[956] | 1 | #ifndef RTCM3_CLOCK_ORBIT_RTCM_H
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| 2 | #define RTCM3_CLOCK_ORBIT_RTCM_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_rtcm.h
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| 7 | Project: RTCM3
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[3495] | 8 | Version: $Id: clock_orbit_rtcm.h 8967 2020-07-02 11:56:59Z stuerze $
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[956] | 9 | Authors: Dirk Stöcker
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| 10 | Description: state space approach for RTCM3
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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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[8967] | 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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[5664] | 19 |
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| 20 | enum COR_BASE {
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[8966] | 21 | COBBASE_GPS = 1057,
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[5664] | 22 | COBBASE_GLONASS = 1063,
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| 23 | COBBASE_GALILEO = 1240,
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[8966] | 24 | COBBASE_QZSS = 1246,
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| 25 | COBBASE_SBAS = 1252,
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| 26 | COBBASE_BDS = 1258,
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[5664] | 27 | };
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| 28 |
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| 29 | enum COR_OFFSET {
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| 30 | COBOFS_ORBIT = 0,
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| 31 | COBOFS_CLOCK,
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[8967] | 32 | COBOFS_CBIAS,
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[5664] | 33 | COBOFS_COMBINED,
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| 34 | COBOFS_URA,
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| 35 | COBOFS_HR,
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| 36 | COBOFS_NUM
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| 37 | };
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| 38 |
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[1581] | 39 | enum ClockOrbitType {
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[8967] | 40 | COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
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[5664] | 41 | COTYPE_GPSCLOCK,
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[8967] | 42 | COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
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[5664] | 43 | COTYPE_GPSURA,
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| 44 | COTYPE_GPSHR,
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[1581] | 45 |
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[8966] | 46 | COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
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[5664] | 47 | COTYPE_GLONASSCLOCK,
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| 48 | COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
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| 49 | COTYPE_GLONASSURA,
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| 50 | COTYPE_GLONASSHR,
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[1581] | 51 |
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[8966] | 52 | COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
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[5664] | 53 | COTYPE_GALILEOCLOCK,
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| 54 | COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
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| 55 | COTYPE_GALILEOURA,
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| 56 | COTYPE_GALILEOHR,
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[956] | 57 |
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[8967] | 58 | COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
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[5664] | 59 | COTYPE_QZSSCLOCK,
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[8967] | 60 | COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
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[5664] | 61 | COTYPE_QZSSURA,
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| 62 | COTYPE_QZSSHR,
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| 63 |
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[8967] | 64 | COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
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[5664] | 65 | COTYPE_SBASCLOCK,
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[8967] | 66 | COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
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[5664] | 67 | COTYPE_SBASURA,
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| 68 | COTYPE_SBASHR,
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| 69 |
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[8967] | 70 | COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
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[5664] | 71 | COTYPE_BDSCLOCK,
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[8967] | 72 | COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
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[5664] | 73 | COTYPE_BDSURA,
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| 74 | COTYPE_BDSHR,
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| 75 |
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| 76 | COTYPE_AUTO = 0,
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| 77 | };
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| 78 |
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| 79 | enum CodeBiasType {
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[8967] | 80 | CBTYPE_GPS = COBBASE_GPS + COBOFS_CBIAS,
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| 81 | CBTYPE_GLONASS = COBBASE_GLONASS + COBOFS_CBIAS,
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| 82 | CBTYPE_GALILEO = COBBASE_GALILEO + COBOFS_CBIAS,
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| 83 | CBTYPE_QZSS = COBBASE_QZSS + COBOFS_CBIAS,
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| 84 | CBTYPE_SBAS = COBBASE_SBAS + COBOFS_CBIAS,
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| 85 | CBTYPE_BDS = COBBASE_BDS + COBOFS_CBIAS,
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| 86 | CBTYPE_AUTO = 0
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[5664] | 87 | };
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| 88 |
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| 89 | enum PhaseBiasType {
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[8967] | 90 | PBTYPE_BASE = 1265,
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| 91 | PBTYPE_GPS = PBTYPE_BASE,
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[5664] | 92 | PBTYPE_GLONASS,
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| 93 | PBTYPE_GALILEO,
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| 94 | PBTYPE_QZSS,
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| 95 | PBTYPE_SBAS,
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| 96 | PBTYPE_BDS,
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| 97 | PBTYPE_AUTO = 0
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| 98 | };
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| 99 |
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| 100 | enum VTECType {
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| 101 | VTEC_BASE = 1264
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| 102 | };
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| 103 |
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| 104 | /* if some systems aren't supported at all, change the following numbers to zero
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| 105 | for these systems to save space */
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[956] | 106 | enum COR_CONSTANTS {
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[8967] | 107 | CLOCKORBIT_BUFFERSIZE = 8192,
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| 108 | CLOCKORBIT_NUMGPS = 32,
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| 109 | CLOCKORBIT_NUMGLONASS = 26,
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| 110 | CLOCKORBIT_NUMGALILEO = 36,
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| 111 | CLOCKORBIT_NUMQZSS = 10,
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| 112 | CLOCKORBIT_NUMBDS = 65,
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| 113 | CLOCKORBIT_NUMSBAS = 38,
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| 114 | CLOCKORBIT_NUMBIAS = 100,
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| 115 | CLOCKORBIT_NUMIONOLAYERS = 4,
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| 116 | CLOCKORBIT_MAXIONOORDER = 16,
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| 117 | CLOCKORBIT_MAXIONODEGREE = 16
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[956] | 118 | };
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| 119 |
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[5664] | 120 | enum COR_SATSYSTEM {
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| 121 | CLOCKORBIT_SATGPS=0,
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| 122 | CLOCKORBIT_SATGLONASS,
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| 123 | CLOCKORBIT_SATGALILEO,
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| 124 | CLOCKORBIT_SATQZSS,
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[8967] | 125 | CLOCKORBIT_SATBDS,
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[5664] | 126 | CLOCKORBIT_SATSBAS,
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| 127 | CLOCKORBIT_SATNUM
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| 128 | };
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| 129 |
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| 130 | enum COR_OFFSETS {
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[8966] | 131 | CLOCKORBIT_OFFSETGPS = 0,
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| 132 | CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
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[8967] | 133 | CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
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| 134 | CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO,
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| 135 | CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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[8966] | 136 | + CLOCKORBIT_NUMQZSS,
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[8967] | 137 | CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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| 138 | + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS,
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| 139 | CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
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| 140 | + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS
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[5664] | 141 | };
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| 142 |
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[956] | 143 | enum CodeType {
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| 144 | CODETYPEGPS_L1_CA = 0,
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| 145 | CODETYPEGPS_L1_P = 1,
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| 146 | CODETYPEGPS_L1_Z = 2,
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[8844] | 147 | //CODETYPEGPS_L1_Y = 3,
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| 148 | //CODETYPEGPS_L1_M = 4,
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[4241] | 149 | CODETYPEGPS_L2_CA = 5,
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[8944] | 150 | CODETYPEGPS_SEMI_CODELESS = 6,
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[8409] | 151 | CODETYPEGPS_L2C_M = 7,
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| 152 | CODETYPEGPS_L2C_L = 8,
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| 153 | CODETYPEGPS_L2C_ML = 9,
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[2432] | 154 | CODETYPEGPS_L2_P = 10,
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| 155 | CODETYPEGPS_L2_Z = 11,
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[8844] | 156 | //CODETYPEGPS_L2_Y = 12,
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| 157 | //CODETYPEGPS_L2_M = 13,
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[4241] | 158 | CODETYPEGPS_L5_I = 14,
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| 159 | CODETYPEGPS_L5_Q = 15,
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[6845] | 160 | CODETYPEGPS_L5_IQ = 16,
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[8004] | 161 | CODETYPEGPS_L1C_D = 17,
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| 162 | CODETYPEGPS_L1C_P = 18,
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| 163 | CODETYPEGPS_L1C_DP = 19,
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[956] | 164 |
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| 165 | CODETYPEGLONASS_L1_CA = 0,
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| 166 | CODETYPEGLONASS_L1_P = 1,
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| 167 | CODETYPEGLONASS_L2_CA = 2,
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| 168 | CODETYPEGLONASS_L2_P = 3,
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[8409] | 169 | CODETYPEGLONASS_L1a_OCd = 4,
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| 170 | CODETYPEGLONASS_L1a_OCp = 5,
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| 171 | CODETYPEGLONASS_L1a_OCdp = 6,
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| 172 | CODETYPEGLONASS_L2a_CSI = 7,
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| 173 | CODETYPEGLONASS_L2a_OCp = 8,
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| 174 | CODETYPEGLONASS_L2a_CSIOCp = 9,
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| 175 | CODETYPEGLONASS_L3_I = 10,
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| 176 | CODETYPEGLONASS_L3_Q = 11,
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| 177 | CODETYPEGLONASS_L3_IQ = 12,
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[5664] | 178 |
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[8409] | 179 |
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[5664] | 180 | CODETYPEGALILEO_E1_A = 0,
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| 181 | CODETYPEGALILEO_E1_B = 1,
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| 182 | CODETYPEGALILEO_E1_C = 2,
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[7940] | 183 | CODETYPEGALILEO_E1_BC = 3,
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| 184 | CODETYPEGALILEO_E1_ABC = 4,
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[5664] | 185 | CODETYPEGALILEO_E5A_I = 5,
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| 186 | CODETYPEGALILEO_E5A_Q = 6,
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[7940] | 187 | CODETYPEGALILEO_E5A_IQ = 7,
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[5664] | 188 | CODETYPEGALILEO_E5B_I = 8,
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| 189 | CODETYPEGALILEO_E5B_Q = 9,
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[7940] | 190 | CODETYPEGALILEO_E5B_IQ = 10,
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[5664] | 191 | CODETYPEGALILEO_E5_I = 11,
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| 192 | CODETYPEGALILEO_E5_Q = 12,
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[7940] | 193 | CODETYPEGALILEO_E5_IQ = 13,
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[5664] | 194 | CODETYPEGALILEO_E6_A = 14,
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| 195 | CODETYPEGALILEO_E6_B = 15,
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| 196 | CODETYPEGALILEO_E6_C = 16,
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[7940] | 197 | CODETYPEGALILEO_E6_BC = 17,
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| 198 | CODETYPEGALILEO_E6_ABC = 18,
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[5664] | 199 |
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| 200 | CODETYPEQZSS_L1_CA = 0,
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| 201 | CODETYPEQZSS_L1C_D = 1,
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| 202 | CODETYPEQZSS_L1C_P = 2,
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[7940] | 203 | CODETYPEQZSS_L2C_M = 3,
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| 204 | CODETYPEQZSS_L2C_L = 4,
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| 205 | CODETYPEQZSS_L2C_ML = 5,
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[5664] | 206 | CODETYPEQZSS_L5_I = 6,
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| 207 | CODETYPEQZSS_L5_Q = 7,
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| 208 | CODETYPEQZSS_L5_IQ = 8,
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[8409] | 209 | CODETYPEQZSS_L6_D = 9,
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| 210 | CODETYPEQZSS_L6_P = 10,
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| 211 | CODETYPEQZSS_L6_DP = 11,
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[8944] | 212 | CODETYPEQZSS_L1C_DP = 12,
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[8629] | 213 | CODETYPEQZSS_L1_S = 13,
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[8409] | 214 | CODETYPEQZSS_L5_D = 14,
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| 215 | CODETYPEQZSS_L5_P = 15,
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| 216 | CODETYPEQZSS_L5_DP = 16,
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[8629] | 217 | CODETYPEQZSS_L6_E = 17,
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[8944] | 218 | CODETYPEQZSS_L6_DE = 18,
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[5664] | 219 |
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| 220 | CODETYPE_SBAS_L1_CA = 0,
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| 221 | CODETYPE_SBAS_L5_I = 1,
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| 222 | CODETYPE_SBAS_L5_Q = 2,
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| 223 | CODETYPE_SBAS_L5_IQ = 3,
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| 224 |
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| 225 | CODETYPE_BDS_B1_I = 0,
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| 226 | CODETYPE_BDS_B1_Q = 1,
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| 227 | CODETYPE_BDS_B1_IQ = 2,
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| 228 | CODETYPE_BDS_B3_I = 3,
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| 229 | CODETYPE_BDS_B3_Q = 4,
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| 230 | CODETYPE_BDS_B3_IQ = 5,
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| 231 | CODETYPE_BDS_B2_I = 6,
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| 232 | CODETYPE_BDS_B2_Q = 7,
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| 233 | CODETYPE_BDS_B2_IQ = 8,
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[8944] | 234 | CODETYPE_BDS_B1a_D = 9,
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| 235 | CODETYPE_BDS_B1a_P = 10,
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| 236 | CODETYPE_BDS_B1a_DP = 11,
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| 237 | CODETYPE_BDS_B2a_D = 12,
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| 238 | CODETYPE_BDS_B2a_P = 13,
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| 239 | CODETYPE_BDS_B2a_DP = 14,
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[8801] | 240 |
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| 241 | CODETYPE_IRNSS_S_SPS = 8,
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| 242 | CODETYPE_IRNSS_L5_SPS = 22
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[956] | 243 | };
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| 244 |
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[2421] | 245 | #define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
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| 246 |
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[6845] | 247 | /* satellite system data is stored with offset CLOCKORBIT_OFFSET...
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[5664] | 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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[956] | 251 |
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[5664] | 252 | #ifdef COR_LEGACY
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| 253 | /* old names */
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| 254 | #define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS]
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| 255 | #define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
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| 256 | #define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
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| 257 | #define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
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| 258 | #define ClockDataSupplied Supplied[COBOFS_CLOCK]
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| 259 | #define HRDataSupplied Supplied[COBOFS_HR]
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| 260 | #define OrbitDataSupplied Supplied[COBOFS_ORBIT]
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| 261 | #define URADataSupplied Supplied[COBOFS_URA]
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| 262 | #define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
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| 263 | #endif /* COR_LEGACY */
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| 264 |
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| 265 | /* latency check code, disabled by default */
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| 266 | #ifdef COR_LATENCY
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| 267 | #define COR_LATENCYCOUNT 100
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| 268 | #endif
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| 269 |
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[8966] | 270 | struct ClockOrbit {
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[2323] | 271 | enum ClockOrbitType messageType;
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[5664] | 272 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 273 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 274 | unsigned int Supplied[COBOFS_NUM]; /* boolean */
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| 275 | #ifdef COR_LATENCY
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| 276 | unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */
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| 277 | unsigned int epochSize; /* Weber, for latency */
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| 278 | #endif
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| 279 | unsigned int SSRIOD;
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| 280 | unsigned int SSRProviderID;
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| 281 | unsigned int SSRSolutionID;
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| 282 | unsigned int UpdateInterval;
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[956] | 283 | enum SatelliteReferenceDatum SatRefDatum;
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| 284 | struct SatData {
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[5664] | 285 | unsigned int ID; /* all */
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| 286 | unsigned int IOD; /* all */
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| 287 | unsigned int toe; /* SBAS, BDS */
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[2421] | 288 | double UserRangeAccuracy; /* accuracy values in [m] */
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[1581] | 289 | double hrclock;
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[8966] | 290 | struct OrbitPart {
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[956] | 291 | double DeltaRadial; /* m */
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| 292 | double DeltaAlongTrack; /* m */
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| 293 | double DeltaCrossTrack; /* m */
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| 294 | double DotDeltaRadial; /* m/s */
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| 295 | double DotDeltaAlongTrack; /* m/s */
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| 296 | double DotDeltaCrossTrack; /* m/s */
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| 297 | } Orbit;
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[8966] | 298 | struct ClockPart {
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[956] | 299 | double DeltaA0; /* m */
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| 300 | double DeltaA1; /* m/s */
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| 301 | double DeltaA2; /* m/ss */
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| 302 | } Clock;
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[5664] | 303 | } Sat[CLOCKORBIT_COUNTSAT];
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[956] | 304 | };
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| 305 |
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[8966] | 306 | struct CodeBias {
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[5664] | 307 | enum CodeBiasType messageType;
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| 308 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 309 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 310 | unsigned int UpdateInterval;
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| 311 | unsigned int SSRIOD;
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| 312 | unsigned int SSRProviderID;
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| 313 | unsigned int SSRSolutionID;
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[8966] | 314 | struct BiasSat {
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[5664] | 315 | unsigned int ID; /* all */
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| 316 | unsigned int NumberOfCodeBiases;
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[8966] | 317 | struct CodeBiasEntry {
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[956] | 318 | enum CodeType Type;
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| 319 | float Bias; /* m */
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| 320 | } Biases[CLOCKORBIT_NUMBIAS];
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[5664] | 321 | } Sat[CLOCKORBIT_COUNTSAT];
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[956] | 322 | };
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| 323 |
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[8966] | 324 | struct PhaseBias {
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[5664] | 325 | enum PhaseBiasType messageType;
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| 326 | unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
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| 327 | unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
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| 328 | unsigned int UpdateInterval;
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| 329 | unsigned int SSRIOD;
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| 330 | unsigned int SSRProviderID;
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| 331 | unsigned int SSRSolutionID;
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| 332 | unsigned int DispersiveBiasConsistencyIndicator;
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| 333 | unsigned int MWConsistencyIndicator;
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[8966] | 334 | struct PhaseBiasSat {
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[5664] | 335 | unsigned int ID; /* all */
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| 336 | unsigned int NumberOfPhaseBiases;
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| 337 | double YawAngle; /* radiant */
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| 338 | double YawRate; /* radiant/s */
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[8966] | 339 | struct PhaseBiasEntry {
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[5664] | 340 | enum CodeType Type;
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| 341 | unsigned int SignalIntegerIndicator;
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| 342 | unsigned int SignalsWideLaneIntegerIndicator;
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| 343 | unsigned int SignalDiscontinuityCounter;
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| 344 | float Bias; /* m */
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| 345 | } Biases[CLOCKORBIT_NUMBIAS];
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| 346 | } Sat[CLOCKORBIT_COUNTSAT];
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| 347 | };
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| 348 |
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[8966] | 349 | struct VTEC {
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[5664] | 350 | unsigned int EpochTime; /* GPS */
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| 351 | unsigned int UpdateInterval;
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| 352 | unsigned int SSRIOD;
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| 353 | unsigned int SSRProviderID;
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| 354 | unsigned int SSRSolutionID;
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| 355 | unsigned int NumLayers; /* 1-4 */
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| 356 | double Quality;
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| 357 | struct IonoLayers {
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| 358 | double Height; /* m */
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[7903] | 359 | unsigned int Degree; /* 1-16 */
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| 360 | unsigned int Order; /* 1-16 */
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[5664] | 361 | double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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| 362 | double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
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| 363 | } Layers[CLOCKORBIT_NUMIONOLAYERS];
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| 364 | };
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| 365 |
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[956] | 366 | /* return size of resulting data or 0 in case of an error */
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[8822] | 367 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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[956] | 368 | int moremessagesfollow, char *buffer, size_t size);
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[5664] | 369 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
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[956] | 370 | int moremessagesfollow, char *buffer, size_t size);
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[5664] | 371 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
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| 372 | int moremessagesfollow, char *buffer, size_t size);
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| 373 | size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
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| 374 | size_t size);
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[956] | 375 |
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| 376 | enum GCOB_RETURN {
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| 377 | /* all well */
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[8966] | 378 | GCOBR_MESSAGEFOLLOWS = 1,
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| 379 | GCOBR_OK = 0,
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[956] | 380 | /* unknown data, a warning */
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[8966] | 381 | GCOBR_UNKNOWNTYPE = -1,
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| 382 | GCOBR_UNKNOWNDATA = -2,
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| 383 | GCOBR_CRCMISMATCH = -3,
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| 384 | GCOBR_SHORTMESSAGE = -4,
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[956] | 385 | /* failed to do the work */
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| 386 | GCOBR_NOCLOCKORBITPARAMETER = -10,
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[8966] | 387 | GCOBR_NOCODEBIASPARAMETER = -11,
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| 388 | GCOBR_NOPHASEBIASPARAMETER = -12,
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| 389 | GCOBR_NOVTECPARAMETER = -13,
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[956] | 390 | /* data mismatch - data in storage does not match new data */
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[8966] | 391 | GCOBR_TIMEMISMATCH = -20,
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| 392 | GCOBR_DATAMISMATCH = -21,
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[956] | 393 | /* not enough data - can decode the block completely */
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[8966] | 394 | GCOBR_SHORTBUFFER = -30,
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| 395 | GCOBR_MESSAGEEXCEEDSBUFFER = -31};
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[956] | 396 |
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| 397 | /* 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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| 398 | function to have a clean state. */
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| 399 |
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| 400 | /* buffer should point to a RTCM3 block */
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[5664] | 401 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
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| 402 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
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[956] | 403 |
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| 404 | #endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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