source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm.h @ 7903

Last change on this file since 7903 was 7903, checked in by stuerze, 4 years ago

minor changes

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File size: 11.2 KB
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1#ifndef RTCM3_CLOCK_ORBIT_RTCM_H
2#define RTCM3_CLOCK_ORBIT_RTCM_H
3
4/* Programheader
5
6        Name:           clock_orbit_rtcm.h
7        Project:        RTCM3
8        Version:        $Id: clock_orbit_rtcm.h 7903 2016-05-12 13:57:37Z stuerze $
9        Authors:        Dirk Stöcker
10        Description:    state space approach for RTCM3
11*/
12
13#include <string.h>
14
15enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
16
17enum COR_BASE {
18  COBBASE_GPS = 1057,
19  COBBASE_GLONASS = 1063,
20  COBBASE_GALILEO = 1240,
21  COBBASE_QZSS = 1246,
22  COBBASE_SBAS = 1252,
23  COBBASE_BDS = 1258,
24};
25
26enum COR_OFFSET {
27  COBOFS_ORBIT = 0,
28  COBOFS_CLOCK,
29  COBOFS_BIAS,
30  COBOFS_COMBINED,
31  COBOFS_URA,
32  COBOFS_HR,
33  COBOFS_NUM
34};
35
36enum ClockOrbitType {
37  COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
38  COTYPE_GPSCLOCK,
39  COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
40  COTYPE_GPSURA,
41  COTYPE_GPSHR,
42
43  COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
44  COTYPE_GLONASSCLOCK,
45  COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
46  COTYPE_GLONASSURA,
47  COTYPE_GLONASSHR,
48
49  COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
50  COTYPE_GALILEOCLOCK,
51  COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
52  COTYPE_GALILEOURA,
53  COTYPE_GALILEOHR,
54
55  COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
56  COTYPE_QZSSCLOCK,
57  COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
58  COTYPE_QZSSURA,
59  COTYPE_QZSSHR,
60
61  COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
62  COTYPE_SBASCLOCK,
63  COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
64  COTYPE_SBASURA,
65  COTYPE_SBASHR,
66
67  COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
68  COTYPE_BDSCLOCK,
69  COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
70  COTYPE_BDSURA,
71  COTYPE_BDSHR,
72
73  COTYPE_AUTO = 0,
74};
75
76enum CodeBiasType {
77  BTYPE_GPS = COBBASE_GPS + COBOFS_BIAS,
78  BTYPE_GLONASS = COBBASE_GLONASS + COBOFS_BIAS,
79  BTYPE_GALILEO = COBBASE_GALILEO + COBOFS_BIAS,
80  BTYPE_QZSS = COBBASE_QZSS + COBOFS_BIAS,
81  BTYPE_SBAS = COBBASE_SBAS + COBOFS_BIAS,
82  BTYPE_BDS = COBBASE_BDS + COBOFS_BIAS,
83  BTYPE_AUTO = 0
84};
85
86enum PhaseBiasType {
87  PBTYPE_BASE = 1265,
88  PBTYPE_GPS = PBTYPE_BASE,
89  PBTYPE_GLONASS,
90  PBTYPE_GALILEO,
91  PBTYPE_QZSS,
92  PBTYPE_SBAS,
93  PBTYPE_BDS,
94  PBTYPE_AUTO = 0
95};
96
97enum VTECType {
98  VTEC_BASE = 1264
99};
100
101/* if some systems aren't supported at all, change the following numbers to zero
102for these systems to save space */
103enum COR_CONSTANTS {
104  CLOCKORBIT_BUFFERSIZE=2048,
105  CLOCKORBIT_NUMGPS=32,
106  CLOCKORBIT_NUMGLONASS=26,
107  CLOCKORBIT_NUMGALILEO=36,
108  CLOCKORBIT_NUMQZSS=10,
109  CLOCKORBIT_NUMSBAS=38,
110  CLOCKORBIT_NUMBDS=37,
111  CLOCKORBIT_NUMBIAS=17,
112  CLOCKORBIT_NUMIONOLAYERS=4,
113  CLOCKORBIT_MAXIONOORDER=16,
114  CLOCKORBIT_MAXIONODEGREE=16
115};
116
117enum COR_SATSYSTEM {
118  CLOCKORBIT_SATGPS=0,
119  CLOCKORBIT_SATGLONASS,
120  CLOCKORBIT_SATGALILEO,
121  CLOCKORBIT_SATQZSS,
122  CLOCKORBIT_SATSBAS,
123  CLOCKORBIT_SATBDS,
124  CLOCKORBIT_SATNUM
125};
126
127enum COR_OFFSETS {
128  CLOCKORBIT_OFFSETGPS=0,
129  CLOCKORBIT_OFFSETGLONASS=CLOCKORBIT_NUMGPS,
130  CLOCKORBIT_OFFSETGALILEO=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS,
131  CLOCKORBIT_OFFSETQZSS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
132  +CLOCKORBIT_NUMGALILEO,
133  CLOCKORBIT_OFFSETSBAS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
134  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS,
135  CLOCKORBIT_OFFSETBDS=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
136  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS,
137  CLOCKORBIT_COUNTSAT=CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS
138  +CLOCKORBIT_NUMGALILEO+CLOCKORBIT_NUMQZSS+CLOCKORBIT_NUMSBAS
139  +CLOCKORBIT_NUMBDS
140};
141
142enum CodeType {
143  CODETYPEGPS_L1_CA          = 0,
144  CODETYPEGPS_L1_P           = 1,
145  CODETYPEGPS_L1_Z           = 2,
146  /*CODETYPEGPS_L1_Y         = 3,
147  CODETYPEGPS_L1_M           = 4,*/
148  CODETYPEGPS_L2_CA          = 5,
149  CODETYPEGPS_SEMI_CODELESS  = 6,
150  CODETYPEGPS_L2_CM          = 7,
151  CODETYPEGPS_L2_CL          = 8,
152  CODETYPEGPS_L2_CML         = 9,
153  CODETYPEGPS_L2_P           = 10,
154  CODETYPEGPS_L2_Z           = 11,
155  /*CODETYPEGPS_L2_Y         = 12,
156  CODETYPEGPS_L2_M           = 13,*/
157  CODETYPEGPS_L5_I           = 14,
158  CODETYPEGPS_L5_Q           = 15,
159  CODETYPEGPS_L5_IQ          = 16,
160
161  CODETYPEGLONASS_L1_CA      = 0,
162  CODETYPEGLONASS_L1_P       = 1,
163  CODETYPEGLONASS_L2_CA      = 2,
164  CODETYPEGLONASS_L2_P       = 3,
165
166  CODETYPEGALILEO_E1_A       = 0,
167  CODETYPEGALILEO_E1_B       = 1,
168  CODETYPEGALILEO_E1_C       = 2,
169  CODETYPEGALILEO_E5A_I      = 5,
170  CODETYPEGALILEO_E5A_Q      = 6,
171  CODETYPEGALILEO_E5B_I      = 8,
172  CODETYPEGALILEO_E5B_Q      = 9,
173  CODETYPEGALILEO_E5_I       = 11,
174  CODETYPEGALILEO_E5_Q       = 12,
175  CODETYPEGALILEO_E6_A       = 14,
176  CODETYPEGALILEO_E6_B       = 15,
177  CODETYPEGALILEO_E6_C       = 16,
178
179  CODETYPEQZSS_L1_CA         = 0,
180  CODETYPEQZSS_L1C_D         = 1,
181  CODETYPEQZSS_L1C_P         = 2,
182  CODETYPEQZSS_L2_CM         = 3,
183  CODETYPEQZSS_L2_CL         = 4,
184  CODETYPEQZSS_L2_CML        = 5,
185  CODETYPEQZSS_L5_I          = 6,
186  CODETYPEQZSS_L5_Q          = 7,
187  CODETYPEQZSS_L5_IQ         = 8,
188  CODETYPEQZSS_LEX_S         = 9,
189  CODETYPEQZSS_LEX_L         = 10,
190  CODETYPEQZSS_LEX_SL        = 11,
191  CODETYPEQZSS_L1C_DP        = 12,
192
193  CODETYPE_SBAS_L1_CA        = 0,
194  CODETYPE_SBAS_L5_I         = 1,
195  CODETYPE_SBAS_L5_Q         = 2,
196  CODETYPE_SBAS_L5_IQ        = 3,
197
198  CODETYPE_BDS_B1_I          = 0,
199  CODETYPE_BDS_B1_Q          = 1,
200  CODETYPE_BDS_B1_IQ         = 2,
201  CODETYPE_BDS_B3_I          = 3,
202  CODETYPE_BDS_B3_Q          = 4,
203  CODETYPE_BDS_B3_IQ         = 5,
204  CODETYPE_BDS_B2_I          = 6,
205  CODETYPE_BDS_B2_Q          = 7,
206  CODETYPE_BDS_B2_IQ         = 8,
207};
208
209#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
210
211/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
212in the data structures. So first GLONASS satellite is at
213xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
214xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
215
216#ifdef COR_LEGACY
217/* old names */
218#define NumberOfGPSSat     NumberOfSat[CLOCKORBIT_SATGPS]
219#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
220#define GPSEpochTime       EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
221#define GLONASSEpochTime   EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
222#define ClockDataSupplied  Supplied[COBOFS_CLOCK]
223#define HRDataSupplied     Supplied[COBOFS_HR]
224#define OrbitDataSupplied  Supplied[COBOFS_ORBIT]
225#define URADataSupplied    Supplied[COBOFS_URA]
226#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
227#endif /* COR_LEGACY */
228
229/* latency check code, disabled by default */
230#ifdef COR_LATENCY
231#define COR_LATENCYCOUNT 100
232#endif
233
234struct ClockOrbit
235{
236  enum ClockOrbitType messageType;
237  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
238  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
239
240  unsigned int Supplied[COBOFS_NUM];           /* boolean */
241#ifdef COR_LATENCY
242  unsigned int epochGPS[COR_LATENCYCOUNT+1];   /* Weber, for latency */
243  unsigned int epochSize;                      /* Weber, for latency */
244#endif
245  unsigned int SSRIOD;
246  unsigned int SSRProviderID;
247  unsigned int SSRSolutionID;
248  unsigned int UpdateInterval;
249  enum SatelliteReferenceDatum SatRefDatum;
250  struct SatData {
251    unsigned int ID; /* all */
252    unsigned int IOD; /* all */
253    unsigned int toe; /* SBAS, BDS */
254    double UserRangeAccuracy; /* accuracy values in [m] */
255    double hrclock;
256    struct OrbitPart
257    {
258      double DeltaRadial;           /* m */
259      double DeltaAlongTrack;       /* m */
260      double DeltaCrossTrack;       /* m */
261      double DotDeltaRadial;        /* m/s */
262      double DotDeltaAlongTrack;    /* m/s */
263      double DotDeltaCrossTrack;    /* m/s */
264    } Orbit;
265    struct ClockPart
266    {
267      double DeltaA0;               /* m */
268      double DeltaA1;               /* m/s */
269      double DeltaA2;               /* m/ss */
270    } Clock;
271  } Sat[CLOCKORBIT_COUNTSAT];
272};
273
274struct CodeBias
275{
276  enum CodeBiasType messageType;
277  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
278  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
279  unsigned int UpdateInterval;
280  unsigned int SSRIOD;
281  unsigned int SSRProviderID;
282  unsigned int SSRSolutionID;
283  struct BiasSat
284  {
285    unsigned int ID; /* all */
286    unsigned int NumberOfCodeBiases;
287    struct CodeBiasEntry
288    {
289      enum CodeType Type;
290      float         Bias;           /* m */
291    } Biases[CLOCKORBIT_NUMBIAS];
292  } Sat[CLOCKORBIT_COUNTSAT];
293};
294
295struct PhaseBias
296{
297  enum PhaseBiasType messageType;
298  unsigned int EpochTime[CLOCKORBIT_SATNUM];   /* 0 .. system specific maximum */
299  unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
300  unsigned int UpdateInterval;
301  unsigned int SSRIOD;
302  unsigned int SSRProviderID;
303  unsigned int SSRSolutionID;
304  unsigned int DispersiveBiasConsistencyIndicator;
305  unsigned int MWConsistencyIndicator;
306  struct PhaseBiasSat
307  {
308    unsigned int ID; /* all */
309    unsigned int NumberOfPhaseBiases;
310    double YawAngle; /* radiant */
311    double YawRate;  /* radiant/s */
312    struct PhaseBiasEntry
313    {
314      enum CodeType Type;
315      unsigned int  SignalIntegerIndicator;
316      unsigned int  SignalsWideLaneIntegerIndicator;
317      unsigned int  SignalDiscontinuityCounter;
318      float         Bias;           /* m */
319    } Biases[CLOCKORBIT_NUMBIAS];
320  } Sat[CLOCKORBIT_COUNTSAT];
321};
322
323struct VTEC
324{
325  unsigned int EpochTime; /* GPS */
326  unsigned int UpdateInterval;
327  unsigned int SSRIOD;
328  unsigned int SSRProviderID;
329  unsigned int SSRSolutionID;
330  unsigned int NumLayers; /* 1-4 */
331  double Quality;
332  struct IonoLayers {
333    double       Height; /* m */
334    unsigned int Degree; /* 1-16 */
335    unsigned int Order; /* 1-16 */
336    double       Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
337    double       Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
338  } Layers[CLOCKORBIT_NUMIONOLAYERS];
339};
340
341/* return size of resulting data or 0 in case of an error */
342size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
343       int moremessagesfollow, char *buffer, size_t size);
344size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
345       int moremessagesfollow, char *buffer, size_t size);
346size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
347       int moremessagesfollow, char *buffer, size_t size);
348size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
349       size_t size);
350
351enum GCOB_RETURN {
352  /* all well */
353  GCOBR_MESSAGEFOLLOWS = 1,
354  GCOBR_OK = 0,
355  /* unknown data, a warning */
356  GCOBR_UNKNOWNTYPE = -1,
357  GCOBR_UNKNOWNDATA = -2,
358  GCOBR_CRCMISMATCH = -3,
359  GCOBR_SHORTMESSAGE = -4,
360  /* failed to do the work */
361  GCOBR_NOCLOCKORBITPARAMETER = -10,
362  GCOBR_NOCODEBIASPARAMETER = -11,
363  GCOBR_NOPHASEBIASPARAMETER = -12,
364  GCOBR_NOVTECPARAMETER = -13,
365  /* data mismatch - data in storage does not match new data */
366  GCOBR_TIMEMISMATCH = -20,
367  GCOBR_DATAMISMATCH = -21,
368  /* not enough data - can decode the block completely */
369  GCOBR_SHORTBUFFER = -30,
370  GCOBR_MESSAGEEXCEEDSBUFFER = -31};
371
372/* 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
373function to have a clean state. */
374
375/* buffer should point to a RTCM3 block */
376enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
377       struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
378
379#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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