO = 36,
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| 117 | CLOCKORBIT_NUMQZSS = 10,
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| 118 | CLOCKORBIT_NUMBDS = 65,
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| 119 | CLOCKORBIT_NUMSBAS = 38,
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| 120 | CLOCKORBIT_NUMBIAS = 100,
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| 121 | CLOCKORBIT_NUMIONOLAYERS = 4,
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| 122 | CLOCKORBIT_MAXIONOORDER = 16,
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| 123 | CLOCKORBIT_MAXIONODEGREE = 16
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| 124 | };
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| 125 |
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| 126 | enum COR_SATSYSTEM {
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| 127 | CLOCKORBIT_SATGPS=0,
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| 128 | CLOCKORBIT_SATGLONASS,
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| 129 | CLOCKORBIT_SATGALILEO,
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| 130 | CLOCKORBIT_SATQZSS,
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| 131 | CLOCKORBIT_SATBDS,
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| 132 | CLOCKORBIT_SATSBAS,
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| 133 | CLOCKORBIT_SATNUM
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| 134 | };
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| 135 |
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| 136 | enum COR_OFFSETS {
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| 137 | CLOCKORBIT_OFFSETGPS = 0,
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| 138 | CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
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| 139 | CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
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| 140 | CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO,
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| 141 | CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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| 142 | + CLOCKORBIT_NUMQZSS,
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| 143 | CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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| 144 | + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS,
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| 145 | CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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| 146 | + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS
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| 147 | };
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| 148 |
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| 149 | enum CodeType {
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| 150 | CODETYPEGPS_L1_CA = 0,
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| 151 | CODETYPEGPS_L1_P = 1,
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| 152 | CODETYPEGPS_L1_Z = 2,
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| 153 | CODETYPEGPS_L1C_D = 3,
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| 154 | CODETYPEGPS_L1C_P = 4,
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| 155 | CODETYPEGPS_L2_CA = 5,
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| 156 | CODETYPEGPS_SEMI_CODELESS = 6,
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| 157 | CODETYPEGPS_L2C_M = 7,
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| 158 | CODETYPEGPS_L2C_L = 8,
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| 159 | //RESERVED = 9,
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| 160 | CODETYPEGPS_L2_P = 10,
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| 161 | CODETYPEGPS_L2_Z = 11,
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| 162 | //RESERVED = 12,
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| 163 | //RESERVED = 13,
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| 164 | CODETYPEGPS_L5_I = 14,
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| 165 | CODETYPEGPS_L5_Q = 15,
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| 166 |
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| 167 | CODETYPEGLONASS_L1_CA = 0,
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| 168 | CODETYPEGLONASS_L1_P = 1,
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| 169 | CODETYPEGLONASS_L2_CA = 2,
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| 170 | CODETYPEGLONASS_L2_P = 3,
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| 171 | CODETYPEGLONASS_L1a_OCd = 4,
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| 172 | CODETYPEGLONASS_L1a_OCp = 5,
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| 173 | CODETYPEGLONASS_L2a_CSI = 6,
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| 174 | CODETYPEGLONASS_L2a_OCp = 7,
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| 175 | CODETYPEGLONASS_L3_I = 8,
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| 176 | CODETYPEGLONASS_L3_Q = 9,
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| 177 |
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| 178 | CODETYPEGALILEO_E1_A = 0,
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| 179 | CODETYPEGALILEO_E1_B = 1,
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| 180 | CODETYPEGALILEO_E1_C = 2,
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| 181 | //RESERVED_E1_BC = 3,
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| 182 | //RESERVED_E1_ABC = 4,
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| 183 | CODETYPEGALILEO_E5A_I = 5,
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| 184 | CODETYPEGALILEO_E5A_Q = 6,
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| 185 | //RESERVED_E5A_IQ = 7,
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| 186 | CODETYPEGALILEO_E5B_I = 8,
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| 187 | CODETYPEGALILEO_E5B_Q = 9,
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| 188 | //RESERVED_E5B_IQ = 10,
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| 189 | //RESERVED_E5_I = 11,
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| 190 | //RESERVED_E5_Q = 12,
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| 191 | //RESERVED_E5_IQ = 13,
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| 192 | CODETYPEGALILEO_E6_A = 14,
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| 193 | CODETYPEGALILEO_E6_B = 15,
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| 194 | CODETYPEGALILEO_E6_C = 16,
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| 195 | //RESERVED_E6_BC = 17,
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| 196 | //RESERVED_E6_ABC = 18,
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| 197 |
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| 198 | CODETYPEQZSS_L1_CA = 0,
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| 199 | CODETYPEQZSS_L1C_D = 1,
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| 200 | CODETYPEQZSS_L1C_P = 2,
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| 201 | CODETYPEQZSS_L2C_M = 3,
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| 202 | CODETYPEQZSS_L2C_L = 4,
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| 203 | //RESEVED_L2C_ML = 5,
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| 204 | CODETYPEQZSS_L5_I = 6,
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| 205 | CODETYPEQZSS_L5_Q = 7,
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| 206 | //RESERVED_L5_IQ = 8,
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| 207 | CODETYPEQZSS_L6_D = 9,
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| 208 | CODETYPEQZSS_L6_P = 10,
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| 209 | //RESERVED_L6_DP = 11,
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| 210 | //RESERVED_L1C_DP = 12,
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| 211 | //RESERVED_L1_S = 13,
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| 212 | //RESERVED_L5_D = 14,
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| 213 | //RESERVED_L5_P = 15,
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| 214 | //RESERVED_L5_DP = 16,
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| 215 | CODETYPEQZSS_L6_E = 17,
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| 216 | //RESERVED_L6_DE = 18,
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| 217 |
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| 218 | CODETYPE_BDS_B1_I = 0,
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| 219 | CODETYPE_BDS_B1_Q = 1,
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| 220 | //RESERVED_BDS_B1_IQ = 2,
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| 221 | CODETYPE_BDS_B3_I = 3,
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| 222 | CODETYPE_BDS_B3_Q = 4,
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| 223 | //RESERVED_BDS_B3_IQ = 5,
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| 224 | CODETYPE_BDS_B2_I = 6,
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| 225 | CODETYPE_BDS_B2_Q = 7,
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| 226 | //RESERVED_BDS_B2_IQ = 8,
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| 227 | CODETYPE_BDS_B1a_D = 9,
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| 228 | CODETYPE_BDS_B1a_P = 10,
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| 229 | //RESERVED_BDS_B1a_DP = 11,
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| 230 | CODETYPE_BDS_B2a_D = 12,
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| 231 | CODETYPE_BDS_B2a_P = 13,
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| 232 | //RESEVED_BDS_B2a_DP = 14,
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| 233 | CODETYPE_BDS_B1_A = 15,//NEW 1A
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| 234 | //RESERVED = 16,
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| 235 | //RESERVED = 17,
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| 236 | CODETYPE_BDS_B3_A = 18,//NEW 6A
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| 237 |
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| 238 | CODETYPE_SBAS_L1_CA = 0,
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| 239 | CODETYPE_SBAS_L5_I = 1,
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| 240 | CODETYPE_SBAS_L5_Q = 2
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| 241 | //RESERVED_SBAS_L5_IQ = 3
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| 242 |
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| 243 | };
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| 244 |
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| 245 | #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
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| 246 |
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| 247 | /* satellite system data is stored with offset CLOCKORBIT_OFFSET...
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| 248 | in the data structures. So first GLONASS satellite is at
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| 249 | xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
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| 250 | xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
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| 251 |
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| 252 | struct ClockOrbit {
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| 253 | enum ClockOrbitType messageType;
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| 254 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 255 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 256 | unsigned int Supplied[COBOFS_NUM]; /* boolean */
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| 257 | unsigned int SSRIOD;
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| 258 | unsigned int SSRProviderID;
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| 259 | unsigned int SSRSolutionID;
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| 260 | unsigned int UpdateInterval;
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| 261 | enum SatelliteReferenceDatum SatRefDatum;
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| 262 | struct SatData {
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| 263 | unsigned int ID; /* all */
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| 264 | unsigned int IOD; /* all */
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| 265 | unsigned int toe; /* SBAS, BDS */
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| 266 | double UserRangeAccuracy; /* accuracy values in [m] */
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| 267 | double hrclock;
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| 268 | struct OrbitPart {
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| 269 | double DeltaRadial; /* m */
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| 270 | double DeltaAlongTrack; /* m */
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| 271 | double DeltaCrossTrack; /* m */
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| 272 | double DotDeltaRadial; /* m/s */
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| 273 | double DotDeltaAlongTrack; /* m/s */
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| 274 | double DotDeltaCrossTrack; /* m/s */
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| 275 | } Orbit;
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| 276 | struct ClockPart {
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| 277 | double DeltaA0; /* m */
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| 278 | double DeltaA1; /* m/s */
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| 279 | double DeltaA2; /* m/ss */
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| 280 | } Clock;
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| 281 | } Sat[CLOCKORBIT_COUNTSAT];
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| 282 | };
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| 283 |
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| 284 | struct CodeBias {
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| 285 | enum CodeBiasType messageType;
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| 286 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 287 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 288 | unsigned int UpdateInterval;
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| 289 | unsigned int SSRIOD;
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| 290 | unsigned int SSRProviderID;
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| 291 | unsigned int SSRSolutionID;
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| 292 | struct BiasSat {
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| 293 | unsigned int ID; /* all */
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| 294 | unsigned int NumberOfCodeBiases;
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| 295 | struct CodeBiasEntry {
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| 296 | enum CodeType Type;
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| 297 | float Bias; /* m */
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| 298 | } Biases[CLOCKORBIT_NUMBIAS];
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| 299 | } Sat[CLOCKORBIT_COUNTSAT];
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| 300 | };
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| 301 |
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| 302 | struct PhaseBias {
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| 303 | enum PhaseBiasType messageType;
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| 304 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 305 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 306 | unsigned int UpdateInterval;
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| 307 | unsigned int SSRIOD;
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| 308 | unsigned int SSRProviderID;
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| 309 | unsigned int SSRSolutionID;
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| 310 | unsigned int DispersiveBiasConsistencyIndicator;
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| 311 | unsigned int MWConsistencyIndicator;
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| 312 | struct PhaseBiasSat {
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| 313 | unsigned int ID; /* all */
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| 314 | unsigned int NumberOfPhaseBiases;
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| 315 | double YawAngle; /* radiant */
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| 316 | double YawRate; /* radiant/s */
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| 317 | struct PhaseBiasEntry {
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| 318 | enum CodeType Type;
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| 319 | unsigned int SignalIntegerIndicator;
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| 320 | unsigned int SignalsWideLaneIntegerIndicator;
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| 321 | unsigned int SignalDiscontinuityCounter;
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| 322 | float Bias; /* m */
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| 323 | } Biases[CLOCKORBIT_NUMBIAS];
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| 324 | } Sat[CLOCKORBIT_COUNTSAT];
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| 325 | };
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| 326 |
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| 327 | struct VTEC {
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| 328 | unsigned int EpochTime; /* GPS */
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| 329 | unsigned int UpdateInterval;
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| 330 | unsigned int SSRIOD;
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| 331 | unsigned int SSRProviderID;
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| 332 | unsigned int SSRSolutionID;
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| 333 | unsigned int NumLayers; /* 1-4 */
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| 334 | double Quality;
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| 335 | struct IonoLayers {
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| 336 | double Height; /* m */
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| 337 | unsigned int Degree; /* 1-16 */
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| 338 | unsigned int Order; /* 1-16 */
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| 339 | double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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| 340 | double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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| 341 | } Layers[CLOCKORBIT_NUMIONOLAYERS];
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| 342 | };
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| 343 |
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| 344 | /* return size of resulting data or 0 in case of an error */
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| 345 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 346 | int moremessagesfollow, char *buffer, size_t size);
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| 347 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
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| 348 | int moremessagesfollow, char *buffer, size_t size);
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| 349 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
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| 350 | int moremessagesfollow, char *buffer, size_t size);
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| 351 | size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
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| 352 | size_t size);
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| 353 |
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| 354 | enum GCOB_RETURN {
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| 355 | /* all well */
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| 356 | GCOBR_MESSAGEFOLLOWS = 1,
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| 357 | GCOBR_OK = 0,
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| 358 | /* unknown data, a warning */
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| 359 | GCOBR_UNKNOWNTYPE = -1,
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| 360 | GCOBR_UNKNOWNDATA = -2,
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| 361 | GCOBR_CRCMISMATCH = -3,
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| 362 | GCOBR_SHORTMESSAGE = -4,
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| 363 | /* failed to do the work */
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| 364 | GCOBR_NOCLOCKORBITPARAMETER = -10,
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| 365 | GCOBR_NOCODEBIASPARAMETER = -11,
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| 366 | GCOBR_NOPHASEBIASPARAMETER = -12,
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| 367 | GCOBR_NOVTECPARAMETER = -13,
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| 368 | /* data mismatch - data in storage does not match new data */
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| 369 | GCOBR_TIMEMISMATCH = -20,
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| 370 | GCOBR_DATAMISMATCH = -21,
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| 371 | /* not enough data - can decode the block completely */
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| 372 | GCOBR_SHORTBUFFER = -30,
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| 373 | GCOBR_MESSAGEEXCEEDSBUFFER = -31};
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| 374 |
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| 375 | /* NOTE: When an error message has been emitted, the output structures may have been modified. Make a copy of the previous variant before calling the
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| 376 | function to have a clean state. */
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| 377 |
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| 378 | /* buffer should point to a RTCM3 block */
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| 379 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
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| 380 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
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| 381 |
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| 382 | #endif /* RTCM3_CLOCK_ORBIT_IGS_H */
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