source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit_rtcm.h@ 8969

Last change on this file since 8969 was 8969, checked in by stuerze, 4 years ago

some preparation to support 2 different ssr formats in future
  • Property svn:executable set to *
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File size: 12.7 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 8969 2020-07-03 09:41:26Z stuerze $
9 Authors: Dirk Stöcker
10 Description: state space approach: RTCM
11*/
12
13#include <string.h>
14
15enum SatelliteReferenceDatum {
16 DATUM_ITRF = 0,
17 DATUM_LOCAL = 1
18};
19
20enum COR_BASE {
21 COBBASE_GPS = 1057,
22 COBBASE_GLONASS = 1063,
23 COBBASE_GALILEO = 1240,
24 COBBASE_QZSS = 1246,
25 COBBASE_SBAS = 1252,
26 COBBASE_BDS = 1258,
27};
28
29enum COR_OFFSET {
30 COBOFS_ORBIT = 0,
31 COBOFS_CLOCK,
32 COBOFS_CBIAS,
33 COBOFS_COMBINED,
34 COBOFS_URA,
35 COBOFS_HR,
36 COBOFS_NUM
37};
38
39enum ClockOrbitType {
40 COTYPE_GPSORBIT = COBBASE_GPS + COBOFS_ORBIT,
41 COTYPE_GPSCLOCK,
42 COTYPE_GPSCOMBINED = COBBASE_GPS + COBOFS_COMBINED,
43 COTYPE_GPSURA,
44 COTYPE_GPSHR,
45
46 COTYPE_GLONASSORBIT = COBBASE_GLONASS + COBOFS_ORBIT,
47 COTYPE_GLONASSCLOCK,
48 COTYPE_GLONASSCOMBINED = COBBASE_GLONASS + COBOFS_COMBINED,
49 COTYPE_GLONASSURA,
50 COTYPE_GLONASSHR,
51
52 COTYPE_GALILEOORBIT = COBBASE_GALILEO + COBOFS_ORBIT,
53 COTYPE_GALILEOCLOCK,
54 COTYPE_GALILEOCOMBINED = COBBASE_GALILEO + COBOFS_COMBINED,
55 COTYPE_GALILEOURA,
56 COTYPE_GALILEOHR,
57
58 COTYPE_QZSSORBIT = COBBASE_QZSS + COBOFS_ORBIT,
59 COTYPE_QZSSCLOCK,
60 COTYPE_QZSSCOMBINED = COBBASE_QZSS + COBOFS_COMBINED,
61 COTYPE_QZSSURA,
62 COTYPE_QZSSHR,
63
64 COTYPE_SBASORBIT = COBBASE_SBAS + COBOFS_ORBIT,
65 COTYPE_SBASCLOCK,
66 COTYPE_SBASCOMBINED = COBBASE_SBAS + COBOFS_COMBINED,
67 COTYPE_SBASURA,
68 COTYPE_SBASHR,
69
70 COTYPE_BDSORBIT = COBBASE_BDS + COBOFS_ORBIT,
71 COTYPE_BDSCLOCK,
72 COTYPE_BDSCOMBINED = COBBASE_BDS + COBOFS_COMBINED,
73 COTYPE_BDSURA,
74 COTYPE_BDSHR,
75
76 COTYPE_AUTO = 0,
77};
78
79enum CodeBiasType {
80 CBTYPE_GPS = COBBASE_GPS + COBOFS_CBIAS,
81 CBTYPE_GLONASS = COBBASE_GLONASS + COBOFS_CBIAS,
82 CBTYPE_GALILEO = COBBASE_GALILEO + COBOFS_CBIAS,
83 CBTYPE_QZSS = COBBASE_QZSS + COBOFS_CBIAS,
84 CBTYPE_SBAS = COBBASE_SBAS + COBOFS_CBIAS,
85 CBTYPE_BDS = COBBASE_BDS + COBOFS_CBIAS,
86 CBTYPE_AUTO = 0
87};
88
89enum PhaseBiasType {
90 PBTYPE_BASE = 1265,
91 PBTYPE_GPS = PBTYPE_BASE,
92 PBTYPE_GLONASS,
93 PBTYPE_GALILEO,
94 PBTYPE_QZSS,
95 PBTYPE_SBAS,
96 PBTYPE_BDS,
97 PBTYPE_AUTO = 0
98};
99
100enum VTECType {
101 VTEC_BASE = 1264
102};
103
104/* if some systems aren't supported at all, change the following numbers to zero
105for these systems to save space */
106enum COR_CONSTANTS {
107 CLOCKORBIT_BUFFERSIZE = 8192,
108 CLOCKORBIT_NUMGPS = 32,
109 CLOCKORBIT_NUMGLONASS = 26,
110 CLOCKORBIT_NUMGALILEO = 36,
111 CLOCKORBIT_NUMQZSS = 10,
112 CLOCKORBIT_NUMBDS = 65,
113 CLOCKORBIT_NUMSBAS = 38,
114 CLOCKORBIT_NUMBIAS = 100,
115 CLOCKORBIT_NUMIONOLAYERS = 4,
116 CLOCKORBIT_MAXIONOORDER = 16,
117 CLOCKORBIT_MAXIONODEGREE = 16
118};
119
120enum COR_SATSYSTEM {
121 CLOCKORBIT_SATGPS=0,
122 CLOCKORBIT_SATGLONASS,
123 CLOCKORBIT_SATGALILEO,
124 CLOCKORBIT_SATQZSS,
125 CLOCKORBIT_SATBDS,
126 CLOCKORBIT_SATSBAS,
127 CLOCKORBIT_SATNUM
128};
129
130enum COR_OFFSETS {
131 CLOCKORBIT_OFFSETGPS = 0,
132 CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
133 CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
134 CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO,
135 CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
136 + CLOCKORBIT_NUMQZSS,
137 CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
138 + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS,
139 CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS + CLOCKORBIT_NUMGALILEO
140 + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMQZSS + CLOCKORBIT_NUMBDS
141};
142
143enum CodeType {
144 CODETYPEGPS_L1_CA = 0,
145 CODETYPEGPS_L1_P = 1,
146 CODETYPEGPS_L1_Z = 2,
147 //CODETYPEGPS_L1_Y = 3,
148 //CODETYPEGPS_L1_M = 4,
149 CODETYPEGPS_L2_CA = 5,
150 CODETYPEGPS_SEMI_CODELESS = 6,
151 CODETYPEGPS_L2C_M = 7,
152 CODETYPEGPS_L2C_L = 8,
153 CODETYPEGPS_L2C_ML = 9,
154 CODETYPEGPS_L2_P = 10,
155 CODETYPEGPS_L2_Z = 11,
156 //CODETYPEGPS_L2_Y = 12,
157 //CODETYPEGPS_L2_M = 13,
158 CODETYPEGPS_L5_I = 14,
159 CODETYPEGPS_L5_Q = 15,
160 CODETYPEGPS_L5_IQ = 16,
161 CODETYPEGPS_L1C_D = 17,
162 CODETYPEGPS_L1C_P = 18,
163 CODETYPEGPS_L1C_DP = 19,
164
165 CODETYPEGLONASS_L1_CA = 0,
166 CODETYPEGLONASS_L1_P = 1,
167 CODETYPEGLONASS_L2_CA = 2,
168 CODETYPEGLONASS_L2_P = 3,
169 CODETYPEGLONASS_L1a_OCd = 4,
170 CODETYPEGLONASS_L1a_OCp = 5,
171 CODETYPEGLONASS_L1a_OCdp = 6,
172 CODETYPEGLONASS_L2a_CSI = 7,
173 CODETYPEGLONASS_L2a_OCp = 8,
174 CODETYPEGLONASS_L2a_CSIOCp = 9,
175 CODETYPEGLONASS_L3_I = 10,
176 CODETYPEGLONASS_L3_Q = 11,
177 CODETYPEGLONASS_L3_IQ = 12,
178
179
180 CODETYPEGALILEO_E1_A = 0,
181 CODETYPEGALILEO_E1_B = 1,
182 CODETYPEGALILEO_E1_C = 2,
183 CODETYPEGALILEO_E1_BC = 3,
184 CODETYPEGALILEO_E1_ABC = 4,
185 CODETYPEGALILEO_E5A_I = 5,
186 CODETYPEGALILEO_E5A_Q = 6,
187 CODETYPEGALILEO_E5A_IQ = 7,
188 CODETYPEGALILEO_E5B_I = 8,
189 CODETYPEGALILEO_E5B_Q = 9,
190 CODETYPEGALILEO_E5B_IQ = 10,
191 CODETYPEGALILEO_E5_I = 11,
192 CODETYPEGALILEO_E5_Q = 12,
193 CODETYPEGALILEO_E5_IQ = 13,
194 CODETYPEGALILEO_E6_A = 14,
195 CODETYPEGALILEO_E6_B = 15,
196 CODETYPEGALILEO_E6_C = 16,
197 CODETYPEGALILEO_E6_BC = 17,
198 CODETYPEGALILEO_E6_ABC = 18,
199
200 CODETYPEQZSS_L1_CA = 0,
201 CODETYPEQZSS_L1C_D = 1,
202 CODETYPEQZSS_L1C_P = 2,
203 CODETYPEQZSS_L2C_M = 3,
204 CODETYPEQZSS_L2C_L = 4,
205 CODETYPEQZSS_L2C_ML = 5,
206 CODETYPEQZSS_L5_I = 6,
207 CODETYPEQZSS_L5_Q = 7,
208 CODETYPEQZSS_L5_IQ = 8,
209 CODETYPEQZSS_L6_D = 9,
210 CODETYPEQZSS_L6_P = 10,
211 CODETYPEQZSS_L6_DP = 11,
212 CODETYPEQZSS_L1C_DP = 12,
213 CODETYPEQZSS_L1_S = 13,
214 CODETYPEQZSS_L5_D = 14,
215 CODETYPEQZSS_L5_P = 15,
216 CODETYPEQZSS_L5_DP = 16,
217 CODETYPEQZSS_L6_E = 17,
218 CODETYPEQZSS_L6_DE = 18,
219
220 CODETYPE_BDS_B1_I = 0,
221 CODETYPE_BDS_B1_Q = 1,
222 CODETYPE_BDS_B1_IQ = 2,
223 CODETYPE_BDS_B3_I = 3,
224 CODETYPE_BDS_B3_Q = 4,
225 CODETYPE_BDS_B3_IQ = 5,
226 CODETYPE_BDS_B2_I = 6,
227 CODETYPE_BDS_B2_Q = 7,
228 CODETYPE_BDS_B2_IQ = 8,
229 CODETYPE_BDS_B1a_D = 9,
230 CODETYPE_BDS_B1a_P = 10,
231 CODETYPE_BDS_B1a_DP = 11,
232 CODETYPE_BDS_B2a_D = 12,
233 CODETYPE_BDS_B2a_P = 13,
234 CODETYPE_BDS_B2a_DP = 14,
235
236 CODETYPE_SBAS_L1_CA = 0,
237 CODETYPE_SBAS_L5_I = 1,
238 CODETYPE_SBAS_L5_Q = 2,
239 CODETYPE_SBAS_L5_IQ = 3
240
241};
242
243#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
244
245/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
246in the data structures. So first GLONASS satellite is at
247xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
248xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
249
250#ifdef COR_LEGACY
251/* old names */
252#define NumberOfGPSSat NumberOfSat[CLOCKORBIT_SATGPS]
253#define NumberOfGLONASSSat NumberOfSat[CLOCKORBIT_SATGLONASS]
254#define GPSEpochTime EpochTime[CLOCKORBIT_SATGPS] /* 0 .. 604799 s */
255#define GLONASSEpochTime EpochTime[CLOCKORBIT_SATGLONASS] /* 0 .. 86399 s (86400 for leap second) */
256#define ClockDataSupplied Supplied[COBOFS_CLOCK]
257#define HRDataSupplied Supplied[COBOFS_HR]
258#define OrbitDataSupplied Supplied[COBOFS_ORBIT]
259#define URADataSupplied Supplied[COBOFS_URA]
260#define GetClockOrbitBias(a,b,c,d,e) GetSSR(a,b,0,0,c,d,e)
261#endif /* COR_LEGACY */
262
263/* latency check code, disabled by default */
264#ifdef COR_LATENCY
265#define COR_LATENCYCOUNT 100
266#endif
267
268struct ClockOrbit {
269 enum ClockOrbitType messageType;
270 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
271 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
272 unsigned int Supplied[COBOFS_NUM]; /* boolean */
273#ifdef COR_LATENCY
274 unsigned int epochGPS[COR_LATENCYCOUNT+1]; /* Weber, for latency */
275 unsigned int epochSize; /* Weber, for latency */
276#endif
277 unsigned int SSRIOD;
278 unsigned int SSRProviderID;
279 unsigned int SSRSolutionID;
280 unsigned int UpdateInterval;
281 enum SatelliteReferenceDatum SatRefDatum;
282 struct SatData {
283 unsigned int ID; /* all */
284 unsigned int IOD; /* all */
285 unsigned int toe; /* SBAS, BDS */
286 double UserRangeAccuracy; /* accuracy values in [m] */
287 double hrclock;
288 struct OrbitPart {
289 double DeltaRadial; /* m */
290 double DeltaAlongTrack; /* m */
291 double DeltaCrossTrack; /* m */
292 double DotDeltaRadial; /* m/s */
293 double DotDeltaAlongTrack; /* m/s */
294 double DotDeltaCrossTrack; /* m/s */
295 } Orbit;
296 struct ClockPart {
297 double DeltaA0; /* m */
298 double DeltaA1; /* m/s */
299 double DeltaA2; /* m/ss */
300 } Clock;
301 } Sat[CLOCKORBIT_COUNTSAT];
302};
303
304struct CodeBias {
305 enum CodeBiasType messageType;
306 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
307 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
308 unsigned int UpdateInterval;
309 unsigned int SSRIOD;
310 unsigned int SSRProviderID;
311 unsigned int SSRSolutionID;
312 struct BiasSat {
313 unsigned int ID; /* all */
314 unsigned int NumberOfCodeBiases;
315 struct CodeBiasEntry {
316 enum CodeType Type;
317 float Bias; /* m */
318 } Biases[CLOCKORBIT_NUMBIAS];
319 } Sat[CLOCKORBIT_COUNTSAT];
320};
321
322struct PhaseBias {
323 enum PhaseBiasType messageType;
324 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
325 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
326 unsigned int UpdateInterval;
327 unsigned int SSRIOD;
328 unsigned int SSRProviderID;
329 unsigned int SSRSolutionID;
330 unsigned int DispersiveBiasConsistencyIndicator;
331 unsigned int MWConsistencyIndicator;
332 struct PhaseBiasSat {
333 unsigned int ID; /* all */
334 unsigned int NumberOfPhaseBiases;
335 double YawAngle; /* radiant */
336 double YawRate; /* radiant/s */
337 struct PhaseBiasEntry {
338 enum CodeType Type;
339 unsigned int SignalIntegerIndicator;
340 unsigned int SignalsWideLaneIntegerIndicator;
341 unsigned int SignalDiscontinuityCounter;
342 float Bias; /* m */
343 } Biases[CLOCKORBIT_NUMBIAS];
344 } Sat[CLOCKORBIT_COUNTSAT];
345};
346
347struct VTEC {
348 unsigned int EpochTime; /* GPS */
349 unsigned int UpdateInterval;
350 unsigned int SSRIOD;
351 unsigned int SSRProviderID;
352 unsigned int SSRSolutionID;
353 unsigned int NumLayers; /* 1-4 */
354 double Quality;
355 struct IonoLayers {
356 double Height; /* m */
357 unsigned int Degree; /* 1-16 */
358 unsigned int Order; /* 1-16 */
359 double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
360 double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
361 } Layers[CLOCKORBIT_NUMIONOLAYERS];
362};
363
364/* return size of resulting data or 0 in case of an error */
365size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
366 int moremessagesfollow, char *buffer, size_t size);
367size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
368 int moremessagesfollow, char *buffer, size_t size);
369size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
370 int moremessagesfollow, char *buffer, size_t size);
371size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow, char *buffer,
372 size_t size);
373
374enum GCOB_RETURN {
375 /* all well */
376 GCOBR_MESSAGEFOLLOWS = 1,
377 GCOBR_OK = 0,
378 /* unknown data, a warning */
379 GCOBR_UNKNOWNTYPE = -1,
380 GCOBR_UNKNOWNDATA = -2,
381 GCOBR_CRCMISMATCH = -3,
382 GCOBR_SHORTMESSAGE = -4,
383 /* failed to do the work */
384 GCOBR_NOCLOCKORBITPARAMETER = -10,
385 GCOBR_NOCODEBIASPARAMETER = -11,
386 GCOBR_NOPHASEBIASPARAMETER = -12,
387 GCOBR_NOVTECPARAMETER = -13,
388 /* data mismatch - data in storage does not match new data */
389 GCOBR_TIMEMISMATCH = -20,
390 GCOBR_DATAMISMATCH = -21,
391 /* not enough data - can decode the block completely */
392 GCOBR_SHORTBUFFER = -30,
393 GCOBR_MESSAGEEXCEEDSBUFFER = -31};
394
395/* 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
396function to have a clean state. */
397
398/* buffer should point to a RTCM3 block */
399enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
400 struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused);
401
402#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
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