source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm.h@ 8966

Last change on this file since 8966 was 8966, checked in by stuerze, 4 years ago

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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 8966 2020-07-01 07:48:35Z 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=8192,
105 CLOCKORBIT_NUMGPS=32,
106 CLOCKORBIT_NUMGLONASS=26,
107 CLOCKORBIT_NUMGALILEO=36,
108 CLOCKORBIT_NUMQZSS=10,
109 CLOCKORBIT_NUMSBAS=38,
110 CLOCKORBIT_NUMBDS=65,
111 CLOCKORBIT_NUMBIAS=100,
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 + CLOCKORBIT_NUMGALILEO,
132 CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
133 + CLOCKORBIT_NUMQZSS,
134 CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
135 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS,
136 CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
137 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMBDS
138};
139
140enum CodeType {
141 CODETYPEGPS_L1_CA = 0,
142 CODETYPEGPS_L1_P = 1,
143 CODETYPEGPS_L1_Z = 2,
144 //CODETYPEGPS_L1_Y = 3,
145 //CODETYPEGPS_L1_M = 4,
146 CODETYPEGPS_L2_CA = 5,
147 CODETYPEGPS_SEMI_CODELESS = 6,
148 CODETYPEGPS_L2C_M = 7,
149 CODETYPEGPS_L2C_L = 8,
150 CODETYPEGPS_L2C_ML = 9,
151 CODETYPEGPS_L2_P = 10,
152 CODETYPEGPS_L2_Z = 11,
153 //CODETYPEGPS_L2_Y = 12,
154 //CODETYPEGPS_L2_M = 13,
155 CODETYPEGPS_L5_I = 14,
156 CODETYPEGPS_L5_Q = 15,
157 CODETYPEGPS_L5_IQ = 16,
158 CODETYPEGPS_L1C_D = 17,
159 CODETYPEGPS_L1C_P = 18,
160 CODETYPEGPS_L1C_DP = 19,
161
162 CODETYPEGLONASS_L1_CA = 0,
163 CODETYPEGLONASS_L1_P = 1,
164 CODETYPEGLONASS_L2_CA = 2,
165 CODETYPEGLONASS_L2_P = 3,
166 CODETYPEGLONASS_L1a_OCd = 4,
167 CODETYPEGLONASS_L1a_OCp = 5,
168 CODETYPEGLONASS_L1a_OCdp = 6,
169 CODETYPEGLONASS_L2a_CSI = 7,
170 CODETYPEGLONASS_L2a_OCp = 8,
171 CODETYPEGLONASS_L2a_CSIOCp = 9,
172 CODETYPEGLONASS_L3_I = 10,
173 CODETYPEGLONASS_L3_Q = 11,
174 CODETYPEGLONASS_L3_IQ = 12,
175
176
177 CODETYPEGALILEO_E1_A = 0,
178 CODETYPEGALILEO_E1_B = 1,
179 CODETYPEGALILEO_E1_C = 2,
180 CODETYPEGALILEO_E1_BC = 3,
181 CODETYPEGALILEO_E1_ABC = 4,
182 CODETYPEGALILEO_E5A_I = 5,
183 CODETYPEGALILEO_E5A_Q = 6,
184 CODETYPEGALILEO_E5A_IQ = 7,
185 CODETYPEGALILEO_E5B_I = 8,
186 CODETYPEGALILEO_E5B_Q = 9,
187 CODETYPEGALILEO_E5B_IQ = 10,
188 CODETYPEGALILEO_E5_I = 11,
189 CODETYPEGALILEO_E5_Q = 12,
190 CODETYPEGALILEO_E5_IQ = 13,
191 CODETYPEGALILEO_E6_A = 14,
192 CODETYPEGALILEO_E6_B = 15,
193 CODETYPEGALILEO_E6_C = 16,
194 CODETYPEGALILEO_E6_BC = 17,
195 CODETYPEGALILEO_E6_ABC = 18,
196
197 CODETYPEQZSS_L1_CA = 0,
198 CODETYPEQZSS_L1C_D = 1,
199 CODETYPEQZSS_L1C_P = 2,
200 CODETYPEQZSS_L2C_M = 3,
201 CODETYPEQZSS_L2C_L = 4,
202 CODETYPEQZSS_L2C_ML = 5,
203 CODETYPEQZSS_L5_I = 6,
204 CODETYPEQZSS_L5_Q = 7,
205 CODETYPEQZSS_L5_IQ = 8,
206 CODETYPEQZSS_L6_D = 9,
207 CODETYPEQZSS_L6_P = 10,
208 CODETYPEQZSS_L6_DP = 11,
209 CODETYPEQZSS_L1C_DP = 12,
210 CODETYPEQZSS_L1_S = 13,
211 CODETYPEQZSS_L5_D = 14,
212 CODETYPEQZSS_L5_P = 15,
213 CODETYPEQZSS_L5_DP = 16,
214 CODETYPEQZSS_L6_E = 17,
215 CODETYPEQZSS_L6_DE = 18,
216
217 CODETYPE_SBAS_L1_CA = 0,
218 CODETYPE_SBAS_L5_I = 1,
219 CODETYPE_SBAS_L5_Q = 2,
220 CODETYPE_SBAS_L5_IQ = 3,
221
222 CODETYPE_BDS_B1_I = 0,
223 CODETYPE_BDS_B1_Q = 1,
224 CODETYPE_BDS_B1_IQ = 2,
225 CODETYPE_BDS_B3_I = 3,
226 CODETYPE_BDS_B3_Q = 4,
227 CODETYPE_BDS_B3_IQ = 5,
228 CODETYPE_BDS_B2_I = 6,
229 CODETYPE_BDS_B2_Q = 7,
230 CODETYPE_BDS_B2_IQ = 8,
231 CODETYPE_BDS_B1a_D = 9,
232 CODETYPE_BDS_B1a_P = 10,
233 CODETYPE_BDS_B1a_DP = 11,
234 CODETYPE_BDS_B2a_D = 12,
235 CODETYPE_BDS_B2a_P = 13,
236 CODETYPE_BDS_B2a_DP = 14,
237
238 CODETYPE_IRNSS_S_SPS = 8,
239 CODETYPE_IRNSS_L5_SPS = 22
240};
241
242#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
243
244/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
245in the data structures. So first GLONASS satellite is at
246xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
247xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
248
249#ifdef COR_LEGACY
250/* old names */
251#define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS]
252#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
253#define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
254#define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
255#define ClockDataSupplied Supplied[COBOFS_CLOCK]
256#define HRDataSupplied Supplied[COBOFS_HR]
257#define OrbitDataSupplied Supplied[COBOFS_ORBIT]
258#define URADataSupplied Supplied[COBOFS_URA]
259#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
260#endif /* COR_LEGACY */
261
262/* latency check code, disabled by default */
263#ifdef COR_LATENCY
264#define COR_LATENCYCOUNT 100
265#endif
266
267struct ClockOrbit {
268 enum ClockOrbitType messageType;
269 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
270 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
271 unsigned int Supplied[COBOFS_NUM]; /* boolean */
272#ifdef COR_LATENCY
273 unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */
274 unsigned int epochSize; /* Weber, for latency */
275#endif
276 unsigned int SSRIOD;
277 unsigned int SSRProviderID;
278 unsigned int SSRSolutionID;
279 unsigned int UpdateInterval;
280 enum SatelliteReferenceDatum SatRefDatum;
281 struct SatData {
282 unsigned int ID; /* all */
283 unsigned int IOD; /* all */
284 unsigned int toe; /* SBAS, BDS */
285 double UserRangeAccuracy; /* accuracy values in [m] */
286 double hrclock;
287 struct OrbitPart {
288 double DeltaRadial; /* m */
289 double DeltaAlongTrack; /* m */
290 double DeltaCrossTrack; /* m */
291 double DotDeltaRadial; /* m/s */
292 double DotDeltaAlongTrack; /* m/s */
293 double DotDeltaCrossTrack; /* m/s */
294 } Orbit;
295 struct ClockPart {
296 double DeltaA0; /* m */
297 double DeltaA1; /* m/s */
298 double DeltaA2; /* m/ss */
299 } Clock;
300 } Sat[CLOCKORBIT_COUNTSAT];
301};
302
303struct CodeBias {
304 enum CodeBiasType messageType;
305 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
306 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
307 unsigned int UpdateInterval;
308 unsigned int SSRIOD;
309 unsigned int SSRProviderID;
310 unsigned int SSRSolutionID;
311 struct BiasSat {
312 unsigned int ID; /* all */
313 unsigned int NumberOfCodeBiases;
314 struct CodeBiasEntry {
315 enum CodeType Type;
316 float Bias; /* m */
317 } Biases[CLOCKORBIT_NUMBIAS];
318 } Sat[CLOCKORBIT_COUNTSAT];
319};
320
321struct PhaseBias {
322 enum PhaseBiasType messageType;
323 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
324 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
325 unsigned int UpdateInterval;
326 unsigned int SSRIOD;
327 unsigned int SSRProviderID;
328 unsigned int SSRSolutionID;
329 unsigned int DispersiveBiasConsistencyIndicator;
330 unsigned int MWConsistencyIndicator;
331 struct PhaseBiasSat {
332 unsigned int ID; /* all */
333 unsigned int NumberOfPhaseBiases;
334 double YawAngle; /* radiant */
335 double YawRate; /* radiant/s */
336 struct PhaseBiasEntry {
337 enum CodeType Type;
338 unsigned int SignalIntegerIndicator;
339 unsigned int SignalsWideLaneIntegerIndicator;
340 unsigned int SignalDiscontinuityCounter;
341 float Bias; /* m */
342 } Biases[CLOCKORBIT_NUMBIAS];
343 } Sat[CLOCKORBIT_COUNTSAT];
344};
345
346struct VTEC {
347 unsigned int EpochTime; /* GPS */
348 unsigned int UpdateInterval;
349 unsigned int SSRIOD;
350 unsigned int SSRProviderID;
351 unsigned int SSRSolutionID;
352 unsigned int NumLayers; /* 1-4 */
353 double Quality;
354 struct IonoLayers {
355 double Height; /* m */
356 unsigned int Degree; /* 1-16 */
357 unsigned int Order; /* 1-16 */
358 double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
359 double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
360 } Layers[CLOCKORBIT_NUMIONOLAYERS];
361};
362
363/* return size of resulting data or 0 in case of an error */
364size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
365 int moremessagesfollow, char *buffer, size_t size);
366size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
367 int moremessagesfollow, char *buffer, size_t size);
368size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
369 int moremessagesfollow, char *buffer, size_t size);
370size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
371 size_t size);
372
373enum GCOB_RETURN {
374 /* all well */
375 GCOBR_MESSAGEFOLLOWS = 1,
376 GCOBR_OK = 0,
377 /* unknown data, a warning */
378 GCOBR_UNKNOWNTYPE = -1,
379 GCOBR_UNKNOWNDATA = -2,
380 GCOBR_CRCMISMATCH = -3,
381 GCOBR_SHORTMESSAGE = -4,
382 /* failed to do the work */
383 GCOBR_NOCLOCKORBITPARAMETER = -10,
384 GCOBR_NOCODEBIASPARAMETER = -11,
385 GCOBR_NOPHASEBIASPARAMETER = -12,
386 GCOBR_NOVTECPARAMETER = -13,
387 /* data mismatch - data in storage does not match new data */
388 GCOBR_TIMEMISMATCH = -20,
389 GCOBR_DATAMISMATCH = -21,
390 /* not enough data - can decode the block completely */
391 GCOBR_SHORTBUFFER = -30,
392 GCOBR_MESSAGEEXCEEDSBUFFER = -31};
393
394/* 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
395function to have a clean state. */
396
397/* buffer should point to a RTCM3 block */
398enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
399 struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
400
401#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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